2013-06-04T00:21:30.712Z,1370305290.712 [Supervisor](DEBUG): Initializing supervisor.
2013-06-04T00:21:30.715Z,1370305290.715 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-06-04T00:21:30.716Z,1370305290.716 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-06-04T00:21:30.717Z,1370305290.717 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-06-04T00:21:30.722Z,1370305290.722 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-06-04T00:21:30.733Z,1370305290.733 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-06-04T00:21:30.734Z,1370305290.734 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-06-04T00:21:30.735Z,1370305290.735 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-06-04T00:21:30.736Z,1370305290.736 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-06-04T00:21:30.737Z,1370305290.737 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-06-04T00:21:30.738Z,1370305290.738 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-06-04T00:21:31.024Z,1370305291.024 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-06-04T00:21:31.025Z,1370305291.025 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-06-04T00:21:31.219Z,1370305291.219 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-06-04T00:21:31.220Z,1370305291.220 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-06-04T00:21:31.304Z,1370305291.304 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-06-04T00:21:31.304Z,1370305291.304 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-06-04T00:21:31.446Z,1370305291.446 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-06-04T00:21:31.446Z,1370305291.446 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-06-04T00:21:31.584Z,1370305291.584 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-06-04T00:21:31.584Z,1370305291.584 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-06-04T00:21:31.831Z,1370305291.831 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-06-04T00:21:31.831Z,1370305291.832 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-06-04T00:21:32.001Z,1370305292.001 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-06-04T00:21:32.002Z,1370305292.002 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-06-04T00:21:32.257Z,1370305292.257 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-06-04T00:21:32.257Z,1370305292.257 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-06-04T00:21:32.356Z,1370305292.356 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-06-04T00:21:32.356Z,1370305292.356 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-06-04T00:21:32.875Z,1370305292.875 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-06-04T00:21:32.875Z,1370305292.875 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-06-04T00:21:33.103Z,1370305293.103 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-06-04T00:21:33.104Z,1370305293.104 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-06-04T00:21:33.236Z,1370305293.236 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-06-04T00:21:33.237Z,1370305293.237 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-06-04T00:21:33.387Z,1370305293.387 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-06-04T00:21:33.672Z,1370305293.672 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-06-04T00:21:33.822Z,1370305293.822 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-06-04T00:21:33.993Z,1370305293.993 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-06-04T00:21:34.143Z,1370305294.143 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-06-04T00:21:34.353Z,1370305294.353 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-06-04T00:21:34.522Z,1370305294.522 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-06-04T00:21:34.660Z,1370305294.660 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-06-04T00:21:34.660Z,1370305294.661 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-06-04T00:21:34.666Z,1370305294.666 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-06-04T00:21:34.964Z,1370305294.964 [InternalSim] Loaded
2013-06-04T00:21:34.964Z,1370305294.964 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-06-04T00:21:34.965Z,1370305294.965 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-06-04T00:21:34.965Z,1370305294.966 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-06-04T00:21:35.036Z,1370305295.036 [SBIT](DEBUG): Construct Startup Built In Test.
2013-06-04T00:21:35.120Z,1370305295.120 [SBIT] Loaded
2013-06-04T00:21:35.121Z,1370305295.121 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-06-04T00:21:35.122Z,1370305295.122 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-06-04T00:21:35.207Z,1370305295.207 [IBIT] Loaded
2013-06-04T00:21:35.207Z,1370305295.207 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-06-04T00:21:35.211Z,1370305295.211 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-06-04T00:21:35.496Z,1370305295.496 [CBIT] Loaded
2013-06-04T00:21:35.496Z,1370305295.496 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-06-04T00:21:35.496Z,1370305295.496 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-06-04T00:21:35.497Z,1370305295.497 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-06-04T00:21:35.711Z,1370305295.711 [BuoyancyServo] Loaded
2013-06-04T00:21:35.711Z,1370305295.711 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-06-04T00:21:35.724Z,1370305295.724 [ElevatorServo] Loaded
2013-06-04T00:21:35.724Z,1370305295.724 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-06-04T00:21:35.748Z,1370305295.748 [MassServo] Loaded
2013-06-04T00:21:35.748Z,1370305295.748 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-06-04T00:21:35.793Z,1370305295.793 [RudderServo] Loaded
2013-06-04T00:21:35.793Z,1370305295.793 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-06-04T00:21:35.833Z,1370305295.833 [ThrusterServo] Loaded
2013-06-04T00:21:35.833Z,1370305295.833 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-06-04T00:21:35.842Z,1370305295.842 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-06-04T00:21:35.843Z,1370305295.843 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-06-04T00:21:35.893Z,1370305295.893 [DepthRateCalculator] Loaded
2013-06-04T00:21:35.893Z,1370305295.894 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-06-04T00:21:41.696Z,1370305301.696 [HFRadarModelCalc] Loaded
2013-06-04T00:21:41.696Z,1370305301.696 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-06-04T00:21:41.734Z,1370305301.734 [NavChart] Loaded
2013-06-04T00:21:41.734Z,1370305301.734 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-06-04T00:21:41.740Z,1370305301.740 [PitchRateCalculator] Loaded
2013-06-04T00:21:41.740Z,1370305301.740 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-06-04T00:21:41.763Z,1370305301.763 [SpeedCalculator] Loaded
2013-06-04T00:21:41.763Z,1370305301.763 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-06-04T00:21:41.806Z,1370305301.806 [TempGradientCalculator] Loaded
2013-06-04T00:21:41.807Z,1370305301.807 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-06-04T00:21:41.812Z,1370305301.812 [YawRateCalculator] Loaded
2013-06-04T00:21:41.813Z,1370305301.813 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-06-04T00:21:41.906Z,1370305301.906 [Navigation] Loaded
2013-06-04T00:21:41.906Z,1370305301.906 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-06-04T00:21:41.907Z,1370305301.907 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-06-04T00:21:41.907Z,1370305301.907 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-06-04T00:21:42.361Z,1370305302.362 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-06-04T00:21:42.362Z,1370305302.362 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-06-04T00:21:42.409Z,1370305302.409 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-06-04T00:21:42.410Z,1370305302.410 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-06-04T00:21:42.517Z,1370305302.517 [VerticalControl](DEBUG): Construct VerticalControl.
2013-06-04T00:21:42.652Z,1370305302.652 [VerticalControl] Loaded
2013-06-04T00:21:42.653Z,1370305302.653 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-06-04T00:21:42.654Z,1370305302.654 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-06-04T00:21:42.707Z,1370305302.707 [HorizontalControl] Loaded
2013-06-04T00:21:42.708Z,1370305302.708 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-06-04T00:21:42.709Z,1370305302.708 [SpeedControl](DEBUG): Construct SpeedControl.
2013-06-04T00:21:42.710Z,1370305302.710 [SpeedControl] Loaded
2013-06-04T00:21:42.711Z,1370305302.711 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-06-04T00:21:42.711Z,1370305302.711 [LoopControl](DEBUG): Construct LoopControl.
2013-06-04T00:21:42.712Z,1370305302.712 [LoopControl] Loaded
2013-06-04T00:21:42.712Z,1370305302.712 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-06-04T00:21:42.713Z,1370305302.713 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-06-04T00:21:42.713Z,1370305302.713 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-06-04T00:21:42.719Z,1370305302.719 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-06-04T00:21:42.723Z,1370305302.723 [AsyncPiEstimator] Loaded
2013-06-04T00:21:42.724Z,1370305302.724 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-06-04T00:21:42.725Z,1370305302.725 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-06-04T00:21:42.725Z,1370305302.725 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-06-04T00:21:42.726Z,1370305302.726 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-06-04T00:21:42.869Z,1370305302.869 [AHRS_sp3003D] Loaded
2013-06-04T00:21:42.869Z,1370305302.869 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-06-04T00:21:43.130Z,1370305303.130 [Batt_Ocean_Server] Loaded
2013-06-04T00:21:43.130Z,1370305303.130 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-06-04T00:21:43.143Z,1370305303.143 [Depth_Keller] Loaded
2013-06-04T00:21:43.143Z,1370305303.143 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-06-04T00:21:43.148Z,1370305303.148 [DropWeight] Loaded
2013-06-04T00:21:43.149Z,1370305303.149 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-06-04T00:21:43.314Z,1370305303.314 [DVL_micro] Loaded
2013-06-04T00:21:43.314Z,1370305303.314 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-06-04T00:21:43.315Z,1370305303.315 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406C34E0
2013-06-04T00:21:43.395Z,1370305303.395 [NAL9602] Loaded
2013-06-04T00:21:43.395Z,1370305303.395 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-06-04T00:21:43.444Z,1370305303.444 [Onboard] Loaded
2013-06-04T00:21:43.444Z,1370305303.444 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-06-04T00:21:43.450Z,1370305303.450 [Radio_Freewave] Loaded
2013-06-04T00:21:43.451Z,1370305303.451 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-06-04T00:21:43.604Z,1370305303.603 [DAT] Loaded
2013-06-04T00:21:43.604Z,1370305303.604 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-06-04T00:21:43.610Z,1370305303.610 [SCPI] Loaded
2013-06-04T00:21:43.611Z,1370305303.611 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2013-06-04T00:21:43.611Z,1370305303.611 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-06-04T00:21:43.612Z,1370305303.612 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-06-04T00:21:43.684Z,1370305303.684 [CTD_NeilBrown] Loaded
2013-06-04T00:21:43.684Z,1370305303.684 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-06-04T00:21:43.685Z,1370305303.685 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407154E0
2013-06-04T00:21:43.715Z,1370305303.715 [WetLabsBB2FL] Loaded
2013-06-04T00:21:43.715Z,1370305303.715 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-06-04T00:21:43.716Z,1370305303.716 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407454E0
2013-06-04T00:21:43.717Z,1370305303.717 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-06-04T00:21:43.719Z,1370305303.719 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-06-04T00:21:43.720Z,1370305303.720 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-06-04T00:21:43.727Z,1370305303.727 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-06-04T00:21:43.728Z,1370305303.728 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407754E0
2013-06-04T00:21:43.733Z,1370305303.733 [Supervisor](DEBUG): Running supervisor.
2013-06-04T00:21:43.734Z,1370305303.734 [CommandLine](INFO): Thread ID is 3288
2013-06-04T00:21:43.737Z,1370305303.737 [controlThread](INFO): Thread ID is 3287
2013-06-04T00:21:43.737Z,1370305303.737 [controlThread](DEBUG): Initializing ControlThread
2013-06-04T00:21:43.737Z,1370305303.737 [CycleStarter](INFO): Thread ID is 3286
2013-06-04T00:21:43.738Z,1370305303.738 [InternalSim](DEBUG):  InternalSim initializing...
2013-06-04T00:21:43.771Z,1370305303.771 [logger](INFO): Thread ID is 3289
2013-06-04T00:21:43.797Z,1370305303.797 [SBIT](INFO): Initialize SBIT Component.
2013-06-04T00:21:43.798Z,1370305303.798 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10401
2013-06-04T00:21:43.798Z,1370305303.798 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-06-04T00:21:43.799Z,1370305303.799 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-06-04T00:21:43.799Z,1370305303.799 [IBIT](INFO): Initialize IBIT Component.
2013-06-04T00:21:43.800Z,1370305303.800 [CBIT](DEBUG): Initialize CBIT Component.
2013-06-04T00:21:43.800Z,1370305303.800 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-06-04T00:21:43.811Z,1370305303.811 [AsyncPiEstimator](INFO): Thread ID is 3355
2013-06-04T00:21:43.811Z,1370305303.811 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-06-04T00:21:43.825Z,1370305303.825 [DVL_micro](INFO): Thread ID is 3356
2013-06-04T00:21:43.831Z,1370305303.831 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-04T00:21:43.832Z,1370305303.832 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-06-04T00:21:43.832Z,1370305303.832 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-06-04T00:21:43.833Z,1370305303.833 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-06-04T00:21:43.833Z,1370305303.833 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-06-04T00:21:43.835Z,1370305303.835 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-06-04T00:21:43.835Z,1370305303.835 [Navigation](DEBUG): Initializing Navigation.
2013-06-04T00:21:43.836Z,1370305303.836 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-06-04T00:21:43.837Z,1370305303.837 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-06-04T00:21:43.851Z,1370305303.851 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-06-04T00:21:43.851Z,1370305303.851 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-06-04T00:21:43.858Z,1370305303.858 [DVL_micro](INFO): Initializing
2013-06-04T00:21:43.858Z,1370305303.858 [DVL_micro](INFO): start:Powering up
2013-06-04T00:21:43.859Z,1370305303.859 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:21:43.860Z,1370305303.860 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:21:43.867Z,1370305303.867 [CTD_NeilBrown](INFO): Thread ID is 3357
2013-06-04T00:21:43.867Z,1370305303.867 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-06-04T00:21:43.870Z,1370305303.870 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-06-04T00:21:43.872Z,1370305303.872 [WetLabsBB2FL](INFO): Thread ID is 3358
2013-06-04T00:21:43.872Z,1370305303.872 [WetLabsBB2FL](INFO): Powering down
2013-06-04T00:21:43.919Z,1370305303.919 [NavChartDb](INFO): Thread ID is 3359
2013-06-04T00:21:43.922Z,1370305303.921 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-06-04T00:21:43.923Z,1370305303.922 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-06-04T00:21:43.923Z,1370305303.923 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-06-04T00:21:43.923Z,1370305303.923 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-06-04T00:21:43.923Z,1370305303.923 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-06-04T00:21:43.924Z,1370305303.924 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-06-04T00:21:43.924Z,1370305303.924 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-06-04T00:21:43.924Z,1370305303.924 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-06-04T00:21:43.924Z,1370305303.924 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-06-04T00:21:45.301Z,1370305305.301 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-06-04T00:21:45.333Z,1370305305.333 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-06-04T00:21:45.356Z,1370305305.356 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T00:21:45.397Z,1370305305.397 [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>


2013-06-04T00:21:45.398Z,1370305305.398 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-06-04T00:21:45.463Z,1370305305.463 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-06-04T00:21:45.465Z,1370305305.465 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:21:45.497Z,1370305305.497 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T00:21:45.521Z,1370305305.520 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:21:45.524Z,1370305305.524 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T00:21:45.539Z,1370305305.539 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-06-04T00:21:45.560Z,1370305305.560 [Default:D.SetSpeed](DEBUG): Construct.
2013-06-04T00:21:45.563Z,1370305305.563 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T00:21:45.568Z,1370305305.568 [Default:F.Wait](DEBUG): Construct Wait.
2013-06-04T00:21:45.612Z,1370305305.612 [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>


2013-06-04T00:21:45.616Z,1370305305.616 [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,
2013-06-04T00:21:45.654Z,1370305305.654 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-06-04T00:21:45.846Z,1370305305.846 [Radio_Freewave](INFO): Powering up
2013-06-04T00:21:45.859Z,1370305305.859 [DAT](INFO): Powering up
2013-06-04T00:21:45.859Z,1370305305.859 [DAT](DEBUG): Initializing DAT.
2013-06-04T00:21:45.962Z,1370305305.962 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:21:45.963Z,1370305305.963 [DVL_micro](INFO): Querying output modes
2013-06-04T00:21:45.963Z,1370305305.963 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:21:45.974Z,1370305305.974 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:21:45.974Z,1370305305.974 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:21:45.975Z,1370305305.975 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:21:45.986Z,1370305305.986 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:21:45.991Z,1370305305.991 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:21:46.103Z,1370305306.103 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-06-04T00:21:46.105Z,1370305306.105 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-06-04T00:21:46.137Z,1370305306.137 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-06-04T00:21:46.142Z,1370305306.142 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-06-04T00:21:46.162Z,1370305306.162 [MassServo](DEBUG): Initializing EZServoServo.
2013-06-04T00:21:46.170Z,1370305306.170 [MassServo](DEBUG): Initializing MassServo.
2013-06-04T00:21:46.193Z,1370305306.193 [RudderServo](DEBUG): Initializing EZServoServo.
2013-06-04T00:21:46.210Z,1370305306.210 [RudderServo](DEBUG): Initializing RudderServo.
2013-06-04T00:21:46.216Z,1370305306.216 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-04T00:21:46.222Z,1370305306.222 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-04T00:21:48.693Z,1370305308.693 [NAL9602](INFO): Powering up NAL9602
2013-06-04T00:21:59.210Z,1370305319.210 [NAL9602](INFO): NAL9602 initialized
2013-06-04T00:21:59.348Z,1370305319.348 [SBIT](IMPORTANT): Beginning Startup BIT
2013-06-04T00:21:59.351Z,1370305319.351 [CBIT](IMPORTANT): Beginning GF scan
2013-06-04T00:22:06.005Z,1370305326.005 [DAT](INFO): Powering down
2013-06-04T00:22:23.001Z,1370305343.001 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-04T00:22:23.013Z,1370305343.013 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-04T00:22:23.014Z,1370305343.014 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.820000 degree
2013-06-04T00:22:26.763Z,1370305346.763 [CBIT](IMPORTANT): No ground fault detected
2013-06-04T00:22:32.163Z,1370305352.163 [NAL9602](INFO): Powering down
2013-06-04T00:22:52.948Z,1370305372.948 [SBIT](IMPORTANT): SBIT PASSED
2013-06-04T00:22:53.338Z,1370305373.338 [MissionManager](IMPORTANT): Started mission Startup
2013-06-04T00:22:53.338Z,1370305373.338 [Startup] Running Loop=1
2013-06-04T00:22:53.338Z,1370305373.338 [Startup](INFO): Aggregate::initialize Startup
2013-06-04T00:22:53.338Z,1370305373.338 [Startup:A.GoToSurface] Running Loop=1
2013-06-04T00:22:53.338Z,1370305373.338 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:22:53.344Z,1370305373.344 [Startup:StartupSatComms] Running Loop=1
2013-06-04T00:22:53.344Z,1370305373.344 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-06-04T00:22:53.344Z,1370305373.344 [Startup:StartupSatComms:A] Running Loop=1
2013-06-04T00:22:53.710Z,1370305373.710 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-04T00:22:54.095Z,1370305374.095 [NAL9602](INFO): Powering up
2013-06-04T00:23:04.562Z,1370305384.562 [NAL9602](INFO): NAL9602 initialized
2013-06-04T00:23:41.365Z,1370305421.365 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-04T00:23:41.365Z,1370305421.365 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-04T00:23:41.371Z,1370305421.371 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.820000 degree
2013-06-04T00:23:44.893Z,1370305424.893 [Startup:StartupSatComms:A] Stopped
2013-06-04T00:23:44.894Z,1370305424.894 [Startup:StartupSatComms:B] Running Loop=1
2013-06-04T00:23:45.331Z,1370305425.331 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-06-04T00:23:48.164Z,1370305428.164 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:23:50.258Z,1370305430.258 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:23:50.259Z,1370305430.259 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:23:50.348Z,1370305430.348 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:23:50.352Z,1370305430.352 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = -0.006000 n/a
2013-06-04T00:23:50.355Z,1370305430.355 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000560 n/a
2013-06-04T00:23:50.359Z,1370305430.359 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:23:50.407Z,1370305430.407 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 40.000000 m
2013-06-04T00:23:50.410Z,1370305430.410 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:23:50.413Z,1370305430.413 [MissionManager](INFO): DefineArg homing_pursuit.PowerOnDATTimeoutDuration = 1.000000 min
2013-06-04T00:23:50.416Z,1370305430.416 [MissionManager](INFO): DefineArg homing_pursuit.ClosePursuitTimeout = 180.000000 s
2013-06-04T00:23:50.421Z,1370305430.421 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:23:50.424Z,1370305430.424 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:23:50.427Z,1370305430.427 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:23:50.430Z,1370305430.430 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:23:50.432Z,1370305430.432 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-06-04T00:23:50.451Z,1370305430.451 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-06-04T00:23:50.467Z,1370305430.467 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.SurfacePitch = nan arcdeg
2013-06-04T00:23:50.470Z,1370305430.470 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-06-04T00:23:50.473Z,1370305430.473 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-06-04T00:23:50.513Z,1370305430.513 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-06-04T00:23:50.514Z,1370305430.514 [homing_pursuit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T00:23:50.543Z,1370305430.543 [homing_pursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:23:50.549Z,1370305430.549 [homing_pursuit:C.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:23:50.563Z,1370305430.563 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:23:50.567Z,1370305430.567 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:23:50.572Z,1370305430.572 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:23:50.608Z,1370305430.608 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:23:50.611Z,1370305430.611 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:23:50.616Z,1370305430.616 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:23:50.631Z,1370305430.631 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:23:50.636Z,1370305430.636 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:23:50.640Z,1370305430.639 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:23:50.645Z,1370305430.645 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:23:50.651Z,1370305430.651 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Construct Wait.
2013-06-04T00:23:50.654Z,1370305430.654 [homing_pursuit:Rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:23:50.657Z,1370305430.657 [homing_pursuit:Rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:23:50.699Z,1370305430.699 [homing_pursuit:Rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:23:50.722Z,1370305430.722 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="homing_pursuit">

<!-- Define mission arguments -->

    <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>0.2</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>40.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="PowerOnDATTimeoutDuration"><Description>
        Wait this long after turning on DAT before starting any behaviors that require DAT output.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ClosePursuitTimeout"><Description>
        Run in OneWayMode for this long.
    </Description><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within minimum range.
    </Description><Units:minute/><Value>7</Value></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

<!-- TODO any other science sensors that should be active? -->

<!-- Begin the mission. -->

    <Timeout Duration="TimeoutDuration"/>

<!-- Safety nets and surfacing behaviors -->
<!-- TODO re-enable
    <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>

-->

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

<!-- Set default mass and pump positions -->

    <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>

<!-- Request desired engineering data -->

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

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

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

<!-- Start actual engineering mission sequence. -->

    <Aggregate Id="PowerOnDAT">
	
        <Description>
            Give the DAT some time to start up before you ask for ranges from it.
        </Description>

        <Timeout Duration="PowerOnDATTimeoutDuration"/>

        <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">

	<Description>
            Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate.
        </Description>

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

        <!-- <Timeout Duration="InitialPursuitTimeout"/> -->

        <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">

	<Description>
            Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate.
        </Description>

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

        <Timeout Duration="ClosePursuitTimeout"/>

        <Assign RunIn="Parallel"><Sensor:DAT.onewayRequestedCmd/><Units:bool/><Value>1</Value></Assign>

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

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

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

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Aggregate Id="Rollout">

	<Description>
            Move away from the target at the last commanded heading until *RolloutTimeout* has passed.

            (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)
        </Description>

        <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>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2013-06-04T00:23:50.723Z,1370305430.723 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:23:52.016Z,1370305432.016 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:23:54.440Z,1370305434.440 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:23:55.806Z,1370305435.806 [CommandLine](IMPORTANT): got command report touch homing_target_range
2013-06-04T00:23:55.808Z,1370305435.808 [CommandLine](IMPORTANT): got command report touch homing_target_azimuth
2013-06-04T00:23:58.812Z,1370305438.812 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:24:00.235Z,1370305440.234 [CommandLine](IMPORTANT): got command show variable headingCmd
2013-06-04T00:24:00.266Z,1370305440.266 [CommandLine](INFO): HorizontalControl.headingCmd (radian)
2013-06-04T00:24:01.156Z,1370305441.156 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:24:05.440Z,1370305445.440 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:24:07.840Z,1370305447.840 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:24:08.862Z,1370305448.862 [CommandLine](IMPORTANT): got command report touch HorizontalControl.headingCmd
2013-06-04T00:24:12.100Z,1370305452.100 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:24:14.609Z,1370305454.609 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:24:17.056Z,1370305457.056 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-04T00:24:17.057Z,1370305457.057 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-04T00:24:17.058Z,1370305457.058 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.820000 degree
2013-06-04T00:24:20.445Z,1370305460.445 [Startup:StartupSatComms:B] Stopped
2013-06-04T00:24:20.445Z,1370305460.445 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-06-04T00:24:20.445Z,1370305460.445 [Startup:StartupSatComms] Stopped
2013-06-04T00:24:20.445Z,1370305460.445 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-06-04T00:24:20.446Z,1370305460.446 [Startup](INFO): Completed Startup
2013-06-04T00:24:20.446Z,1370305460.446 [Startup] Stopped
2013-06-04T00:24:20.446Z,1370305460.446 [Startup](INFO): Aggregate::uninitialize Startup
2013-06-04T00:24:20.446Z,1370305460.446 [Startup:A.GoToSurface] Stopped
2013-06-04T00:24:20.447Z,1370305460.447 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:24:21.344Z,1370305461.344 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:24:21.344Z,1370305461.344 [homing_pursuit] Running Loop=1
2013-06-04T00:24:21.345Z,1370305461.345 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:24:21.345Z,1370305461.345 [homing_pursuit:B.Pitch] Running Loop=1
2013-06-04T00:24:21.345Z,1370305461.345 [homing_pursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:24:21.345Z,1370305461.345 [homing_pursuit:C.Buoyancy] Running Loop=1
2013-06-04T00:24:21.345Z,1370305461.345 [homing_pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:24:21.345Z,1370305461.345 [homing_pursuit:D] Running Loop=1
2013-06-04T00:24:21.345Z,1370305461.345 [homing_pursuit:E] Running Loop=1
2013-06-04T00:24:21.345Z,1370305461.345 [homing_pursuit:F] Running Loop=1
2013-06-04T00:24:21.346Z,1370305461.346 [homing_pursuit:SurfaceComms] Running Loop=1
2013-06-04T00:24:21.346Z,1370305461.346 [homing_pursuit:SurfaceComms](INFO): Aggregate::initialize homing_pursuit:SurfaceComms
2013-06-04T00:24:21.346Z,1370305461.346 [homing_pursuit:SurfaceComms:A.GoToSurface] Running Loop=1
2013-06-04T00:24:21.346Z,1370305461.346 [homing_pursuit:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:24:21.347Z,1370305461.347 [homing_pursuit:F] Running Loop=1
2013-06-04T00:24:21.347Z,1370305461.347 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:24:21.349Z,1370305461.349 [homing_pursuit:E] Running Loop=1
2013-06-04T00:24:21.350Z,1370305461.349 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:24:21.351Z,1370305461.351 [homing_pursuit:D] Running Loop=1
2013-06-04T00:24:21.352Z,1370305461.352 [homing_pursuit:D](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:24:21.353Z,1370305461.353 [homing_pursuit:C.Buoyancy] Running Loop=1
2013-06-04T00:24:21.357Z,1370305461.357 [homing_pursuit:B.Pitch] Running Loop=1
2013-06-04T00:24:21.367Z,1370305461.367 [homing_pursuit:SurfaceComms:B] Running Loop=1
2013-06-04T00:24:21.367Z,1370305461.367 [homing_pursuit:SurfaceComms:B](INFO): Aggregate::initialize homing_pursuit:SurfaceComms:B
2013-06-04T00:24:21.368Z,1370305461.368 [homing_pursuit:SurfaceComms:B:A] Running Loop=1
2013-06-04T00:24:21.607Z,1370305461.607 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:24:21.607Z,1370305461.607 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:24:21.607Z,1370305461.607 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:24:21.621Z,1370305461.621 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:24:21.631Z,1370305461.631 [DAT](INFO): Powering up
2013-06-04T00:24:21.649Z,1370305461.649 [homing_pursuit:SurfaceComms:B] Stopped
2013-06-04T00:24:21.649Z,1370305461.649 [homing_pursuit:SurfaceComms:B](INFO): Aggregate::uninitialize homing_pursuit:SurfaceComms:B
2013-06-04T00:24:21.650Z,1370305461.649 [homing_pursuit:SurfaceComms:B:A] Stopped
2013-06-04T00:24:21.650Z,1370305461.650 [homing_pursuit:SurfaceComms:C] Running Loop=1
2013-06-04T00:24:21.654Z,1370305461.654 [homing_pursuit:SurfaceComms:C](INFO): Aggregate::initialize homing_pursuit:SurfaceComms:C
2013-06-04T00:24:21.654Z,1370305461.654 [homing_pursuit:SurfaceComms:C:A] Running Loop=1
2013-06-04T00:24:22.027Z,1370305462.027 [homing_pursuit:F] Preempted
2013-06-04T00:24:22.027Z,1370305462.027 [homing_pursuit:E] Preempted
2013-06-04T00:24:22.027Z,1370305462.027 [homing_pursuit:D] Preempted
2013-06-04T00:24:22.027Z,1370305462.027 [homing_pursuit:C.Buoyancy] Preempted
2013-06-04T00:24:22.027Z,1370305462.027 [homing_pursuit:B.Pitch] Preempted
2013-06-04T00:24:22.028Z,1370305462.028 [homing_pursuit:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-04T00:24:23.614Z,1370305463.614 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:24:23.615Z,1370305463.615 [DVL_micro](INFO): Querying output modes
2013-06-04T00:24:23.615Z,1370305463.615 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:24:23.626Z,1370305463.626 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:24:23.626Z,1370305463.626 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:24:23.627Z,1370305463.627 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:24:23.646Z,1370305463.646 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:24:23.649Z,1370305463.649 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:24:42.021Z,1370305482.021 [DAT](INFO): Powering down
2013-06-04T00:24:43.502Z,1370305483.502 [CommandLine](IMPORTANT): got command show stack
2013-06-04T00:24:43.502Z,1370305483.503 [CommandLine](INFO): Behavior Stack:

2013-06-04T00:24:43.503Z,1370305483.503 [homing_pursuit:SurfaceComms](INFO): Priority 0: homing_pursuit:SurfaceComms:A.GoToSurface
2013-06-04T00:24:43.503Z,1370305483.503 [homing_pursuit:SurfaceComms:C](INFO): Priority 1: homing_pursuit:SurfaceComms:C:A
2013-06-04T00:24:51.435Z,1370305491.435 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-04T00:24:51.435Z,1370305491.435 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-04T00:24:51.436Z,1370305491.436 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.820000 degree
2013-06-04T00:24:54.883Z,1370305494.883 [homing_pursuit:SurfaceComms:C:A] Stopped
2013-06-04T00:24:54.883Z,1370305494.883 [homing_pursuit:SurfaceComms:C:B] Running Loop=1
2013-06-04T00:24:55.260Z,1370305495.260 [homing_pursuit:SurfaceComms:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-06-04T00:24:57.408Z,1370305497.408 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:25:01.736Z,1370305501.736 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:25:04.068Z,1370305504.068 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:25:07.434Z,1370305507.434 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-04T00:25:07.435Z,1370305507.434 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-04T00:25:07.435Z,1370305507.435 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.820000 degree
2013-06-04T00:25:11.258Z,1370305511.258 [homing_pursuit:SurfaceComms:C:B] Stopped
2013-06-04T00:25:11.259Z,1370305511.259 [homing_pursuit:SurfaceComms:C:C] Running Loop=1
2013-06-04T00:25:11.652Z,1370305511.652 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:25:11.667Z,1370305511.667 [homing_pursuit:SurfaceComms:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-04T00:25:26.970Z,1370305526.970 [CommandLine](IMPORTANT): got command show stack
2013-06-04T00:25:26.970Z,1370305526.970 [CommandLine](INFO): Behavior Stack:

2013-06-04T00:25:26.971Z,1370305526.971 [homing_pursuit:SurfaceComms](INFO): Priority 0: homing_pursuit:SurfaceComms:A.GoToSurface
2013-06-04T00:25:26.971Z,1370305526.971 [homing_pursuit:SurfaceComms:C](INFO): Priority 1: homing_pursuit:SurfaceComms:C:C
2013-06-04T00:25:35.659Z,1370305535.659 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-04T00:25:38.362Z,1370305538.362 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-04T00:25:40.938Z,1370305540.938 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-04T00:25:49.423Z,1370305549.423 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 0.000000 bool
2013-06-04T00:25:55.211Z,1370305555.211 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-06-04T00:26:04.155Z,1370305564.155 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-06-04T00:26:04.238Z,1370305564.238 [homing_pursuit:SurfaceComms:C:C] Stopped
2013-06-04T00:26:04.238Z,1370305564.238 [homing_pursuit:SurfaceComms:C](INFO): Completed homing_pursuit:SurfaceComms:C
2013-06-04T00:26:04.238Z,1370305564.238 [homing_pursuit:SurfaceComms:C] Stopped
2013-06-04T00:26:04.238Z,1370305564.238 [homing_pursuit:SurfaceComms:C](INFO): Aggregate::uninitialize homing_pursuit:SurfaceComms:C
2013-06-04T00:26:04.239Z,1370305564.239 [homing_pursuit:SurfaceComms](INFO): Completed homing_pursuit:SurfaceComms
2013-06-04T00:26:04.239Z,1370305564.239 [homing_pursuit:SurfaceComms] Stopped
2013-06-04T00:26:04.240Z,1370305564.240 [homing_pursuit:SurfaceComms](INFO): Aggregate::uninitialize homing_pursuit:SurfaceComms
2013-06-04T00:26:04.240Z,1370305564.240 [homing_pursuit:SurfaceComms:A.GoToSurface] Stopped
2013-06-04T00:26:04.240Z,1370305564.240 [homing_pursuit:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:26:04.240Z,1370305564.240 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-04T00:26:04.240Z,1370305564.240 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-04T00:26:04.240Z,1370305564.240 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:26:04.240Z,1370305564.240 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:26:04.240Z,1370305564.240 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:26:04.241Z,1370305564.240 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-04T00:26:04.241Z,1370305564.241 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-04T00:26:04.241Z,1370305564.241 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:26:04.630Z,1370305564.630 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:26:04.636Z,1370305564.635 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:26:04.640Z,1370305564.640 [homing_pursuit:F] Running Loop=1
2013-06-04T00:26:04.641Z,1370305564.641 [homing_pursuit:E] Running Loop=1
2013-06-04T00:26:04.641Z,1370305564.641 [homing_pursuit:D] Running Loop=1
2013-06-04T00:26:04.641Z,1370305564.641 [homing_pursuit:C.Buoyancy] Running Loop=1
2013-06-04T00:26:04.641Z,1370305564.641 [homing_pursuit:B.Pitch] Running Loop=1
2013-06-04T00:26:04.747Z,1370305564.747 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:26:04.748Z,1370305564.747 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:26:04.748Z,1370305564.748 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:26:05.025Z,1370305565.026 [DAT](INFO): Powering up
2013-06-04T00:26:06.755Z,1370305566.755 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:26:06.755Z,1370305566.755 [DVL_micro](INFO): Querying output modes
2013-06-04T00:26:06.755Z,1370305566.755 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:26:06.767Z,1370305566.767 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:26:06.767Z,1370305566.767 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:26:06.767Z,1370305566.767 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:26:06.793Z,1370305566.793 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:26:09.282Z,1370305569.282 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:10.220Z,1370305570.220 [NAL9602](INFO): Powering down
2013-06-04T00:26:11.838Z,1370305571.838 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:14.390Z,1370305574.390 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:14.782Z,1370305574.782 [CommandLine](IMPORTANT): got command report
2013-06-04T00:26:14.783Z,1370305574.783 [Reporter](INFO): homing_target_range reporting when touched
2013-06-04T00:26:14.783Z,1370305574.783 [Reporter](INFO): homing_target_azimuth reporting when touched
2013-06-04T00:26:14.783Z,1370305574.783 [Reporter](INFO): HorizontalControl.headingCmd reporting when touched
2013-06-04T00:26:16.942Z,1370305576.942 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:19.498Z,1370305579.498 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:22.050Z,1370305582.050 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:24.602Z,1370305584.602 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:27.162Z,1370305587.162 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:28.798Z,1370305588.798 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:26:28.799Z,1370305588.799 [Reporter](INFO): homing_target_azimuth 278.630218 arcdeg
2013-06-04T00:26:29.726Z,1370305589.726 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:32.270Z,1370305592.270 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:32.826Z,1370305592.826 [Reporter](INFO): homing_target_range 0.500000 m
2013-06-04T00:26:32.827Z,1370305592.827 [Reporter](INFO): homing_target_azimuth 278.309144 arcdeg
2013-06-04T00:26:34.739Z,1370305594.739 [homing_pursuit:PowerOnDAT:C.Wait](INFO): Done Waiting.
2013-06-04T00:26:34.739Z,1370305594.739 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-04T00:26:34.739Z,1370305594.739 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:26:34.740Z,1370305594.740 [homing_pursuit:PowerOnDAT](INFO): Completed homing_pursuit:PowerOnDAT
2013-06-04T00:26:34.740Z,1370305594.740 [homing_pursuit:PowerOnDAT] Stopped
2013-06-04T00:26:34.740Z,1370305594.740 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-04T00:26:34.740Z,1370305594.740 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-04T00:26:34.740Z,1370305594.740 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:26:34.740Z,1370305594.740 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-04T00:26:34.741Z,1370305594.741 [homing_pursuit:InitialPursuit] Running Loop=1
2013-06-04T00:26:34.741Z,1370305594.741 [homing_pursuit:InitialPursuit](INFO): Aggregate::initialize homing_pursuit:InitialPursuit
2013-06-04T00:26:34.741Z,1370305594.741 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:26:34.741Z,1370305594.741 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:26:34.741Z,1370305594.741 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:26:34.741Z,1370305594.741 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:26:34.741Z,1370305594.741 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:26:34.742Z,1370305594.741 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Initialize.
2013-06-04T00:26:34.750Z,1370305594.750 [homing_pursuit:InitialPursuit:D.Wait] Running Loop=1
2013-06-04T00:26:34.750Z,1370305594.750 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:26:34.826Z,1370305594.826 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:35.165Z,1370305595.165 [homing_pursuit:InitialPursuit] Stopped
2013-06-04T00:26:35.166Z,1370305595.166 [homing_pursuit:InitialPursuit](INFO): Aggregate::uninitialize homing_pursuit:InitialPursuit
2013-06-04T00:26:35.166Z,1370305595.166 [homing_pursuit:InitialPursuit:A.SetSpeed] Stopped
2013-06-04T00:26:35.170Z,1370305595.170 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:26:35.170Z,1370305595.170 [homing_pursuit:InitialPursuit:B.Pitch] Stopped
2013-06-04T00:26:35.170Z,1370305595.170 [homing_pursuit:InitialPursuit:C.Point] Stopped
2013-06-04T00:26:35.170Z,1370305595.170 [homing_pursuit:InitialPursuit:D.Wait] Stopped
2013-06-04T00:26:35.170Z,1370305595.170 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:26:35.171Z,1370305595.171 [homing_pursuit:ClosePursuit] Running Loop=1
2013-06-04T00:26:35.171Z,1370305595.171 [homing_pursuit:ClosePursuit](INFO): Aggregate::initialize homing_pursuit:ClosePursuit
2013-06-04T00:26:35.171Z,1370305595.171 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-04T00:26:35.171Z,1370305595.171 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-04T00:26:35.171Z,1370305595.171 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Initialize.
2013-06-04T00:26:35.171Z,1370305595.171 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-04T00:26:35.171Z,1370305595.171 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Initialize.
2013-06-04T00:26:35.171Z,1370305595.171 [homing_pursuit:ClosePursuit:D.Point] Running Loop=1
2013-06-04T00:26:35.172Z,1370305595.172 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Initialize.
2013-06-04T00:26:35.172Z,1370305595.172 [homing_pursuit:ClosePursuit:E.Wait] Running Loop=1
2013-06-04T00:26:35.172Z,1370305595.172 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:26:35.529Z,1370305595.529 [homing_pursuit:ClosePursuit:D.Point] Running Loop=1
2013-06-04T00:26:35.546Z,1370305595.546 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-04T00:26:35.556Z,1370305595.556 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-04T00:26:35.564Z,1370305595.565 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-04T00:26:35.750Z,1370305595.750 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:36.220Z,1370305596.220 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:36.467Z,1370305596.467 [DAT](ERROR): Unexpected response:01:25:06.6713 , LVL= 32752, 16033, 19538, 26931, AGC=  55, IDX= 62-0.24, 1.398, PHS= 0.139, 0.406, 0.204, |v|= 0.207, RAW= 316.5,-47.7, CAL= 333.4,-48.2, ROT=  52.4,-48.2
Com
2013-06-04T00:26:36.566Z,1370305596.566 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:36.821Z,1370305596.821 [DAT](FAULT): Parse Failed - Received:pass 169.1
Range 1 to 0 : 0.6 m
2013-06-04T00:26:37.105Z,1370305597.105 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:37.394Z,1370305597.394 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:37.446Z,1370305597.446 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:37.906Z,1370305597.906 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:38.230Z,1370305598.230 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:38.686Z,1370305598.686 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:39.122Z,1370305599.122 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:39.498Z,1370305599.498 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:39.890Z,1370305599.890 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:39.958Z,1370305599.958 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:40.370Z,1370305600.370 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:40.697Z,1370305600.697 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:41.233Z,1370305601.233 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:41.594Z,1370305601.594 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:41.958Z,1370305601.958 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:42.386Z,1370305602.385 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:42.518Z,1370305602.518 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:42.771Z,1370305602.771 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:43.166Z,1370305603.166 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:43.542Z,1370305603.542 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:43.970Z,1370305603.970 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:44.322Z,1370305604.322 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:44.766Z,1370305604.766 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:45.074Z,1370305605.074 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:45.130Z,1370305605.130 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:45.570Z,1370305605.570 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:45.918Z,1370305605.918 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:46.306Z,1370305606.306 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:46.790Z,1370305606.790 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:47.106Z,1370305607.106 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:47.525Z,1370305607.526 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:47.646Z,1370305607.646 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:47.926Z,1370305607.926 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:48.322Z,1370305608.322 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:48.770Z,1370305608.770 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:49.125Z,1370305609.125 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:49.526Z,1370305609.526 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:49.922Z,1370305609.922 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:50.198Z,1370305610.198 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:50.380Z,1370305610.380 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:50.746Z,1370305610.746 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:51.250Z,1370305611.250 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:51.762Z,1370305611.762 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:52.194Z,1370305612.194 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:52.474Z,1370305612.474 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:52.758Z,1370305612.758 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:52.890Z,1370305612.890 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:53.273Z,1370305613.273 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:53.702Z,1370305613.702 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:54.073Z,1370305614.073 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:54.498Z,1370305614.498 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:54.926Z,1370305614.926 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:55.322Z,1370305615.322 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:55.390Z,1370305615.390 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:55.781Z,1370305615.782 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:56.098Z,1370305616.098 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:56.498Z,1370305616.497 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:26:56.498Z,1370305616.498 [Reporter](INFO): homing_target_azimuth 277.093617 arcdeg
2013-06-04T00:26:56.499Z,1370305616.499 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:57.046Z,1370305617.046 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:26:57.047Z,1370305617.047 [Reporter](INFO): homing_target_azimuth 281.240662 arcdeg
2013-06-04T00:26:57.047Z,1370305617.047 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:57.393Z,1370305617.393 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:57.883Z,1370305617.883 [DVL_micro](DEBUG): NQ1
2013-06-04T00:26:57.912Z,1370305617.912 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:26:57.913Z,1370305617.912 [Reporter](INFO): homing_target_azimuth 276.428848 arcdeg
2013-06-04T00:26:57.913Z,1370305617.913 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:58.223Z,1370305618.223 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:26:58.224Z,1370305618.224 [Reporter](INFO): homing_target_azimuth 279.115790 arcdeg
2013-06-04T00:26:58.224Z,1370305618.224 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:58.663Z,1370305618.663 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:26:58.664Z,1370305618.664 [Reporter](INFO): homing_target_azimuth 279.511886 arcdeg
2013-06-04T00:26:58.665Z,1370305618.665 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:59.082Z,1370305619.082 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:26:59.082Z,1370305619.082 [Reporter](INFO): homing_target_azimuth 276.767653 arcdeg
2013-06-04T00:26:59.083Z,1370305619.083 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:59.537Z,1370305619.537 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:26:59.538Z,1370305619.538 [Reporter](INFO): homing_target_azimuth 278.783214 arcdeg
2013-06-04T00:26:59.539Z,1370305619.539 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:26:59.849Z,1370305619.849 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:00.283Z,1370305620.283 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:00.284Z,1370305620.284 [Reporter](INFO): homing_target_azimuth 278.844549 arcdeg
2013-06-04T00:27:00.285Z,1370305620.284 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:00.450Z,1370305620.450 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:00.663Z,1370305620.663 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:00.664Z,1370305620.664 [Reporter](INFO): homing_target_azimuth 278.324854 arcdeg
2013-06-04T00:27:00.665Z,1370305620.665 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:01.050Z,1370305621.050 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:01.050Z,1370305621.050 [Reporter](INFO): homing_target_azimuth 278.230543 arcdeg
2013-06-04T00:27:01.051Z,1370305621.051 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:01.542Z,1370305621.542 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:01.542Z,1370305621.542 [Reporter](INFO): homing_target_azimuth 275.325909 arcdeg
2013-06-04T00:27:01.543Z,1370305621.543 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:01.946Z,1370305621.946 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:01.947Z,1370305621.947 [Reporter](INFO): homing_target_azimuth 277.074820 arcdeg
2013-06-04T00:27:01.947Z,1370305621.947 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:02.354Z,1370305622.353 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:02.659Z,1370305622.659 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:02.660Z,1370305622.660 [Reporter](INFO): homing_target_azimuth 279.417575 arcdeg
2013-06-04T00:27:02.660Z,1370305622.661 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:03.006Z,1370305623.006 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:03.082Z,1370305623.082 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:03.082Z,1370305623.082 [Reporter](INFO): homing_target_azimuth 278.264857 arcdeg
2013-06-04T00:27:03.083Z,1370305623.083 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:03.549Z,1370305623.549 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:03.550Z,1370305623.550 [Reporter](INFO): homing_target_azimuth 278.329280 arcdeg
2013-06-04T00:27:03.551Z,1370305623.551 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:03.898Z,1370305623.898 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:04.362Z,1370305624.362 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:04.363Z,1370305624.363 [Reporter](INFO): homing_target_azimuth 280.075349 arcdeg
2013-06-04T00:27:04.363Z,1370305624.363 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:04.842Z,1370305624.842 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:04.842Z,1370305624.842 [Reporter](INFO): homing_target_azimuth 278.001786 arcdeg
2013-06-04T00:27:04.843Z,1370305624.843 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:05.154Z,1370305625.154 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:05.155Z,1370305625.155 [Reporter](INFO): homing_target_azimuth 279.316297 arcdeg
2013-06-04T00:27:05.156Z,1370305625.156 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:05.530Z,1370305625.530 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:05.530Z,1370305625.530 [Reporter](INFO): homing_target_azimuth 279.153438 arcdeg
2013-06-04T00:27:05.531Z,1370305625.531 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:05.554Z,1370305625.554 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:05.933Z,1370305625.933 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:05.934Z,1370305625.934 [Reporter](INFO): homing_target_azimuth 279.061394 arcdeg
2013-06-04T00:27:05.935Z,1370305625.935 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:06.326Z,1370305626.326 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:06.823Z,1370305626.823 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:06.824Z,1370305626.824 [Reporter](INFO): homing_target_azimuth 279.460468 arcdeg
2013-06-04T00:27:06.824Z,1370305626.824 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:07.131Z,1370305627.131 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:07.131Z,1370305627.131 [Reporter](INFO): homing_target_azimuth 275.994639 arcdeg
2013-06-04T00:27:07.132Z,1370305627.132 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:07.534Z,1370305627.533 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:07.534Z,1370305627.534 [Reporter](INFO): homing_target_azimuth 277.937364 arcdeg
2013-06-04T00:27:07.535Z,1370305627.535 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:07.986Z,1370305627.986 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:07.987Z,1370305627.987 [Reporter](INFO): homing_target_azimuth 280.519202 arcdeg
2013-06-04T00:27:07.988Z,1370305627.988 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:08.118Z,1370305628.118 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:08.326Z,1370305628.326 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:08.755Z,1370305628.755 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:08.756Z,1370305628.756 [Reporter](INFO): homing_target_azimuth 278.697673 arcdeg
2013-06-04T00:27:08.756Z,1370305628.756 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:09.135Z,1370305629.135 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:09.136Z,1370305629.136 [Reporter](INFO): homing_target_azimuth 278.023069 arcdeg
2013-06-04T00:27:09.137Z,1370305629.136 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:09.595Z,1370305629.595 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:09.595Z,1370305629.595 [Reporter](INFO): homing_target_azimuth 279.942079 arcdeg
2013-06-04T00:27:09.596Z,1370305629.596 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:09.973Z,1370305629.973 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:09.982Z,1370305629.982 [Reporter](INFO): homing_target_azimuth 277.958701 arcdeg
2013-06-04T00:27:09.983Z,1370305629.983 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:10.470Z,1370305630.470 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:10.678Z,1370305630.678 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:10.838Z,1370305630.838 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:10.839Z,1370305630.839 [Reporter](INFO): homing_target_azimuth 279.144203 arcdeg
2013-06-04T00:27:10.840Z,1370305630.840 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:11.225Z,1370305631.225 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:11.226Z,1370305631.226 [Reporter](INFO): homing_target_azimuth 277.637846 arcdeg
2013-06-04T00:27:11.227Z,1370305631.227 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:11.591Z,1370305631.591 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:11.592Z,1370305631.592 [Reporter](INFO): homing_target_azimuth 279.543114 arcdeg
2013-06-04T00:27:11.592Z,1370305631.592 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:12.038Z,1370305632.038 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:12.039Z,1370305632.039 [Reporter](INFO): homing_target_azimuth 277.548316 arcdeg
2013-06-04T00:27:12.039Z,1370305632.039 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:12.390Z,1370305632.390 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:12.391Z,1370305632.391 [Reporter](INFO): homing_target_azimuth 276.584740 arcdeg
2013-06-04T00:27:12.391Z,1370305632.391 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:12.837Z,1370305632.838 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:13.235Z,1370305633.234 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:13.263Z,1370305633.263 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:13.264Z,1370305633.264 [Reporter](INFO): homing_target_azimuth 279.369436 arcdeg
2013-06-04T00:27:13.265Z,1370305633.265 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:13.659Z,1370305633.659 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:13.660Z,1370305633.660 [Reporter](INFO): homing_target_azimuth 278.150602 arcdeg
2013-06-04T00:27:13.660Z,1370305633.660 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:14.038Z,1370305634.037 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:14.038Z,1370305634.038 [Reporter](INFO): homing_target_azimuth 278.477304 arcdeg
2013-06-04T00:27:14.039Z,1370305634.039 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:14.484Z,1370305634.484 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:14.485Z,1370305634.485 [Reporter](INFO): homing_target_azimuth 278.897934 arcdeg
2013-06-04T00:27:14.486Z,1370305634.486 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:14.831Z,1370305634.831 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:15.313Z,1370305635.313 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:15.314Z,1370305635.314 [Reporter](INFO): homing_target_azimuth 278.233985 arcdeg
2013-06-04T00:27:15.315Z,1370305635.315 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:15.602Z,1370305635.602 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:15.603Z,1370305635.603 [Reporter](INFO): homing_target_azimuth 279.195949 arcdeg
2013-06-04T00:27:15.604Z,1370305635.604 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:15.794Z,1370305635.795 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:16.097Z,1370305636.097 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:16.098Z,1370305636.098 [Reporter](INFO): homing_target_azimuth 278.306822 arcdeg
2013-06-04T00:27:16.099Z,1370305636.099 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:16.450Z,1370305636.450 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:16.450Z,1370305636.450 [Reporter](INFO): homing_target_azimuth 280.129472 arcdeg
2013-06-04T00:27:16.451Z,1370305636.451 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:17.014Z,1370305637.014 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:17.014Z,1370305637.014 [Reporter](INFO): homing_target_azimuth 278.510935 arcdeg
2013-06-04T00:27:17.015Z,1370305637.015 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:17.302Z,1370305637.302 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:17.763Z,1370305637.763 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:17.764Z,1370305637.764 [Reporter](INFO): homing_target_azimuth 278.047384 arcdeg
2013-06-04T00:27:17.765Z,1370305637.765 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:18.123Z,1370305638.123 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:18.123Z,1370305638.123 [Reporter](INFO): homing_target_azimuth 279.019949 arcdeg
2013-06-04T00:27:18.124Z,1370305638.124 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:18.342Z,1370305638.342 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:18.518Z,1370305638.518 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:18.518Z,1370305638.518 [Reporter](INFO): homing_target_azimuth 275.371480 arcdeg
2013-06-04T00:27:18.519Z,1370305638.519 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:18.922Z,1370305638.922 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:18.922Z,1370305638.922 [Reporter](INFO): homing_target_azimuth 280.045433 arcdeg
2013-06-04T00:27:18.923Z,1370305638.923 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:19.295Z,1370305639.295 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:19.731Z,1370305639.731 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:19.732Z,1370305639.732 [Reporter](INFO): homing_target_azimuth 277.520094 arcdeg
2013-06-04T00:27:19.732Z,1370305639.732 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:20.159Z,1370305640.159 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:20.159Z,1370305640.159 [Reporter](INFO): homing_target_azimuth 280.136602 arcdeg
2013-06-04T00:27:20.160Z,1370305640.160 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:20.554Z,1370305640.554 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:20.554Z,1370305640.554 [Reporter](INFO): homing_target_azimuth 279.696547 arcdeg
2013-06-04T00:27:20.555Z,1370305640.555 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:20.882Z,1370305640.882 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:21.103Z,1370305641.103 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:21.103Z,1370305641.103 [Reporter](INFO): homing_target_azimuth 277.741583 arcdeg
2013-06-04T00:27:21.104Z,1370305641.104 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:21.458Z,1370305641.457 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:21.458Z,1370305641.458 [Reporter](INFO): homing_target_azimuth 278.252181 arcdeg
2013-06-04T00:27:21.459Z,1370305641.459 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:21.822Z,1370305641.822 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:22.483Z,1370305642.483 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:22.484Z,1370305642.484 [Reporter](INFO): homing_target_azimuth 279.957843 arcdeg
2013-06-04T00:27:22.484Z,1370305642.484 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:22.771Z,1370305642.771 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:23.095Z,1370305643.095 [DAT](FAULT): Parse Failed - Received:01:25:53.3224 , LVL= 28240, 11569, 14034, 24611, AGC=  53, IDX= 62 0.35,-0.642, PHS= 0.118, 0.376, 0.181, |v|= 0.193, RAW= 316.4,-45.5, CAL= 330.7 m
2013-06-04T00:27:23.194Z,1370305643.194 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:23.454Z,1370305643.454 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:23.595Z,1370305643.595 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:23.596Z,1370305643.596 [Reporter](INFO): homing_target_azimuth 277.925670 arcdeg
2013-06-04T00:27:23.597Z,1370305643.597 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:24.018Z,1370305644.018 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-04T00:27:24.019Z,1370305644.019 [Reporter](INFO): homing_target_azimuth 275.719874 arcdeg
2013-06-04T00:27:24.019Z,1370305644.019 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:24.454Z,1370305644.454 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:24.454Z,1370305644.454 [Reporter](INFO): homing_target_azimuth 280.858308 arcdeg
2013-06-04T00:27:24.455Z,1370305644.455 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:24.826Z,1370305644.826 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:24.827Z,1370305644.827 [Reporter](INFO): homing_target_azimuth 278.215024 arcdeg
2013-06-04T00:27:24.827Z,1370305644.827 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:25.301Z,1370305645.301 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:25.303Z,1370305645.303 [Reporter](INFO): homing_target_azimuth 279.617098 arcdeg
2013-06-04T00:27:25.303Z,1370305645.303 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:25.647Z,1370305645.647 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:25.647Z,1370305645.648 [Reporter](INFO): homing_target_azimuth 279.725890 arcdeg
2013-06-04T00:27:25.648Z,1370305645.648 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:26.010Z,1370305646.010 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:26.033Z,1370305646.033 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:26.034Z,1370305646.034 [Reporter](INFO): homing_target_azimuth 279.289987 arcdeg
2013-06-04T00:27:26.035Z,1370305646.035 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:26.513Z,1370305646.513 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:26.514Z,1370305646.514 [Reporter](INFO): homing_target_azimuth 279.814764 arcdeg
2013-06-04T00:27:26.515Z,1370305646.515 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:26.802Z,1370305646.802 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:27.370Z,1370305647.370 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:27.371Z,1370305647.371 [Reporter](INFO): homing_target_azimuth 279.531748 arcdeg
2013-06-04T00:27:27.371Z,1370305647.372 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:27.691Z,1370305647.691 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:27.692Z,1370305647.692 [Reporter](INFO): homing_target_azimuth 278.300784 arcdeg
2013-06-04T00:27:27.692Z,1370305647.693 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:28.094Z,1370305648.095 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:28.095Z,1370305648.095 [Reporter](INFO): homing_target_azimuth 277.092278 arcdeg
2013-06-04T00:27:28.096Z,1370305648.096 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:28.497Z,1370305648.497 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:28.498Z,1370305648.498 [Reporter](INFO): homing_target_azimuth 280.714901 arcdeg
2013-06-04T00:27:28.498Z,1370305648.498 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:28.566Z,1370305648.566 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:28.890Z,1370305648.890 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:28.891Z,1370305648.891 [Reporter](INFO): homing_target_azimuth 277.187682 arcdeg
2013-06-04T00:27:28.891Z,1370305648.891 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:29.291Z,1370305649.291 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:29.691Z,1370305649.691 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-04T00:27:29.692Z,1370305649.692 [Reporter](INFO): homing_target_azimuth 274.152264 arcdeg
2013-06-04T00:27:29.693Z,1370305649.693 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:30.099Z,1370305650.099 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:30.100Z,1370305650.100 [Reporter](INFO): homing_target_azimuth 278.106725 arcdeg
2013-06-04T00:27:30.101Z,1370305650.101 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:30.654Z,1370305650.654 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-04T00:27:30.655Z,1370305650.655 [Reporter](INFO): homing_target_azimuth 278.892306 arcdeg
2013-06-04T00:27:30.656Z,1370305650.656 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:31.006Z,1370305651.006 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:31.006Z,1370305651.006 [Reporter](INFO): homing_target_azimuth 278.186146 arcdeg
2013-06-04T00:27:31.007Z,1370305651.007 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:31.138Z,1370305651.138 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:31.498Z,1370305651.497 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:31.498Z,1370305651.498 [Reporter](INFO): homing_target_azimuth 277.940669 arcdeg
2013-06-04T00:27:31.499Z,1370305651.499 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:31.794Z,1370305651.794 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:32.298Z,1370305652.298 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:27:32.299Z,1370305652.299 [Reporter](INFO): homing_target_azimuth 278.683685 arcdeg
2013-06-04T00:27:32.299Z,1370305652.299 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:32.591Z,1370305652.591 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:32.592Z,1370305652.592 [Reporter](INFO): homing_target_azimuth 279.839435 arcdeg
2013-06-04T00:27:32.592Z,1370305652.592 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:32.990Z,1370305652.990 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:32.990Z,1370305652.990 [Reporter](INFO): homing_target_azimuth 278.760429 arcdeg
2013-06-04T00:27:32.991Z,1370305652.991 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:33.394Z,1370305653.394 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:33.394Z,1370305653.395 [Reporter](INFO): homing_target_azimuth 277.636808 arcdeg
2013-06-04T00:27:33.395Z,1370305653.395 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:33.690Z,1370305653.690 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:33.950Z,1370305653.950 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:33.950Z,1370305653.950 [Reporter](INFO): homing_target_azimuth 279.182125 arcdeg
2013-06-04T00:27:33.951Z,1370305653.951 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:34.281Z,1370305654.281 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:34.781Z,1370305654.782 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:34.782Z,1370305654.782 [Reporter](INFO): homing_target_azimuth 279.155733 arcdeg
2013-06-04T00:27:34.783Z,1370305654.783 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:35.090Z,1370305655.090 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:35.091Z,1370305655.091 [Reporter](INFO): homing_target_azimuth 277.332181 arcdeg
2013-06-04T00:27:35.092Z,1370305655.092 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:35.490Z,1370305655.490 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:35.490Z,1370305655.490 [Reporter](INFO): homing_target_azimuth 277.138313 arcdeg
2013-06-04T00:27:35.491Z,1370305655.491 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:35.898Z,1370305655.898 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:35.899Z,1370305655.899 [Reporter](INFO): homing_target_azimuth 277.624759 arcdeg
2013-06-04T00:27:35.900Z,1370305655.900 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:36.238Z,1370305656.238 [DVL_micro](DEBUG): NQ1
2013-06-04T00:27:36.290Z,1370305656.290 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:36.699Z,1370305656.699 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-04T00:27:36.700Z,1370305656.700 [Reporter](INFO): homing_target_azimuth 278.820671 arcdeg
2013-06-04T00:27:36.701Z,1370305656.701 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:37.200Z,1370305657.200 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:27:37.201Z,1370305657.201 [Reporter](INFO): homing_target_azimuth 279.041532 arcdeg
2013-06-04T00:27:37.201Z,1370305657.201 [Reporter](INFO): HorizontalControl.headingCmd 4.857411 rad
2013-06-04T00:27:37.359Z,1370305657.359 [CommandLine](IMPORTANT): got command stop
2013-06-04T00:27:37.429Z,1370305657.429 [homing_pursuit] Stopped
2013-06-04T00:27:37.429Z,1370305657.429 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:27:37.429Z,1370305657.429 [homing_pursuit:B.Pitch] Stopped
2013-06-04T00:27:37.429Z,1370305657.429 [homing_pursuit:C.Buoyancy] Stopped
2013-06-04T00:27:37.429Z,1370305657.429 [homing_pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:27:37.429Z,1370305657.429 [homing_pursuit:D] Stopped
2013-06-04T00:27:37.429Z,1370305657.429 [homing_pursuit:E] Stopped
2013-06-04T00:27:37.430Z,1370305657.430 [homing_pursuit:F] Stopped
2013-06-04T00:27:37.430Z,1370305657.430 [homing_pursuit:ClosePursuit] Stopped
2013-06-04T00:27:37.430Z,1370305657.430 [homing_pursuit:ClosePursuit](INFO): Aggregate::uninitialize homing_pursuit:ClosePursuit
2013-06-04T00:27:37.430Z,1370305657.430 [homing_pursuit:ClosePursuit:A] Stopped
2013-06-04T00:27:37.430Z,1370305657.430 [homing_pursuit:ClosePursuit:B.SetSpeed] Stopped
2013-06-04T00:27:37.430Z,1370305657.430 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:27:37.430Z,1370305657.430 [homing_pursuit:ClosePursuit:C.Pitch] Stopped
2013-06-04T00:27:37.430Z,1370305657.430 [homing_pursuit:ClosePursuit:D.Point] Stopped
2013-06-04T00:27:37.430Z,1370305657.430 [homing_pursuit:ClosePursuit:E.Wait] Stopped
2013-06-04T00:27:37.430Z,1370305657.430 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:27:37.498Z,1370305657.498 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:27:37.499Z,1370305657.499 [Reporter](INFO): homing_target_azimuth 280.399237 arcdeg
2013-06-04T00:27:37.499Z,1370305657.499 [Reporter](INFO): HorizontalControl.headingCmd no_value
2013-06-04T00:27:37.818Z,1370305657.818 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:27:37.818Z,1370305657.818 [Default] Running Loop=1
2013-06-04T00:27:37.818Z,1370305657.818 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:27:37.818Z,1370305657.818 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:27:37.818Z,1370305657.818 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:27:37.818Z,1370305657.818 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:27:37.818Z,1370305657.818 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:27:37.819Z,1370305657.819 [Default:Iridium] Running Loop=1
2013-06-04T00:27:37.819Z,1370305657.819 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:27:37.819Z,1370305657.819 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:27:37.819Z,1370305657.819 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:27:37.819Z,1370305657.819 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:27:37.819Z,1370305657.819 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:27:37.820Z,1370305657.820 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:27:37.825Z,1370305657.825 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:27:37.836Z,1370305657.836 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:27:37.836Z,1370305657.836 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:27:37.836Z,1370305657.836 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:27:37.836Z,1370305657.836 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:27:37.842Z,1370305657.842 [Default:GPS] Running Loop=1
2013-06-04T00:27:37.842Z,1370305657.842 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:27:37.842Z,1370305657.842 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:27:37.842Z,1370305657.842 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:27:37.842Z,1370305657.842 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:27:37.842Z,1370305657.842 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:27:37.848Z,1370305657.848 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:27:37.848Z,1370305657.848 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:27:37.848Z,1370305657.848 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:27:37.848Z,1370305657.848 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:27:38.220Z,1370305658.220 [DAT](INFO): Powering down
2013-06-04T00:27:38.348Z,1370305658.348 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-06-04T00:27:38.351Z,1370305658.351 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-04T00:27:38.372Z,1370305658.372 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:27:38.735Z,1370305658.735 [NAL9602](INFO): Powering up
2013-06-04T00:27:49.598Z,1370305669.598 [NAL9602](INFO): NAL9602 initialized
2013-06-04T00:27:53.204Z,1370305673.204 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:27:57.552Z,1370305677.552 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:01.067Z,1370305681.067 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:05.412Z,1370305685.412 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:09.432Z,1370305689.432 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:13.800Z,1370305693.800 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:18.224Z,1370305698.224 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:22.552Z,1370305702.552 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:27.292Z,1370305707.292 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:31.708Z,1370305711.708 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:36.047Z,1370305716.046 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:40.422Z,1370305720.422 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:44.436Z,1370305724.436 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:48.828Z,1370305728.828 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:28:50.431Z,1370305730.431 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:28:50.431Z,1370305730.431 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:28:50.523Z,1370305730.523 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:28:50.526Z,1370305730.526 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = -0.006000 n/a
2013-06-04T00:28:50.529Z,1370305730.529 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000560 n/a
2013-06-04T00:28:50.531Z,1370305730.531 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:28:50.533Z,1370305730.533 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 40.000000 m
2013-06-04T00:28:50.536Z,1370305730.536 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:28:50.538Z,1370305730.538 [MissionManager](INFO): DefineArg homing_pursuit.PowerOnDATTimeoutDuration = 1.000000 min
2013-06-04T00:28:50.540Z,1370305730.540 [MissionManager](INFO): DefineArg homing_pursuit.ClosePursuitTimeout = 180.000000 s
2013-06-04T00:28:50.543Z,1370305730.543 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:28:50.545Z,1370305730.545 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:28:50.548Z,1370305730.548 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:28:50.551Z,1370305730.551 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:28:50.552Z,1370305730.552 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-06-04T00:28:50.612Z,1370305730.612 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-06-04T00:28:50.619Z,1370305730.619 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.SurfacePitch = nan arcdeg
2013-06-04T00:28:50.621Z,1370305730.621 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-06-04T00:28:50.627Z,1370305730.628 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-06-04T00:28:50.629Z,1370305730.629 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-06-04T00:28:50.632Z,1370305730.632 [homing_pursuit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T00:28:50.641Z,1370305730.641 [homing_pursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:28:50.646Z,1370305730.646 [homing_pursuit:C.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:28:50.653Z,1370305730.653 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:28:50.656Z,1370305730.656 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:28:50.660Z,1370305730.660 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:28:50.663Z,1370305730.663 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:28:50.665Z,1370305730.665 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:28:50.669Z,1370305730.669 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:28:50.691Z,1370305730.691 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:28:50.700Z,1370305730.700 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:28:50.704Z,1370305730.704 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:28:50.716Z,1370305730.716 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:28:50.728Z,1370305730.728 [homing_pursuit:Rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:28:50.731Z,1370305730.731 [homing_pursuit:Rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:28:50.735Z,1370305730.735 [homing_pursuit:Rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:28:50.763Z,1370305730.763 [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">

<!-- Define mission arguments -->

    <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>0.2</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>40.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="PowerOnDATTimeoutDuration"><Description>
        Wait this long after turning on DAT before starting any behaviors that require DAT output.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ClosePursuitTimeout"><Description>
        Run in OneWayMode for this long.
    </Description><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within minimum range.
    </Description><Units:minute/><Value>7</Value></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

<!-- TODO any other science sensors that should be active? -->

<!-- Begin the mission. -->

    <Timeout Duration="TimeoutDuration"/>

<!-- Safety nets and surfacing behaviors -->
<!-- TODO re-enable
    <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>

-->

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

<!-- Set default mass and pump positions -->

    <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>

<!-- Request desired engineering data -->

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

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

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

<!-- Start actual engineering mission sequence. -->

    <Aggregate Id="PowerOnDAT">
	
        <Description>
            Give the DAT some time to start up before you ask for ranges from it.
        </Description>

        <Timeout Duration="PowerOnDATTimeoutDuration"/>

        <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">

	<Description>
            Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate.
        </Description>

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

        <!-- <Timeout Duration="InitialPursuitTimeout"/> -->

        <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">

	<Description>
            Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate.
        </Description>

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

        <Timeout Duration="ClosePursuitTimeout"/>

        <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">

	<Description>
            Move away from the target at the last commanded heading until *RolloutTimeout* has passed.

            (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)
        </Description>

        <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>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2013-06-04T00:28:50.763Z,1370305730.763 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:28:50.770Z,1370305730.770 [Default] Stopped
2013-06-04T00:28:50.771Z,1370305730.770 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:28:50.771Z,1370305730.771 [Default:GPS] Stopped
2013-06-04T00:28:50.771Z,1370305730.771 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:28:50.771Z,1370305730.771 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:28:50.771Z,1370305730.771 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:28:50.771Z,1370305730.771 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:28:50.771Z,1370305730.771 [Default:Iridium] Stopped
2013-06-04T00:28:50.771Z,1370305730.771 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:28:50.771Z,1370305730.771 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:28:50.771Z,1370305730.771 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:28:50.771Z,1370305730.771 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:28:50.771Z,1370305730.772 [Default:D.SetSpeed] Stopped
2013-06-04T00:28:50.772Z,1370305730.772 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:28:50.772Z,1370305730.772 [Default:E.GoToSurface] Stopped
2013-06-04T00:28:50.772Z,1370305730.772 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:28:50.772Z,1370305730.772 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:28:50.772Z,1370305730.772 [homing_pursuit] Running Loop=1
2013-06-04T00:28:50.772Z,1370305730.772 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:28:50.772Z,1370305730.772 [homing_pursuit:B.Pitch] Running Loop=1
2013-06-04T00:28:50.772Z,1370305730.772 [homing_pursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:28:50.773Z,1370305730.773 [homing_pursuit:C.Buoyancy] Running Loop=1
2013-06-04T00:28:50.773Z,1370305730.773 [homing_pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:28:50.773Z,1370305730.773 [homing_pursuit:D] Running Loop=1
2013-06-04T00:28:50.773Z,1370305730.773 [homing_pursuit:E] Running Loop=1
2013-06-04T00:28:50.773Z,1370305730.773 [homing_pursuit:F] Running Loop=1
2013-06-04T00:28:50.773Z,1370305730.773 [homing_pursuit:SurfaceComms] Running Loop=1
2013-06-04T00:28:50.773Z,1370305730.773 [homing_pursuit:SurfaceComms](INFO): Aggregate::initialize homing_pursuit:SurfaceComms
2013-06-04T00:28:50.773Z,1370305730.773 [homing_pursuit:SurfaceComms:A.GoToSurface] Running Loop=1
2013-06-04T00:28:50.773Z,1370305730.773 [homing_pursuit:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:28:50.790Z,1370305730.790 [homing_pursuit:F] Running Loop=1
2013-06-04T00:28:50.791Z,1370305730.791 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:28:50.792Z,1370305730.792 [homing_pursuit:E] Running Loop=1
2013-06-04T00:28:50.792Z,1370305730.792 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:28:50.793Z,1370305730.793 [homing_pursuit:D] Running Loop=1
2013-06-04T00:28:50.794Z,1370305730.793 [homing_pursuit:D](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:28:50.795Z,1370305730.795 [homing_pursuit:C.Buoyancy] Running Loop=1
2013-06-04T00:28:50.796Z,1370305730.796 [homing_pursuit:B.Pitch] Running Loop=1
2013-06-04T00:28:50.799Z,1370305730.799 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:28:50.799Z,1370305730.799 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:28:50.799Z,1370305730.799 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:28:50.802Z,1370305730.802 [homing_pursuit:SurfaceComms:B] Running Loop=1
2013-06-04T00:28:50.803Z,1370305730.803 [homing_pursuit:SurfaceComms:B](INFO): Aggregate::initialize homing_pursuit:SurfaceComms:B
2013-06-04T00:28:50.803Z,1370305730.803 [homing_pursuit:SurfaceComms:B:A] Running Loop=1
2013-06-04T00:28:51.192Z,1370305731.192 [DAT](INFO): Powering up
2013-06-04T00:28:51.202Z,1370305731.202 [homing_pursuit:SurfaceComms:B] Stopped
2013-06-04T00:28:51.202Z,1370305731.202 [homing_pursuit:SurfaceComms:B](INFO): Aggregate::uninitialize homing_pursuit:SurfaceComms:B
2013-06-04T00:28:51.202Z,1370305731.202 [homing_pursuit:SurfaceComms:B:A] Stopped
2013-06-04T00:28:51.202Z,1370305731.202 [homing_pursuit:SurfaceComms:C] Running Loop=1
2013-06-04T00:28:51.203Z,1370305731.203 [homing_pursuit:SurfaceComms:C](INFO): Aggregate::initialize homing_pursuit:SurfaceComms:C
2013-06-04T00:28:51.203Z,1370305731.203 [homing_pursuit:SurfaceComms:C:A] Running Loop=1
2013-06-04T00:28:51.570Z,1370305731.570 [homing_pursuit:F] Preempted
2013-06-04T00:28:51.570Z,1370305731.570 [homing_pursuit:E] Preempted
2013-06-04T00:28:51.570Z,1370305731.570 [homing_pursuit:D] Preempted
2013-06-04T00:28:51.570Z,1370305731.570 [homing_pursuit:C.Buoyancy] Preempted
2013-06-04T00:28:51.570Z,1370305731.570 [homing_pursuit:B.Pitch] Preempted
2013-06-04T00:28:51.571Z,1370305731.571 [homing_pursuit:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-04T00:28:52.806Z,1370305732.806 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:28:52.807Z,1370305732.807 [DVL_micro](INFO): Querying output modes
2013-06-04T00:28:52.807Z,1370305732.807 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:28:52.824Z,1370305732.824 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:28:52.824Z,1370305732.824 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:28:52.824Z,1370305732.824 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:28:52.838Z,1370305732.838 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:28:52.841Z,1370305732.841 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:29:08.654Z,1370305748.654 [CommandLine](IMPORTANT): got command stop
2013-06-04T00:29:08.830Z,1370305748.830 [homing_pursuit] Stopped
2013-06-04T00:29:08.830Z,1370305748.830 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:29:08.830Z,1370305748.830 [homing_pursuit:SurfaceComms] Stopped
2013-06-04T00:29:08.830Z,1370305748.830 [homing_pursuit:SurfaceComms](INFO): Aggregate::uninitialize homing_pursuit:SurfaceComms
2013-06-04T00:29:08.830Z,1370305748.830 [homing_pursuit:SurfaceComms:A.GoToSurface] Stopped
2013-06-04T00:29:08.831Z,1370305748.830 [homing_pursuit:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:29:08.831Z,1370305748.831 [homing_pursuit:SurfaceComms:C] Stopped
2013-06-04T00:29:08.831Z,1370305748.831 [homing_pursuit:SurfaceComms:C](INFO): Aggregate::uninitialize homing_pursuit:SurfaceComms:C
2013-06-04T00:29:08.831Z,1370305748.831 [homing_pursuit:SurfaceComms:C:A] Stopped
2013-06-04T00:29:08.831Z,1370305748.831 [homing_pursuit:B.Pitch] Stopped
2013-06-04T00:29:08.831Z,1370305748.831 [homing_pursuit:C.Buoyancy] Stopped
2013-06-04T00:29:08.831Z,1370305748.831 [homing_pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:29:08.831Z,1370305748.831 [homing_pursuit:D] Stopped
2013-06-04T00:29:08.831Z,1370305748.831 [homing_pursuit:E] Stopped
2013-06-04T00:29:08.831Z,1370305748.831 [homing_pursuit:F] Stopped
2013-06-04T00:29:09.164Z,1370305749.164 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:29:09.165Z,1370305749.165 [Default] Running Loop=1
2013-06-04T00:29:09.165Z,1370305749.165 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:29:09.165Z,1370305749.165 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:29:09.165Z,1370305749.165 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:29:09.165Z,1370305749.165 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:29:09.165Z,1370305749.165 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:29:09.165Z,1370305749.165 [Default:Iridium] Running Loop=1
2013-06-04T00:29:09.165Z,1370305749.165 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:29:09.166Z,1370305749.165 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:29:09.166Z,1370305749.166 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:29:09.166Z,1370305749.166 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:29:09.166Z,1370305749.166 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:29:09.168Z,1370305749.168 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:29:09.168Z,1370305749.168 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:29:09.168Z,1370305749.168 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:29:09.169Z,1370305749.169 [Default:GPS] Running Loop=1
2013-06-04T00:29:09.169Z,1370305749.169 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:29:09.169Z,1370305749.169 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:29:09.169Z,1370305749.169 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:29:09.169Z,1370305749.169 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:29:09.169Z,1370305749.170 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:29:09.170Z,1370305749.170 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:29:09.170Z,1370305749.171 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:29:09.171Z,1370305749.171 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:29:11.553Z,1370305751.553 [DAT](INFO): Powering down
2013-06-04T00:29:14.432Z,1370305754.432 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:29:18.708Z,1370305758.708 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:29:20.022Z,1370305760.022 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:29:20.023Z,1370305760.023 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:29:20.104Z,1370305760.104 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:29:20.106Z,1370305760.106 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = -0.006000 n/a
2013-06-04T00:29:20.109Z,1370305760.109 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000560 n/a
2013-06-04T00:29:20.128Z,1370305760.128 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:29:20.131Z,1370305760.131 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 40.000000 m
2013-06-04T00:29:20.133Z,1370305760.133 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:29:20.135Z,1370305760.135 [MissionManager](INFO): DefineArg homing_pursuit.PowerOnDATTimeoutDuration = 1.000000 min
2013-06-04T00:29:20.137Z,1370305760.137 [MissionManager](INFO): DefineArg homing_pursuit.ClosePursuitTimeout = 180.000000 s
2013-06-04T00:29:20.140Z,1370305760.140 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:29:20.142Z,1370305760.142 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:29:20.144Z,1370305760.144 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:29:20.149Z,1370305760.149 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:29:20.152Z,1370305760.151 [homing_pursuit:A.Pitch](DEBUG): Construct.
2013-06-04T00:29:20.157Z,1370305760.157 [homing_pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:29:20.164Z,1370305760.164 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:29:20.166Z,1370305760.166 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:29:20.170Z,1370305760.170 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:29:20.172Z,1370305760.172 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:29:20.219Z,1370305760.219 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:29:20.223Z,1370305760.223 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:29:20.228Z,1370305760.228 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:29:20.234Z,1370305760.234 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:29:20.236Z,1370305760.236 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:29:20.241Z,1370305760.241 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:29:20.247Z,1370305760.247 [homing_pursuit:Rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:29:20.249Z,1370305760.249 [homing_pursuit:Rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:29:20.253Z,1370305760.253 [homing_pursuit:Rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:29:20.254Z,1370305760.254 [MissionManager](CRITICAL): No Aggregate corresponding to RefId SurfaceComms at homing_pursuit:PhoneHome
2013-06-04T00:29:20.254Z,1370305760.254 [homing_pursuit](CRITICAL): Error!!!! no component for child behavior.
2013-06-04T00:29:20.263Z,1370305760.263 [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">

<!-- Define mission arguments -->

    <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>0.2</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>40.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="PowerOnDATTimeoutDuration"><Description>
        Wait this long after turning on DAT before starting any behaviors that require DAT output.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ClosePursuitTimeout"><Description>
        Run in OneWayMode for this long.
    </Description><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within minimum range.
    </Description><Units:minute/><Value>7</Value></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

<!-- TODO any other science sensors that should be active? -->

<!-- Begin the mission. -->

    <Timeout Duration="TimeoutDuration"/>

<!-- Safety nets and surfacing behaviors -->
<!-- TODO re-enable
    <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>

-->

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

<!-- Set default mass and pump positions -->

    <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>

<!-- Request desired engineering data -->

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

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

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

<!-- Start actual engineering mission sequence. -->

    <Aggregate Id="PowerOnDAT">
	
        <Description>
            Give the DAT some time to start up before you ask for ranges from it.
        </Description>

        <Timeout Duration="PowerOnDATTimeoutDuration"/>

        <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">

	<Description>
            Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate.
        </Description>

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

        <!-- <Timeout Duration="InitialPursuitTimeout"/> -->

        <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">

	<Description>
            Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate.
        </Description>

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

        <Timeout Duration="ClosePursuitTimeout"/>

        <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">

	<Description>
            Move away from the target at the last commanded heading until *RolloutTimeout* has passed.

            (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)
        </Description>

        <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>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2013-06-04T00:29:20.263Z,1370305760.263 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:29:20.336Z,1370305760.336 [Default] Stopped
2013-06-04T00:29:20.337Z,1370305760.337 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:29:20.337Z,1370305760.337 [Default:GPS] Stopped
2013-06-04T00:29:20.337Z,1370305760.337 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:29:20.337Z,1370305760.337 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:29:20.337Z,1370305760.337 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:29:20.337Z,1370305760.337 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:29:20.337Z,1370305760.337 [Default:Iridium] Stopped
2013-06-04T00:29:20.337Z,1370305760.337 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:29:20.337Z,1370305760.337 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:29:20.338Z,1370305760.338 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:29:20.338Z,1370305760.338 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:29:20.338Z,1370305760.338 [Default:D.SetSpeed] Stopped
2013-06-04T00:29:20.338Z,1370305760.338 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:29:20.338Z,1370305760.338 [Default:E.GoToSurface] Stopped
2013-06-04T00:29:20.338Z,1370305760.338 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:29:20.338Z,1370305760.338 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:29:20.338Z,1370305760.338 [homing_pursuit] Running Loop=1
2013-06-04T00:29:20.339Z,1370305760.339 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:29:20.339Z,1370305760.339 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:29:20.339Z,1370305760.339 [homing_pursuit:A.Pitch](DEBUG): Initialize.
2013-06-04T00:29:20.339Z,1370305760.339 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:29:20.339Z,1370305760.339 [homing_pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:29:20.339Z,1370305760.339 [homing_pursuit:C] Running Loop=1
2013-06-04T00:29:20.339Z,1370305760.339 [homing_pursuit:D] Running Loop=1
2013-06-04T00:29:20.339Z,1370305760.339 [homing_pursuit:E] Running Loop=1
2013-06-04T00:29:20.340Z,1370305760.339 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-04T00:29:20.340Z,1370305760.340 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-04T00:29:20.340Z,1370305760.340 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:29:20.340Z,1370305760.340 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:29:20.340Z,1370305760.340 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:29:20.340Z,1370305760.340 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-04T00:29:20.340Z,1370305760.340 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-04T00:29:20.340Z,1370305760.340 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:29:20.342Z,1370305760.342 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:29:20.343Z,1370305760.343 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:29:20.344Z,1370305760.344 [homing_pursuit:E] Running Loop=1
2013-06-04T00:29:20.345Z,1370305760.345 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:29:20.345Z,1370305760.345 [homing_pursuit:D] Running Loop=1
2013-06-04T00:29:20.346Z,1370305760.346 [homing_pursuit:D](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:29:20.347Z,1370305760.347 [homing_pursuit:C] Running Loop=1
2013-06-04T00:29:20.348Z,1370305760.348 [homing_pursuit:C](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:29:20.349Z,1370305760.349 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:29:20.355Z,1370305760.355 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:29:20.709Z,1370305760.709 [DAT](INFO): Powering up
2013-06-04T00:29:20.720Z,1370305760.720 [homing_pursuit] Stopped
2013-06-04T00:29:20.720Z,1370305760.720 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:A.Pitch] Stopped
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:B.Buoyancy] Stopped
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:C] Stopped
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:D] Stopped
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:E] Stopped
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:PowerOnDAT] Stopped
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-04T00:29:20.721Z,1370305760.721 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:29:21.114Z,1370305761.114 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:29:21.114Z,1370305761.114 [Default] Running Loop=1
2013-06-04T00:29:21.114Z,1370305761.114 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:29:21.114Z,1370305761.114 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:29:21.114Z,1370305761.114 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:29:21.115Z,1370305761.115 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:29:21.115Z,1370305761.115 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:29:21.115Z,1370305761.115 [Default:Iridium] Running Loop=1
2013-06-04T00:29:21.115Z,1370305761.115 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:29:21.115Z,1370305761.115 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:29:21.115Z,1370305761.115 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:29:21.115Z,1370305761.115 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:29:21.115Z,1370305761.115 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:29:21.117Z,1370305761.117 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:29:21.117Z,1370305761.117 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:29:21.118Z,1370305761.118 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:29:21.118Z,1370305761.118 [Default:GPS] Running Loop=1
2013-06-04T00:29:21.118Z,1370305761.118 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:29:21.118Z,1370305761.118 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:29:21.119Z,1370305761.118 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:29:21.119Z,1370305761.119 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:29:21.119Z,1370305761.119 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:29:21.119Z,1370305761.119 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:29:21.120Z,1370305761.120 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:29:21.120Z,1370305761.120 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:29:25.996Z,1370305765.996 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:29:28.446Z,1370305768.446 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:29:28.447Z,1370305768.447 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:29:28.525Z,1370305768.525 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:29:28.527Z,1370305768.527 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = -0.006000 n/a
2013-06-04T00:29:28.530Z,1370305768.530 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000560 n/a
2013-06-04T00:29:28.533Z,1370305768.533 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:29:28.535Z,1370305768.535 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 40.000000 m
2013-06-04T00:29:28.538Z,1370305768.537 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:29:28.540Z,1370305768.540 [MissionManager](INFO): DefineArg homing_pursuit.PowerOnDATTimeoutDuration = 1.000000 min
2013-06-04T00:29:28.542Z,1370305768.542 [MissionManager](INFO): DefineArg homing_pursuit.ClosePursuitTimeout = 180.000000 s
2013-06-04T00:29:28.545Z,1370305768.545 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:29:28.548Z,1370305768.548 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:29:28.550Z,1370305768.550 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:29:28.553Z,1370305768.553 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:29:28.554Z,1370305768.554 [homing_pursuit:A.Pitch](DEBUG): Construct.
2013-06-04T00:29:28.558Z,1370305768.558 [homing_pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:29:28.564Z,1370305768.564 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:29:28.603Z,1370305768.603 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:29:28.611Z,1370305768.611 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:29:28.618Z,1370305768.618 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:29:28.621Z,1370305768.621 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:29:28.629Z,1370305768.629 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:29:28.636Z,1370305768.636 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:29:28.640Z,1370305768.640 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:29:28.643Z,1370305768.643 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:29:28.647Z,1370305768.647 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:29:28.653Z,1370305768.653 [homing_pursuit:Rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:29:28.656Z,1370305768.656 [homing_pursuit:Rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:29:28.661Z,1370305768.661 [homing_pursuit:Rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:29:28.662Z,1370305768.662 [MissionManager](CRITICAL): No Aggregate corresponding to RefId SurfaceComms at homing_pursuit:PhoneHome
2013-06-04T00:29:28.663Z,1370305768.662 [homing_pursuit](CRITICAL): Error!!!! no component for child behavior.
2013-06-04T00:29:28.671Z,1370305768.671 [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">

<!-- Define mission arguments -->

    <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>0.2</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>40.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="PowerOnDATTimeoutDuration"><Description>
        Wait this long after turning on DAT before starting any behaviors that require DAT output.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ClosePursuitTimeout"><Description>
        Run in OneWayMode for this long.
    </Description><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within minimum range.
    </Description><Units:minute/><Value>7</Value></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

<!-- TODO any other science sensors that should be active? -->

<!-- Begin the mission. -->

    <Timeout Duration="TimeoutDuration"/>

<!-- Safety nets and surfacing behaviors -->
<!-- TODO re-enable
    <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>

-->

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

<!-- Set default mass and pump positions -->

    <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>

<!-- Request desired engineering data -->

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

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

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

<!-- Start actual engineering mission sequence. -->

    <Aggregate Id="PowerOnDAT">
	
        <Description>
            Give the DAT some time to start up before you ask for ranges from it.
        </Description>

        <Timeout Duration="PowerOnDATTimeoutDuration"/>

        <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">

	<Description>
            Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate.
        </Description>

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

        <!-- <Timeout Duration="InitialPursuitTimeout"/> -->

        <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">

	<Description>
            Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate.
        </Description>

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

        <Timeout Duration="ClosePursuitTimeout"/>

        <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">

	<Description>
            Move away from the target at the last commanded heading until *RolloutTimeout* has passed.

            (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)
        </Description>

        <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>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2013-06-04T00:29:28.672Z,1370305768.672 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:29:28.806Z,1370305768.806 [Default] Stopped
2013-06-04T00:29:28.806Z,1370305768.806 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:29:28.806Z,1370305768.806 [Default:GPS] Stopped
2013-06-04T00:29:28.807Z,1370305768.806 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:29:28.807Z,1370305768.806 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:29:28.807Z,1370305768.807 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:29:28.807Z,1370305768.807 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:29:28.807Z,1370305768.807 [Default:Iridium] Stopped
2013-06-04T00:29:28.807Z,1370305768.807 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:29:28.807Z,1370305768.807 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:29:28.807Z,1370305768.807 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:29:28.807Z,1370305768.807 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:29:28.807Z,1370305768.807 [Default:D.SetSpeed] Stopped
2013-06-04T00:29:28.807Z,1370305768.807 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:29:28.807Z,1370305768.807 [Default:E.GoToSurface] Stopped
2013-06-04T00:29:28.808Z,1370305768.807 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:29:28.808Z,1370305768.808 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:29:28.808Z,1370305768.808 [homing_pursuit] Running Loop=1
2013-06-04T00:29:28.808Z,1370305768.808 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:29:28.808Z,1370305768.808 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:29:28.808Z,1370305768.808 [homing_pursuit:A.Pitch](DEBUG): Initialize.
2013-06-04T00:29:28.808Z,1370305768.808 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:29:28.808Z,1370305768.809 [homing_pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:29:28.809Z,1370305768.809 [homing_pursuit:C] Running Loop=1
2013-06-04T00:29:28.809Z,1370305768.809 [homing_pursuit:D] Running Loop=1
2013-06-04T00:29:28.809Z,1370305768.809 [homing_pursuit:E] Running Loop=1
2013-06-04T00:29:28.809Z,1370305768.809 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-04T00:29:28.809Z,1370305768.809 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-04T00:29:28.809Z,1370305768.809 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:29:28.809Z,1370305768.809 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:29:28.809Z,1370305768.809 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:29:28.809Z,1370305768.809 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-04T00:29:28.810Z,1370305768.810 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-04T00:29:28.810Z,1370305768.810 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:29:28.811Z,1370305768.811 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:29:28.812Z,1370305768.812 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:29:28.813Z,1370305768.813 [homing_pursuit:E] Running Loop=1
2013-06-04T00:29:28.819Z,1370305768.819 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:29:28.820Z,1370305768.820 [homing_pursuit:D] Running Loop=1
2013-06-04T00:29:28.821Z,1370305768.821 [homing_pursuit:D](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:29:28.822Z,1370305768.822 [homing_pursuit:C] Running Loop=1
2013-06-04T00:29:28.822Z,1370305768.822 [homing_pursuit:C](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:29:28.823Z,1370305768.823 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:29:28.824Z,1370305768.824 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:29:29.223Z,1370305769.223 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:29:29.223Z,1370305769.223 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:29:29.223Z,1370305769.223 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:29:29.243Z,1370305769.243 [homing_pursuit] Stopped
2013-06-04T00:29:29.243Z,1370305769.243 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:29:29.243Z,1370305769.243 [homing_pursuit:A.Pitch] Stopped
2013-06-04T00:29:29.243Z,1370305769.243 [homing_pursuit:B.Buoyancy] Stopped
2013-06-04T00:29:29.243Z,1370305769.243 [homing_pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:29:29.243Z,1370305769.243 [homing_pursuit:C] Stopped
2013-06-04T00:29:29.243Z,1370305769.243 [homing_pursuit:D] Stopped
2013-06-04T00:29:29.243Z,1370305769.243 [homing_pursuit:E] Stopped
2013-06-04T00:29:29.244Z,1370305769.244 [homing_pursuit:PowerOnDAT] Stopped
2013-06-04T00:29:29.244Z,1370305769.244 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-04T00:29:29.244Z,1370305769.244 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-04T00:29:29.244Z,1370305769.244 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:29:29.244Z,1370305769.244 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-04T00:29:29.244Z,1370305769.244 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-04T00:29:29.244Z,1370305769.244 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:29:30.108Z,1370305770.108 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:29:30.108Z,1370305770.109 [Default] Running Loop=1
2013-06-04T00:29:30.109Z,1370305770.109 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:29:30.109Z,1370305770.109 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:29:30.109Z,1370305770.109 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:29:30.109Z,1370305770.109 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:29:30.109Z,1370305770.109 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:29:30.109Z,1370305770.109 [Default:Iridium] Running Loop=1
2013-06-04T00:29:30.109Z,1370305770.109 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:29:30.109Z,1370305770.109 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:29:30.109Z,1370305770.109 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:29:30.110Z,1370305770.110 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:29:30.110Z,1370305770.110 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:29:30.112Z,1370305770.112 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:29:30.112Z,1370305770.112 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:29:30.112Z,1370305770.112 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:29:30.113Z,1370305770.113 [Default:GPS] Running Loop=1
2013-06-04T00:29:30.113Z,1370305770.113 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:29:30.113Z,1370305770.113 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:29:30.113Z,1370305770.113 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:29:30.113Z,1370305770.113 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:29:30.113Z,1370305770.113 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:29:30.114Z,1370305770.114 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:29:30.114Z,1370305770.114 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:29:30.114Z,1370305770.114 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:29:30.355Z,1370305770.355 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:29:31.230Z,1370305771.230 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:29:31.231Z,1370305771.231 [DVL_micro](INFO): Querying output modes
2013-06-04T00:29:31.231Z,1370305771.231 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:29:31.242Z,1370305771.242 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:29:31.242Z,1370305771.242 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:29:31.242Z,1370305771.242 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:29:31.254Z,1370305771.254 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:29:31.257Z,1370305771.257 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:29:35.228Z,1370305775.228 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:29:36.062Z,1370305776.062 [CommandLine](IMPORTANT): got command show stack
2013-06-04T00:29:36.062Z,1370305776.062 [CommandLine](INFO): Behavior Stack:

2013-06-04T00:29:36.063Z,1370305776.063 [Default:GPS](INFO): Priority 0: Default:GPS:A.SetSpeed
2013-06-04T00:29:36.064Z,1370305776.063 [Default:GPS](INFO): Priority 1: Default:GPS:Read_GPS
2013-06-04T00:29:36.064Z,1370305776.064 [Default:Iridium](INFO): Priority 2: Default:Iridium:A.SetSpeed
2013-06-04T00:29:36.064Z,1370305776.064 [Default:Iridium](INFO): Priority 3: Default:Iridium:Read_Iridium
2013-06-04T00:29:36.064Z,1370305776.064 [Default](INFO): Priority 4: Default:D.SetSpeed
2013-06-04T00:29:36.065Z,1370305776.065 [Default](INFO): Priority 5: Default:E.GoToSurface
2013-06-04T00:29:39.716Z,1370305779.716 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:29:41.168Z,1370305781.168 [DAT](INFO): Powering down
2013-06-04T00:29:43.892Z,1370305783.892 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:29:48.228Z,1370305788.228 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:29:52.204Z,1370305792.204 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:29:56.491Z,1370305796.491 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:30:01.206Z,1370305801.207 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:30:05.800Z,1370305805.800 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:30:10.104Z,1370305810.104 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:30:12.190Z,1370305812.190 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:30:12.191Z,1370305812.191 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:30:12.271Z,1370305812.271 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:30:12.274Z,1370305812.274 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = -0.006000 n/a
2013-06-04T00:30:12.295Z,1370305812.295 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000560 n/a
2013-06-04T00:30:12.297Z,1370305812.297 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:30:12.299Z,1370305812.299 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 40.000000 m
2013-06-04T00:30:12.301Z,1370305812.301 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:30:12.304Z,1370305812.304 [MissionManager](INFO): DefineArg homing_pursuit.PowerOnDATTimeoutDuration = 1.000000 min
2013-06-04T00:30:12.306Z,1370305812.306 [MissionManager](INFO): DefineArg homing_pursuit.ClosePursuitTimeout = 180.000000 s
2013-06-04T00:30:12.308Z,1370305812.308 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:30:12.310Z,1370305812.310 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:30:12.313Z,1370305812.313 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:30:12.315Z,1370305812.315 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:30:12.317Z,1370305812.317 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-06-04T00:30:12.336Z,1370305812.336 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-06-04T00:30:12.339Z,1370305812.339 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.SurfacePitch = nan arcdeg
2013-06-04T00:30:12.342Z,1370305812.342 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-06-04T00:30:12.344Z,1370305812.344 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-06-04T00:30:12.346Z,1370305812.346 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-06-04T00:30:12.347Z,1370305812.347 [homing_pursuit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T00:30:12.356Z,1370305812.356 [homing_pursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:30:12.360Z,1370305812.360 [homing_pursuit:C.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:30:12.366Z,1370305812.366 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:30:12.369Z,1370305812.369 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:30:12.372Z,1370305812.372 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:30:12.412Z,1370305812.412 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:30:12.425Z,1370305812.425 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:30:12.429Z,1370305812.429 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:30:12.434Z,1370305812.434 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:30:12.454Z,1370305812.454 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:30:12.457Z,1370305812.457 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:30:12.461Z,1370305812.461 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:30:12.495Z,1370305812.495 [homing_pursuit:Rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:30:12.497Z,1370305812.497 [homing_pursuit:Rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:30:12.510Z,1370305812.510 [homing_pursuit:Rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:30:12.536Z,1370305812.536 [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">

<!-- Define mission arguments -->

    <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>0.2</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>40.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="PowerOnDATTimeoutDuration"><Description>
        Wait this long after turning on DAT before starting any behaviors that require DAT output.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ClosePursuitTimeout"><Description>
        Run in OneWayMode for this long.
    </Description><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within minimum range.
    </Description><Units:minute/><Value>7</Value></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

<!-- TODO any other science sensors that should be active? -->

<!-- Begin the mission. -->

    <Timeout Duration="TimeoutDuration"/>

<!-- Safety nets and surfacing behaviors -->
<!-- TODO re-enable
    <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>

-->

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

<!-- Set default mass and pump positions -->

    <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>

<!-- Request desired engineering data -->

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

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

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

<!-- Start actual engineering mission sequence. -->

    <Aggregate Id="PowerOnDAT">
	
        <Description>
            Give the DAT some time to start up before you ask for ranges from it.
        </Description>

        <Timeout Duration="PowerOnDATTimeoutDuration"/>

        <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">

	<Description>
            Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate.
        </Description>

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

        <!-- <Timeout Duration="InitialPursuitTimeout"/> -->

        <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">

	<Description>
            Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate.
        </Description>

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

        <Timeout Duration="ClosePursuitTimeout"/>

        <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">

	<Description>
            Move away from the target at the last commanded heading until *RolloutTimeout* has passed.

            (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)
        </Description>

        <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>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2013-06-04T00:30:12.536Z,1370305812.536 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:30:12.870Z,1370305812.870 [Default] Stopped
2013-06-04T00:30:12.870Z,1370305812.870 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:30:12.870Z,1370305812.870 [Default:GPS] Stopped
2013-06-04T00:30:12.870Z,1370305812.870 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:30:12.870Z,1370305812.870 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:30:12.870Z,1370305812.870 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:30:12.870Z,1370305812.870 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:30:12.871Z,1370305812.871 [Default:Iridium] Stopped
2013-06-04T00:30:12.871Z,1370305812.871 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:30:12.871Z,1370305812.871 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:30:12.871Z,1370305812.871 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:30:12.871Z,1370305812.871 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:30:12.871Z,1370305812.871 [Default:D.SetSpeed] Stopped
2013-06-04T00:30:12.871Z,1370305812.871 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:30:12.871Z,1370305812.871 [Default:E.GoToSurface] Stopped
2013-06-04T00:30:12.871Z,1370305812.871 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:30:12.871Z,1370305812.871 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:30:12.872Z,1370305812.872 [homing_pursuit] Running Loop=1
2013-06-04T00:30:12.872Z,1370305812.872 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:30:12.872Z,1370305812.872 [homing_pursuit:B.Pitch] Running Loop=1
2013-06-04T00:30:12.872Z,1370305812.872 [homing_pursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:30:12.872Z,1370305812.872 [homing_pursuit:C.Buoyancy] Running Loop=1
2013-06-04T00:30:12.872Z,1370305812.872 [homing_pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:30:12.872Z,1370305812.872 [homing_pursuit:D] Running Loop=1
2013-06-04T00:30:12.872Z,1370305812.872 [homing_pursuit:E] Running Loop=1
2013-06-04T00:30:12.872Z,1370305812.872 [homing_pursuit:F] Running Loop=1
2013-06-04T00:30:12.873Z,1370305812.872 [homing_pursuit:SurfaceComms] Running Loop=1
2013-06-04T00:30:12.873Z,1370305812.873 [homing_pursuit:SurfaceComms](INFO): Aggregate::initialize homing_pursuit:SurfaceComms
2013-06-04T00:30:12.873Z,1370305812.873 [homing_pursuit:SurfaceComms:A.GoToSurface] Running Loop=1
2013-06-04T00:30:12.873Z,1370305812.873 [homing_pursuit:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:30:12.873Z,1370305812.873 [homing_pursuit:F] Running Loop=1
2013-06-04T00:30:12.890Z,1370305812.890 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:30:12.891Z,1370305812.891 [homing_pursuit:E] Running Loop=1
2013-06-04T00:30:12.891Z,1370305812.891 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:30:12.892Z,1370305812.892 [homing_pursuit:D] Running Loop=1
2013-06-04T00:30:12.893Z,1370305812.893 [homing_pursuit:D](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:30:12.894Z,1370305812.894 [homing_pursuit:C.Buoyancy] Running Loop=1
2013-06-04T00:30:12.899Z,1370305812.899 [homing_pursuit:B.Pitch] Running Loop=1
2013-06-04T00:30:12.901Z,1370305812.901 [homing_pursuit:SurfaceComms:B] Running Loop=1
2013-06-04T00:30:12.901Z,1370305812.901 [homing_pursuit:SurfaceComms:B](INFO): Aggregate::initialize homing_pursuit:SurfaceComms:B
2013-06-04T00:30:12.902Z,1370305812.902 [homing_pursuit:SurfaceComms:B:A] Running Loop=1
2013-06-04T00:30:12.903Z,1370305812.903 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:30:12.903Z,1370305812.903 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:30:12.903Z,1370305812.903 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:30:13.289Z,1370305813.289 [DAT](INFO): Powering up
2013-06-04T00:30:13.299Z,1370305813.299 [homing_pursuit:SurfaceComms:B] Stopped
2013-06-04T00:30:13.299Z,1370305813.299 [homing_pursuit:SurfaceComms:B](INFO): Aggregate::uninitialize homing_pursuit:SurfaceComms:B
2013-06-04T00:30:13.299Z,1370305813.299 [homing_pursuit:SurfaceComms:B:A] Stopped
2013-06-04T00:30:13.300Z,1370305813.300 [homing_pursuit:SurfaceComms:C] Running Loop=1
2013-06-04T00:30:13.300Z,1370305813.300 [homing_pursuit:SurfaceComms:C](INFO): Aggregate::initialize homing_pursuit:SurfaceComms:C
2013-06-04T00:30:13.300Z,1370305813.300 [homing_pursuit:SurfaceComms:C:A] Running Loop=1
2013-06-04T00:30:14.162Z,1370305814.162 [homing_pursuit:F] Preempted
2013-06-04T00:30:14.162Z,1370305814.162 [homing_pursuit:E] Preempted
2013-06-04T00:30:14.162Z,1370305814.162 [homing_pursuit:D] Preempted
2013-06-04T00:30:14.162Z,1370305814.162 [homing_pursuit:C.Buoyancy] Preempted
2013-06-04T00:30:14.162Z,1370305814.162 [homing_pursuit:B.Pitch] Preempted
2013-06-04T00:30:14.163Z,1370305814.163 [homing_pursuit:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-04T00:30:14.396Z,1370305814.396 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:30:14.910Z,1370305814.910 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:30:14.911Z,1370305814.911 [DVL_micro](INFO): Querying output modes
2013-06-04T00:30:14.911Z,1370305814.911 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:30:14.922Z,1370305814.922 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:30:14.922Z,1370305814.922 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:30:14.923Z,1370305814.922 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:30:14.934Z,1370305814.934 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:30:14.937Z,1370305814.937 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:30:34.002Z,1370305834.001 [DAT](INFO): Powering down
2013-06-04T00:30:43.390Z,1370305843.390 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:30:43.391Z,1370305843.391 [homing_pursuit] Stopped
2013-06-04T00:30:43.391Z,1370305843.391 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:30:43.391Z,1370305843.391 [homing_pursuit:SurfaceComms] Stopped
2013-06-04T00:30:43.391Z,1370305843.391 [homing_pursuit:SurfaceComms](INFO): Aggregate::uninitialize homing_pursuit:SurfaceComms
2013-06-04T00:30:43.391Z,1370305843.391 [homing_pursuit:SurfaceComms:A.GoToSurface] Stopped
2013-06-04T00:30:43.391Z,1370305843.391 [homing_pursuit:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:30:43.391Z,1370305843.391 [homing_pursuit:SurfaceComms:C] Stopped
2013-06-04T00:30:43.391Z,1370305843.391 [homing_pursuit:SurfaceComms:C](INFO): Aggregate::uninitialize homing_pursuit:SurfaceComms:C
2013-06-04T00:30:43.391Z,1370305843.391 [homing_pursuit:SurfaceComms:C:A] Stopped
2013-06-04T00:30:43.391Z,1370305843.391 [homing_pursuit:B.Pitch] Stopped
2013-06-04T00:30:43.391Z,1370305843.391 [homing_pursuit:C.Buoyancy] Stopped
2013-06-04T00:30:43.392Z,1370305843.392 [homing_pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:30:43.392Z,1370305843.392 [homing_pursuit:D] Stopped
2013-06-04T00:30:43.392Z,1370305843.392 [homing_pursuit:E] Stopped
2013-06-04T00:30:43.392Z,1370305843.392 [homing_pursuit:F] Stopped
2013-06-04T00:30:43.402Z,1370305843.402 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:30:43.507Z,1370305843.507 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:30:43.510Z,1370305843.510 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = -0.006000 n/a
2013-06-04T00:30:43.516Z,1370305843.516 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000560 n/a
2013-06-04T00:30:43.541Z,1370305843.542 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:30:43.544Z,1370305843.544 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 40.000000 m
2013-06-04T00:30:43.548Z,1370305843.547 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:30:43.550Z,1370305843.550 [MissionManager](INFO): DefineArg homing_pursuit.PowerOnDATTimeoutDuration = 1.000000 min
2013-06-04T00:30:43.552Z,1370305843.552 [MissionManager](INFO): DefineArg homing_pursuit.ClosePursuitTimeout = 180.000000 s
2013-06-04T00:30:43.555Z,1370305843.555 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:30:43.557Z,1370305843.557 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:30:43.559Z,1370305843.559 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:30:43.562Z,1370305843.562 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:30:43.563Z,1370305843.563 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2013-06-04T00:30:43.615Z,1370305843.615 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.SurfaceDepthRate = nan m/s
2013-06-04T00:30:43.617Z,1370305843.617 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.SurfacePitch = nan arcdeg
2013-06-04T00:30:43.620Z,1370305843.620 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.SurfaceSpeed = 0.500000 m/s
2013-06-04T00:30:43.634Z,1370305843.634 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.IridiumTimeout = 30.000000 min
2013-06-04T00:30:43.636Z,1370305843.636 [MissionManager](INFO): DefineArg homing_pursuit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2013-06-04T00:30:43.637Z,1370305843.637 [homing_pursuit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T00:30:43.649Z,1370305843.649 [homing_pursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:30:43.653Z,1370305843.653 [homing_pursuit:C.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:30:43.659Z,1370305843.659 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:30:43.662Z,1370305843.662 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:30:43.665Z,1370305843.665 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:30:43.669Z,1370305843.669 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:30:43.671Z,1370305843.671 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:30:43.715Z,1370305843.715 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:30:43.720Z,1370305843.720 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:30:43.730Z,1370305843.730 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:30:43.732Z,1370305843.732 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:30:43.736Z,1370305843.736 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:30:43.749Z,1370305843.749 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Construct Wait.
2013-06-04T00:30:43.756Z,1370305843.756 [homing_pursuit:Rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:30:43.762Z,1370305843.762 [homing_pursuit:Rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:30:43.770Z,1370305843.770 [homing_pursuit:Rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:30:43.801Z,1370305843.801 [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">

<!-- Define mission arguments -->

    <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>0.2</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>40.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="PowerOnDATTimeoutDuration"><Description>
        Wait this long after turning on DAT before starting any behaviors that require DAT output.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ClosePursuitTimeout"><Description>
        Run in OneWayMode for this long.
    </Description><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within minimum range.
    </Description><Units:minute/><Value>7</Value></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

<!-- TODO any other science sensors that should be active? -->

<!-- Begin the mission. -->

    <Timeout Duration="TimeoutDuration"/>

<!-- Safety nets and surfacing behaviors -->
<!-- TODO re-enable
    <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>

-->

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

<!-- Set default mass and pump positions -->

    <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>

<!-- Request desired engineering data -->

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

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

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

<!-- Start actual engineering mission sequence. -->

    <Aggregate Id="PowerOnDAT">
	
        <Description>
            Give the DAT some time to start up before you ask for ranges from it.
        </Description>

        <Timeout Duration="PowerOnDATTimeoutDuration"/>

        <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">

	<Description>
            Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate.
        </Description>

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

        <!-- <Timeout Duration="InitialPursuitTimeout"/> -->

        <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">

	<Description>
            Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate.
        </Description>

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

        <Timeout Duration="ClosePursuitTimeout"/>

        <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">

	<Description>
            Move away from the target at the last commanded heading until *RolloutTimeout* has passed.

            (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)
        </Description>

        <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>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2013-06-04T00:30:43.810Z,1370305843.810 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:30:44.169Z,1370305844.169 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:30:44.170Z,1370305844.170 [homing_pursuit] Running Loop=1
2013-06-04T00:30:44.170Z,1370305844.170 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:30:44.170Z,1370305844.170 [homing_pursuit:B.Pitch] Running Loop=1
2013-06-04T00:30:44.170Z,1370305844.170 [homing_pursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:30:44.170Z,1370305844.170 [homing_pursuit:C.Buoyancy] Running Loop=1
2013-06-04T00:30:44.170Z,1370305844.170 [homing_pursuit:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:30:44.170Z,1370305844.170 [homing_pursuit:D] Running Loop=1
2013-06-04T00:30:44.170Z,1370305844.171 [homing_pursuit:E] Running Loop=1
2013-06-04T00:30:44.170Z,1370305844.171 [homing_pursuit:F] Running Loop=1
2013-06-04T00:30:44.171Z,1370305844.171 [homing_pursuit:SurfaceComms] Running Loop=1
2013-06-04T00:30:44.171Z,1370305844.171 [homing_pursuit:SurfaceComms](INFO): Aggregate::initialize homing_pursuit:SurfaceComms
2013-06-04T00:30:44.171Z,1370305844.171 [homing_pursuit:SurfaceComms:A.GoToSurface] Running Loop=1
2013-06-04T00:30:44.171Z,1370305844.171 [homing_pursuit:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:30:44.171Z,1370305844.171 [homing_pursuit:F] Running Loop=1
2013-06-04T00:30:44.172Z,1370305844.172 [homing_pursuit:F](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:30:44.173Z,1370305844.173 [homing_pursuit:E] Running Loop=1
2013-06-04T00:30:44.173Z,1370305844.173 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:30:44.199Z,1370305844.198 [homing_pursuit:D] Running Loop=1
2013-06-04T00:30:44.199Z,1370305844.199 [homing_pursuit:D](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:30:44.200Z,1370305844.200 [homing_pursuit:C.Buoyancy] Running Loop=1
2013-06-04T00:30:44.201Z,1370305844.201 [homing_pursuit:B.Pitch] Running Loop=1
2013-06-04T00:30:44.203Z,1370305844.203 [homing_pursuit:SurfaceComms:B] Running Loop=1
2013-06-04T00:30:44.204Z,1370305844.204 [homing_pursuit:SurfaceComms:B](INFO): Aggregate::initialize homing_pursuit:SurfaceComms:B
2013-06-04T00:30:44.204Z,1370305844.204 [homing_pursuit:SurfaceComms:B:A] Running Loop=1
2013-06-04T00:30:44.451Z,1370305844.451 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:30:44.451Z,1370305844.451 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:30:44.451Z,1370305844.451 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:30:44.535Z,1370305844.535 [DAT](INFO): Powering up
2013-06-04T00:30:44.545Z,1370305844.545 [homing_pursuit:SurfaceComms:B] Stopped
2013-06-04T00:30:44.545Z,1370305844.545 [homing_pursuit:SurfaceComms:B](INFO): Aggregate::uninitialize homing_pursuit:SurfaceComms:B
2013-06-04T00:30:44.545Z,1370305844.545 [homing_pursuit:SurfaceComms:B:A] Stopped
2013-06-04T00:30:44.545Z,1370305844.545 [homing_pursuit:SurfaceComms:C] Running Loop=1
2013-06-04T00:30:44.545Z,1370305844.546 [homing_pursuit:SurfaceComms:C](INFO): Aggregate::initialize homing_pursuit:SurfaceComms:C
2013-06-04T00:30:44.546Z,1370305844.546 [homing_pursuit:SurfaceComms:C:A] Running Loop=1
2013-06-04T00:30:44.934Z,1370305844.934 [homing_pursuit:F] Preempted
2013-06-04T00:30:44.934Z,1370305844.934 [homing_pursuit:E] Preempted
2013-06-04T00:30:44.934Z,1370305844.934 [homing_pursuit:D] Preempted
2013-06-04T00:30:44.934Z,1370305844.934 [homing_pursuit:C.Buoyancy] Preempted
2013-06-04T00:30:44.934Z,1370305844.934 [homing_pursuit:B.Pitch] Preempted
2013-06-04T00:30:44.935Z,1370305844.935 [homing_pursuit:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-04T00:30:46.458Z,1370305846.458 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:30:46.459Z,1370305846.459 [DVL_micro](INFO): Querying output modes
2013-06-04T00:30:46.459Z,1370305846.459 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:30:46.470Z,1370305846.470 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:30:46.470Z,1370305846.470 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:30:46.470Z,1370305846.470 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:30:46.482Z,1370305846.482 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:30:46.485Z,1370305846.485 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:30:58.380Z,1370305858.380 [CommandLine](IMPORTANT): got command stop
2013-06-04T00:30:58.551Z,1370305858.551 [homing_pursuit] Stopped
2013-06-04T00:30:58.551Z,1370305858.551 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:30:58.551Z,1370305858.551 [homing_pursuit:SurfaceComms] Stopped
2013-06-04T00:30:58.551Z,1370305858.551 [homing_pursuit:SurfaceComms](INFO): Aggregate::uninitialize homing_pursuit:SurfaceComms
2013-06-04T00:30:58.551Z,1370305858.551 [homing_pursuit:SurfaceComms:A.GoToSurface] Stopped
2013-06-04T00:30:58.551Z,1370305858.551 [homing_pursuit:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:30:58.551Z,1370305858.551 [homing_pursuit:SurfaceComms:C] Stopped
2013-06-04T00:30:58.551Z,1370305858.551 [homing_pursuit:SurfaceComms:C](INFO): Aggregate::uninitialize homing_pursuit:SurfaceComms:C
2013-06-04T00:30:58.552Z,1370305858.552 [homing_pursuit:SurfaceComms:C:A] Stopped
2013-06-04T00:30:58.552Z,1370305858.552 [homing_pursuit:B.Pitch] Stopped
2013-06-04T00:30:58.552Z,1370305858.552 [homing_pursuit:C.Buoyancy] Stopped
2013-06-04T00:30:58.552Z,1370305858.552 [homing_pursuit:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:30:58.552Z,1370305858.552 [homing_pursuit:D] Stopped
2013-06-04T00:30:58.552Z,1370305858.552 [homing_pursuit:E] Stopped
2013-06-04T00:30:58.552Z,1370305858.552 [homing_pursuit:F] Stopped
2013-06-04T00:30:58.932Z,1370305858.932 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:30:58.933Z,1370305858.932 [Default] Running Loop=1
2013-06-04T00:30:58.933Z,1370305858.933 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:30:58.933Z,1370305858.933 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:30:58.933Z,1370305858.933 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:30:58.933Z,1370305858.933 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:30:58.933Z,1370305858.933 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:30:58.933Z,1370305858.933 [Default:Iridium] Running Loop=1
2013-06-04T00:30:58.933Z,1370305858.933 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:30:58.933Z,1370305858.934 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:30:58.934Z,1370305858.934 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:30:58.934Z,1370305858.934 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:30:58.934Z,1370305858.934 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:30:58.935Z,1370305858.935 [Default:CallIridium] Running Loop=1
2013-06-04T00:30:58.936Z,1370305858.935 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-04T00:30:58.936Z,1370305858.936 [Default:CallIridium:A] Running Loop=1
2013-06-04T00:30:58.938Z,1370305858.938 [Default:CallIridium:A] Stopped
2013-06-04T00:30:58.938Z,1370305858.938 [Default:CallIridium:B] Running Loop=1
2013-06-04T00:30:58.938Z,1370305858.938 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-04T00:30:58.939Z,1370305858.939 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:30:58.939Z,1370305858.939 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:30:58.939Z,1370305858.939 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:30:58.940Z,1370305858.940 [Default:GPS] Running Loop=1
2013-06-04T00:30:58.940Z,1370305858.940 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:30:58.940Z,1370305858.940 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:30:58.940Z,1370305858.940 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:30:58.940Z,1370305858.940 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:30:58.940Z,1370305858.940 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:30:58.941Z,1370305858.941 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:30:58.941Z,1370305858.941 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:30:58.941Z,1370305858.941 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:31:02.043Z,1370305862.043 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:31:04.857Z,1370305864.857 [DAT](INFO): Powering down
2013-06-04T00:31:06.452Z,1370305866.452 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:31:11.316Z,1370305871.316 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:31:15.492Z,1370305875.492 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:31:19.098Z,1370305879.099 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:31:19.099Z,1370305879.099 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:31:19.168Z,1370305879.168 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:31:19.171Z,1370305879.171 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = -0.006000 n/a
2013-06-04T00:31:19.174Z,1370305879.174 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000560 n/a
2013-06-04T00:31:19.196Z,1370305879.196 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:31:19.203Z,1370305879.203 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 40.000000 m
2013-06-04T00:31:19.205Z,1370305879.205 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:31:19.211Z,1370305879.211 [MissionManager](INFO): DefineArg homing_pursuit.PowerOnDATTimeoutDuration = 1.000000 min
2013-06-04T00:31:19.214Z,1370305879.214 [MissionManager](INFO): DefineArg homing_pursuit.ClosePursuitTimeout = 180.000000 s
2013-06-04T00:31:19.220Z,1370305879.220 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:31:19.226Z,1370305879.226 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:31:19.228Z,1370305879.228 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:31:19.231Z,1370305879.231 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:31:19.233Z,1370305879.233 [homing_pursuit:A.Pitch](DEBUG): Construct.
2013-06-04T00:31:19.237Z,1370305879.237 [homing_pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:31:19.243Z,1370305879.243 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:31:19.245Z,1370305879.245 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:31:19.249Z,1370305879.249 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:31:19.253Z,1370305879.253 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:31:19.256Z,1370305879.256 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:31:19.260Z,1370305879.260 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:31:19.265Z,1370305879.265 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:31:19.270Z,1370305879.270 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:31:19.273Z,1370305879.273 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:31:19.297Z,1370305879.297 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:31:19.313Z,1370305879.313 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Construct Wait.
2013-06-04T00:31:19.315Z,1370305879.316 [homing_pursuit:Rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:31:19.318Z,1370305879.318 [homing_pursuit:Rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:31:19.322Z,1370305879.322 [homing_pursuit:Rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:31:19.323Z,1370305879.323 [MissionManager](CRITICAL): No Aggregate corresponding to RefId SurfaceComms at homing_pursuit:PhoneHome
2013-06-04T00:31:19.323Z,1370305879.323 [homing_pursuit](CRITICAL): Error!!!! no component for child behavior.
2013-06-04T00:31:19.332Z,1370305879.332 [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">

<!-- Define mission arguments -->

    <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>0.2</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>40.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="PowerOnDATTimeoutDuration"><Description>
        Wait this long after turning on DAT before starting any behaviors that require DAT output.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ClosePursuitTimeout"><Description>
        Run in OneWayMode for this long.
    </Description><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within minimum range.
    </Description><Units:minute/><Value>7</Value></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

<!-- TODO any other science sensors that should be active? -->

<!-- Begin the mission. -->

    <Timeout Duration="TimeoutDuration"/>

<!-- Safety nets and surfacing behaviors -->
<!-- TODO re-enable
    <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>

-->

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

<!-- Set default mass and pump positions -->

    <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>

<!-- Request desired engineering data -->

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

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

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

<!-- Start actual engineering mission sequence. -->

    <Aggregate Id="PowerOnDAT">
	
        <Description>
            Give the DAT some time to start up before you ask for ranges from it.
        </Description>

        <Timeout Duration="PowerOnDATTimeoutDuration"/>

        <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">

	<Description>
            Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate.
        </Description>

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

        <!-- <Timeout Duration="InitialPursuitTimeout"/> -->

        <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">

	<Description>
            Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate.
        </Description>

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

        <Timeout Duration="ClosePursuitTimeout"/>

        <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">

	<Description>
            Move away from the target at the last commanded heading until *RolloutTimeout* has passed.

            (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)
        </Description>

        <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>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2013-06-04T00:31:19.333Z,1370305879.332 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:31:19.608Z,1370305879.608 [Default] Stopped
2013-06-04T00:31:19.608Z,1370305879.608 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:31:19.609Z,1370305879.609 [Default:GPS] Stopped
2013-06-04T00:31:19.609Z,1370305879.609 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:31:19.609Z,1370305879.609 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:31:19.609Z,1370305879.609 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:31:19.609Z,1370305879.609 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:31:19.609Z,1370305879.609 [Default:Iridium] Stopped
2013-06-04T00:31:19.609Z,1370305879.609 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:31:19.609Z,1370305879.609 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:31:19.609Z,1370305879.609 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:31:19.609Z,1370305879.609 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:31:19.609Z,1370305879.609 [Default:CallIridium] Stopped
2013-06-04T00:31:19.609Z,1370305879.609 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-04T00:31:19.610Z,1370305879.610 [Default:CallIridium:B] Stopped
2013-06-04T00:31:19.610Z,1370305879.610 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-04T00:31:19.610Z,1370305879.610 [Default:D.SetSpeed] Stopped
2013-06-04T00:31:19.610Z,1370305879.610 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:31:19.610Z,1370305879.610 [Default:E.GoToSurface] Stopped
2013-06-04T00:31:19.610Z,1370305879.610 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:31:19.610Z,1370305879.610 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:31:19.610Z,1370305879.610 [homing_pursuit] Running Loop=1
2013-06-04T00:31:19.610Z,1370305879.611 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:31:19.611Z,1370305879.611 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:31:19.611Z,1370305879.611 [homing_pursuit:A.Pitch](DEBUG): Initialize.
2013-06-04T00:31:19.611Z,1370305879.611 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:31:19.611Z,1370305879.611 [homing_pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:31:19.611Z,1370305879.611 [homing_pursuit:C] Running Loop=1
2013-06-04T00:31:19.611Z,1370305879.611 [homing_pursuit:D] Running Loop=1
2013-06-04T00:31:19.611Z,1370305879.611 [homing_pursuit:E] Running Loop=1
2013-06-04T00:31:19.612Z,1370305879.612 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-04T00:31:19.612Z,1370305879.612 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-04T00:31:19.612Z,1370305879.612 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:31:19.612Z,1370305879.612 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:31:19.612Z,1370305879.612 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:31:19.612Z,1370305879.612 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-04T00:31:19.612Z,1370305879.612 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-04T00:31:19.612Z,1370305879.612 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:31:19.613Z,1370305879.614 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:31:19.615Z,1370305879.615 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:31:19.616Z,1370305879.616 [homing_pursuit:E] Running Loop=1
2013-06-04T00:31:19.616Z,1370305879.616 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:31:19.617Z,1370305879.617 [homing_pursuit:D] Running Loop=1
2013-06-04T00:31:19.618Z,1370305879.618 [homing_pursuit:D](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:31:19.618Z,1370305879.618 [homing_pursuit:C] Running Loop=1
2013-06-04T00:31:19.619Z,1370305879.619 [homing_pursuit:C](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:31:19.620Z,1370305879.620 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:31:19.621Z,1370305879.621 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:31:19.659Z,1370305879.659 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:31:19.659Z,1370305879.659 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:31:19.659Z,1370305879.659 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:31:19.905Z,1370305879.905 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:31:19.912Z,1370305879.912 [DAT](INFO): Powering up
2013-06-04T00:31:19.924Z,1370305879.924 [homing_pursuit] Stopped
2013-06-04T00:31:19.924Z,1370305879.924 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:31:19.924Z,1370305879.924 [homing_pursuit:A.Pitch] Stopped
2013-06-04T00:31:19.924Z,1370305879.924 [homing_pursuit:B.Buoyancy] Stopped
2013-06-04T00:31:19.924Z,1370305879.924 [homing_pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:31:19.924Z,1370305879.924 [homing_pursuit:C] Stopped
2013-06-04T00:31:19.924Z,1370305879.924 [homing_pursuit:D] Stopped
2013-06-04T00:31:19.924Z,1370305879.924 [homing_pursuit:E] Stopped
2013-06-04T00:31:19.924Z,1370305879.924 [homing_pursuit:PowerOnDAT] Stopped
2013-06-04T00:31:19.925Z,1370305879.925 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-04T00:31:19.925Z,1370305879.925 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-04T00:31:19.925Z,1370305879.925 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:31:19.925Z,1370305879.925 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-04T00:31:19.925Z,1370305879.925 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-04T00:31:19.925Z,1370305879.925 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:31:20.239Z,1370305880.239 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:31:20.239Z,1370305880.239 [Default] Running Loop=1
2013-06-04T00:31:20.240Z,1370305880.240 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:31:20.240Z,1370305880.240 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:31:20.240Z,1370305880.240 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:31:20.240Z,1370305880.240 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:31:20.240Z,1370305880.240 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:31:20.240Z,1370305880.240 [Default:Iridium] Running Loop=1
2013-06-04T00:31:20.240Z,1370305880.240 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:31:20.240Z,1370305880.240 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:31:20.240Z,1370305880.240 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:31:20.241Z,1370305880.240 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:31:20.241Z,1370305880.241 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:31:20.242Z,1370305880.242 [Default:CallIridium] Running Loop=1
2013-06-04T00:31:20.242Z,1370305880.242 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-04T00:31:20.243Z,1370305880.243 [Default:CallIridium:A] Running Loop=1
2013-06-04T00:31:20.243Z,1370305880.243 [Default:CallIridium:A] Stopped
2013-06-04T00:31:20.243Z,1370305880.243 [Default:CallIridium:B] Running Loop=1
2013-06-04T00:31:20.243Z,1370305880.243 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-04T00:31:20.244Z,1370305880.244 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:31:20.244Z,1370305880.244 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:31:20.244Z,1370305880.244 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:31:20.245Z,1370305880.245 [Default:GPS] Running Loop=1
2013-06-04T00:31:20.245Z,1370305880.245 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:31:20.245Z,1370305880.245 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:31:20.245Z,1370305880.245 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:31:20.245Z,1370305880.245 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:31:20.245Z,1370305880.245 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:31:20.246Z,1370305880.246 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:31:20.246Z,1370305880.246 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:31:20.247Z,1370305880.247 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:31:20.762Z,1370305880.762 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2013-06-04T00:31:20.762Z,1370305880.762 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2013-06-04T00:31:20.762Z,1370305880.762 [ThrusterServo] Communications Fault, FailCount= 1
2013-06-04T00:31:20.762Z,1370305880.763 [ThrusterServo](ERROR): Communications Fault
2013-06-04T00:31:20.765Z,1370305880.765 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2013-06-04T00:31:21.128Z,1370305881.128 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-04T00:31:21.128Z,1370305881.128 [ThrusterServo](INFO): Powering down
2013-06-04T00:31:21.666Z,1370305881.666 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:31:21.667Z,1370305881.667 [DVL_micro](INFO): Querying output modes
2013-06-04T00:31:21.667Z,1370305881.667 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:31:21.681Z,1370305881.681 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:31:21.681Z,1370305881.681 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:31:21.682Z,1370305881.682 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:31:21.695Z,1370305881.694 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:31:21.697Z,1370305881.697 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:31:22.028Z,1370305882.028 [CBIT](INFO): Clearing failed state for component ThrusterServo
2013-06-04T00:31:22.029Z,1370305882.029 [ThrusterServo] No Fault, FailCount= 1
2013-06-04T00:31:22.327Z,1370305882.327 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-04T00:31:22.328Z,1370305882.328 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-04T00:31:25.860Z,1370305885.860 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:31:30.150Z,1370305890.150 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:31:34.933Z,1370305894.933 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:31:39.228Z,1370305899.228 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:31:39.981Z,1370305899.981 [DAT](INFO): Powering down
2013-06-04T00:31:41.706Z,1370305901.707 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:31:41.707Z,1370305901.707 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:31:41.859Z,1370305901.859 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:31:41.875Z,1370305901.875 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = -0.006000 n/a
2013-06-04T00:31:41.877Z,1370305901.877 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000560 n/a
2013-06-04T00:31:41.919Z,1370305901.919 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:31:41.921Z,1370305901.921 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 40.000000 m
2013-06-04T00:31:41.932Z,1370305901.932 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:31:41.939Z,1370305901.939 [MissionManager](INFO): DefineArg homing_pursuit.PowerOnDATTimeoutDuration = 1.000000 min
2013-06-04T00:31:41.942Z,1370305901.941 [MissionManager](INFO): DefineArg homing_pursuit.ClosePursuitTimeout = 180.000000 s
2013-06-04T00:31:41.944Z,1370305901.944 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:31:41.951Z,1370305901.951 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:31:41.953Z,1370305901.953 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:31:41.964Z,1370305901.964 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:31:41.966Z,1370305901.966 [homing_pursuit:A.Pitch](DEBUG): Construct.
2013-06-04T00:31:42.019Z,1370305902.019 [homing_pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:31:42.037Z,1370305902.037 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:31:42.055Z,1370305902.055 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:31:42.059Z,1370305902.059 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:31:42.078Z,1370305902.078 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:31:42.080Z,1370305902.080 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:31:42.096Z,1370305902.096 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:31:42.116Z,1370305902.116 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:31:42.121Z,1370305902.121 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:31:42.150Z,1370305902.150 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:31:42.154Z,1370305902.154 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:31:42.175Z,1370305902.175 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Construct Wait.
2013-06-04T00:31:42.177Z,1370305902.177 [homing_pursuit:Rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:31:42.216Z,1370305902.216 [homing_pursuit:Rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:31:42.220Z,1370305902.220 [homing_pursuit:Rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:31:42.249Z,1370305902.249 [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">

<!-- Define mission arguments -->

    <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>0.2</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>40.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="PowerOnDATTimeoutDuration"><Description>
        Wait this long after turning on DAT before starting any behaviors that require DAT output.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ClosePursuitTimeout"><Description>
        Run in OneWayMode for this long.
    </Description><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within minimum range.
    </Description><Units:minute/><Value>7</Value></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

<!-- TODO any other science sensors that should be active? -->

<!-- Begin the mission. -->

    <Timeout Duration="TimeoutDuration"/>

<!-- Safety nets and surfacing behaviors -->
<!-- TODO re-enable
    <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>

-->

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

<!-- Set default mass and pump positions -->

    <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>

<!-- Request desired engineering data -->

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

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

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

<!-- Start actual engineering mission sequence. -->

    <Aggregate Id="PowerOnDAT">
	
        <Description>
            Give the DAT some time to start up before you ask for ranges from it.
        </Description>

        <Timeout Duration="PowerOnDATTimeoutDuration"/>

        <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">

	<Description>
            Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate.
        </Description>

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

        <!-- <Timeout Duration="InitialPursuitTimeout"/> -->

        <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">

	<Description>
            Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate.
        </Description>

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

        <Timeout Duration="ClosePursuitTimeout"/>

        <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">

	<Description>
            Move away from the target at the last commanded heading until *RolloutTimeout* has passed.

            (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)
        </Description>

        <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>

 <!--   <Call Id="PhoneHome" RefId="SurfaceComms"/> -->

</Mission>


2013-06-04T00:31:42.250Z,1370305902.250 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:31:42.778Z,1370305902.778 [Default] Stopped
2013-06-04T00:31:42.779Z,1370305902.779 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:31:42.779Z,1370305902.779 [Default:GPS] Stopped
2013-06-04T00:31:42.779Z,1370305902.779 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:31:42.779Z,1370305902.779 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:31:42.779Z,1370305902.779 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:31:42.779Z,1370305902.779 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:31:42.779Z,1370305902.779 [Default:Iridium] Stopped
2013-06-04T00:31:42.779Z,1370305902.779 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:31:42.779Z,1370305902.779 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:31:42.779Z,1370305902.779 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:31:42.779Z,1370305902.779 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:31:42.780Z,1370305902.780 [Default:CallIridium] Stopped
2013-06-04T00:31:42.780Z,1370305902.780 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-04T00:31:42.780Z,1370305902.780 [Default:CallIridium:B] Stopped
2013-06-04T00:31:42.780Z,1370305902.780 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-04T00:31:42.780Z,1370305902.780 [Default:D.SetSpeed] Stopped
2013-06-04T00:31:42.780Z,1370305902.780 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:31:42.780Z,1370305902.780 [Default:E.GoToSurface] Stopped
2013-06-04T00:31:42.780Z,1370305902.780 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:31:42.780Z,1370305902.780 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:31:42.780Z,1370305902.780 [homing_pursuit] Running Loop=1
2013-06-04T00:31:42.781Z,1370305902.781 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:31:42.781Z,1370305902.781 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:31:42.781Z,1370305902.781 [homing_pursuit:A.Pitch](DEBUG): Initialize.
2013-06-04T00:31:42.781Z,1370305902.781 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:31:42.781Z,1370305902.781 [homing_pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:31:42.781Z,1370305902.781 [homing_pursuit:C] Running Loop=1
2013-06-04T00:31:42.781Z,1370305902.781 [homing_pursuit:D] Running Loop=1
2013-06-04T00:31:42.781Z,1370305902.781 [homing_pursuit:E] Running Loop=1
2013-06-04T00:31:42.781Z,1370305902.782 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-04T00:31:42.782Z,1370305902.782 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-04T00:31:42.818Z,1370305902.818 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:31:42.818Z,1370305902.818 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:31:42.818Z,1370305902.818 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:31:42.818Z,1370305902.819 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-04T00:31:42.819Z,1370305902.819 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-04T00:31:42.819Z,1370305902.819 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:31:42.820Z,1370305902.820 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:31:42.821Z,1370305902.821 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:31:42.832Z,1370305902.832 [homing_pursuit:E] Running Loop=1
2013-06-04T00:31:42.832Z,1370305902.832 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:31:42.834Z,1370305902.833 [homing_pursuit:D] Running Loop=1
2013-06-04T00:31:42.834Z,1370305902.834 [homing_pursuit:D](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:31:42.835Z,1370305902.835 [homing_pursuit:C] Running Loop=1
2013-06-04T00:31:42.836Z,1370305902.836 [homing_pursuit:C](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:31:42.837Z,1370305902.837 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:31:42.837Z,1370305902.838 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:31:43.135Z,1370305903.135 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:31:43.135Z,1370305903.135 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:31:43.135Z,1370305903.135 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:31:43.151Z,1370305903.151 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:31:43.170Z,1370305903.170 [DAT](INFO): Powering up
2013-06-04T00:31:44.078Z,1370305904.078 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2013-06-04T00:31:44.078Z,1370305904.078 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2013-06-04T00:31:44.079Z,1370305904.079 [ThrusterServo] Communications Fault, FailCount= 2
2013-06-04T00:31:44.079Z,1370305904.079 [ThrusterServo](ERROR): Communications Fault
2013-06-04T00:31:44.081Z,1370305904.081 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2013-06-04T00:31:44.604Z,1370305904.604 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-04T00:31:44.604Z,1370305904.604 [ThrusterServo](INFO): Powering down
2013-06-04T00:31:45.143Z,1370305905.143 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:31:45.143Z,1370305905.143 [DVL_micro](INFO): Querying output modes
2013-06-04T00:31:45.143Z,1370305905.143 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:31:45.154Z,1370305905.154 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:31:45.155Z,1370305905.155 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:31:45.155Z,1370305905.155 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:31:45.167Z,1370305905.167 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:31:45.532Z,1370305905.532 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-04T00:31:45.659Z,1370305905.658 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-04T00:31:45.661Z,1370305905.661 [CBIT](INFO): Clearing failed state for component ThrusterServo
2013-06-04T00:31:45.661Z,1370305905.661 [ThrusterServo] No Fault, FailCount= 2
2013-06-04T00:31:47.690Z,1370305907.690 [DVL_micro](DEBUG): NQ1
2013-06-04T00:31:48.796Z,1370305908.796 [NAL9602](INFO): Powering down
2013-06-04T00:31:50.214Z,1370305910.214 [DVL_micro](DEBUG): NQ1
2013-06-04T00:31:52.767Z,1370305912.767 [DVL_micro](DEBUG): NQ1
2013-06-04T00:31:55.322Z,1370305915.322 [DVL_micro](DEBUG): NQ1
2013-06-04T00:31:57.878Z,1370305917.878 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:00.426Z,1370305920.426 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:02.994Z,1370305922.994 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:05.566Z,1370305925.566 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:06.882Z,1370305926.882 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:06.899Z,1370305926.898 [Reporter](INFO): homing_target_azimuth 278.443153 arcdeg
2013-06-04T00:32:07.330Z,1370305927.330 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:07.331Z,1370305927.331 [Reporter](INFO): homing_target_azimuth 279.068880 arcdeg
2013-06-04T00:32:08.130Z,1370305928.130 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:08.139Z,1370305928.139 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:32:08.140Z,1370305928.140 [Reporter](INFO): homing_target_azimuth 278.613716 arcdeg
2013-06-04T00:32:08.502Z,1370305928.502 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:08.502Z,1370305928.502 [Reporter](INFO): homing_target_azimuth 279.559670 arcdeg
2013-06-04T00:32:08.882Z,1370305928.882 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:08.899Z,1370305928.898 [Reporter](INFO): homing_target_azimuth 277.867450 arcdeg
2013-06-04T00:32:09.694Z,1370305929.694 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:09.695Z,1370305929.695 [Reporter](INFO): homing_target_azimuth 279.345885 arcdeg
2013-06-04T00:32:10.099Z,1370305930.099 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:10.100Z,1370305930.100 [Reporter](INFO): homing_target_azimuth 279.133029 arcdeg
2013-06-04T00:32:10.478Z,1370305930.478 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:10.481Z,1370305930.481 [Reporter](INFO): homing_target_azimuth 279.020331 arcdeg
2013-06-04T00:32:10.687Z,1370305930.687 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:10.901Z,1370305930.901 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:10.902Z,1370305930.902 [Reporter](INFO): homing_target_azimuth 279.078196 arcdeg
2013-06-04T00:32:11.390Z,1370305931.390 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:11.391Z,1370305931.391 [Reporter](INFO): homing_target_azimuth 277.645469 arcdeg
2013-06-04T00:32:12.155Z,1370305932.155 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:12.156Z,1370305932.156 [Reporter](INFO): homing_target_azimuth 278.523967 arcdeg
2013-06-04T00:32:12.688Z,1370305932.688 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:12.689Z,1370305932.689 [Reporter](INFO): homing_target_azimuth 276.627197 arcdeg
2013-06-04T00:32:12.915Z,1370305932.915 [homing_pursuit:PowerOnDAT:C.Wait](INFO): Done Waiting.
2013-06-04T00:32:12.915Z,1370305932.915 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-04T00:32:12.915Z,1370305932.915 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:32:12.916Z,1370305932.917 [homing_pursuit:PowerOnDAT](INFO): Completed homing_pursuit:PowerOnDAT
2013-06-04T00:32:12.917Z,1370305932.917 [homing_pursuit:PowerOnDAT] Stopped
2013-06-04T00:32:12.917Z,1370305932.917 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-04T00:32:12.917Z,1370305932.917 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-04T00:32:12.917Z,1370305932.917 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:32:12.917Z,1370305932.917 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-04T00:32:12.917Z,1370305932.917 [homing_pursuit:InitialPursuit] Running Loop=1
2013-06-04T00:32:12.917Z,1370305932.917 [homing_pursuit:InitialPursuit](INFO): Aggregate::initialize homing_pursuit:InitialPursuit
2013-06-04T00:32:12.917Z,1370305932.917 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:32:12.918Z,1370305932.918 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:32:12.918Z,1370305932.918 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:32:12.918Z,1370305932.918 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:32:12.918Z,1370305932.918 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:32:12.918Z,1370305932.918 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Initialize.
2013-06-04T00:32:12.919Z,1370305932.918 [homing_pursuit:InitialPursuit:D.Wait] Running Loop=1
2013-06-04T00:32:12.919Z,1370305932.919 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:32:13.001Z,1370305933.001 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:13.002Z,1370305933.002 [Reporter](INFO): homing_target_azimuth 281.175174 arcdeg
2013-06-04T00:32:13.242Z,1370305933.242 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:13.340Z,1370305933.340 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:32:13.346Z,1370305933.346 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:32:13.351Z,1370305933.351 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:32:13.430Z,1370305933.430 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:13.430Z,1370305933.430 [Reporter](INFO): homing_target_azimuth 279.295096 arcdeg
2013-06-04T00:32:13.431Z,1370305933.431 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:13.778Z,1370305933.778 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:14.242Z,1370305934.242 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:14.242Z,1370305934.242 [Reporter](INFO): homing_target_azimuth 279.863996 arcdeg
2013-06-04T00:32:14.243Z,1370305934.243 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:14.663Z,1370305934.662 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:14.663Z,1370305934.663 [Reporter](INFO): homing_target_azimuth 278.526208 arcdeg
2013-06-04T00:32:14.664Z,1370305934.664 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:15.026Z,1370305935.026 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:15.027Z,1370305935.027 [Reporter](INFO): homing_target_azimuth 279.572156 arcdeg
2013-06-04T00:32:15.028Z,1370305935.028 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:15.414Z,1370305935.414 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:15.414Z,1370305935.414 [Reporter](INFO): homing_target_azimuth 280.960596 arcdeg
2013-06-04T00:32:15.415Z,1370305935.415 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:15.798Z,1370305935.798 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:15.902Z,1370305935.902 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:15.903Z,1370305935.903 [Reporter](INFO): homing_target_azimuth 279.482735 arcdeg
2013-06-04T00:32:15.904Z,1370305935.904 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:16.254Z,1370305936.253 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:16.746Z,1370305936.746 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:16.747Z,1370305936.747 [Reporter](INFO): homing_target_azimuth 278.787749 arcdeg
2013-06-04T00:32:16.748Z,1370305936.748 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:17.059Z,1370305937.059 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:17.060Z,1370305937.059 [Reporter](INFO): homing_target_azimuth 276.830572 arcdeg
2013-06-04T00:32:17.060Z,1370305937.060 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:17.555Z,1370305937.555 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:17.556Z,1370305937.556 [Reporter](INFO): homing_target_azimuth 278.406215 arcdeg
2013-06-04T00:32:17.556Z,1370305937.556 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:17.995Z,1370305937.995 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:17.996Z,1370305937.996 [Reporter](INFO): homing_target_azimuth 276.905814 arcdeg
2013-06-04T00:32:17.997Z,1370305937.997 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:18.354Z,1370305938.354 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:18.454Z,1370305938.454 [Reporter](INFO): homing_target_range 202.800003 m
2013-06-04T00:32:18.454Z,1370305938.454 [Reporter](INFO): homing_target_azimuth 278.843511 arcdeg
2013-06-04T00:32:18.455Z,1370305938.455 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:18.762Z,1370305938.761 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:19.179Z,1370305939.179 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:19.180Z,1370305939.180 [Reporter](INFO): homing_target_azimuth 277.634513 arcdeg
2013-06-04T00:32:19.181Z,1370305939.181 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:19.558Z,1370305939.558 [Reporter](INFO): homing_target_range 202.800003 m
2013-06-04T00:32:19.559Z,1370305939.559 [Reporter](INFO): homing_target_azimuth 279.110571 arcdeg
2013-06-04T00:32:19.560Z,1370305939.560 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:19.982Z,1370305939.981 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:19.991Z,1370305939.991 [Reporter](INFO): homing_target_azimuth 281.291806 arcdeg
2013-06-04T00:32:19.992Z,1370305939.991 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:20.362Z,1370305940.362 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:20.362Z,1370305940.362 [Reporter](INFO): homing_target_azimuth 278.650217 arcdeg
2013-06-04T00:32:20.363Z,1370305940.363 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:20.799Z,1370305940.799 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:20.799Z,1370305940.799 [Reporter](INFO): homing_target_azimuth 279.143165 arcdeg
2013-06-04T00:32:20.800Z,1370305940.800 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:20.898Z,1370305940.898 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:21.179Z,1370305941.179 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:21.671Z,1370305941.671 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:21.672Z,1370305941.672 [Reporter](INFO): homing_target_azimuth 277.923812 arcdeg
2013-06-04T00:32:21.673Z,1370305941.673 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:22.055Z,1370305942.055 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:22.056Z,1370305942.056 [Reporter](INFO): homing_target_azimuth 279.636824 arcdeg
2013-06-04T00:32:22.057Z,1370305942.057 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:22.639Z,1370305942.639 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:22.640Z,1370305942.639 [Reporter](INFO): homing_target_azimuth 279.966777 arcdeg
2013-06-04T00:32:22.640Z,1370305942.640 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:23.008Z,1370305943.008 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:23.009Z,1370305943.009 [Reporter](INFO): homing_target_azimuth 278.555851 arcdeg
2013-06-04T00:32:23.009Z,1370305943.010 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:23.342Z,1370305943.342 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:23.342Z,1370305943.342 [Reporter](INFO): homing_target_azimuth 277.922802 arcdeg
2013-06-04T00:32:23.343Z,1370305943.343 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:23.458Z,1370305943.458 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:23.730Z,1370305943.730 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:24.201Z,1370305944.201 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:32:24.202Z,1370305944.202 [Reporter](INFO): homing_target_azimuth 276.913382 arcdeg
2013-06-04T00:32:24.203Z,1370305944.203 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:24.531Z,1370305944.531 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:24.531Z,1370305944.531 [Reporter](INFO): homing_target_azimuth 278.947658 arcdeg
2013-06-04T00:32:24.532Z,1370305944.532 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:24.930Z,1370305944.930 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:24.931Z,1370305944.931 [Reporter](INFO): homing_target_azimuth 277.948237 arcdeg
2013-06-04T00:32:24.931Z,1370305944.931 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:25.334Z,1370305945.334 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:25.334Z,1370305945.334 [Reporter](INFO): homing_target_azimuth 280.487729 arcdeg
2013-06-04T00:32:25.335Z,1370305945.335 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:25.722Z,1370305945.722 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:26.026Z,1370305946.026 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:26.179Z,1370305946.179 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:26.180Z,1370305946.180 [Reporter](INFO): homing_target_azimuth 279.146635 arcdeg
2013-06-04T00:32:26.181Z,1370305946.181 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:26.527Z,1370305946.527 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:26.528Z,1370305946.528 [Reporter](INFO): homing_target_azimuth 278.697809 arcdeg
2013-06-04T00:32:26.529Z,1370305946.529 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:26.991Z,1370305946.991 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:26.992Z,1370305946.992 [Reporter](INFO): homing_target_azimuth 279.265863 arcdeg
2013-06-04T00:32:26.993Z,1370305946.993 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:27.466Z,1370305947.466 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:27.467Z,1370305947.467 [Reporter](INFO): homing_target_azimuth 279.166087 arcdeg
2013-06-04T00:32:27.467Z,1370305947.467 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:27.962Z,1370305947.962 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:27.962Z,1370305947.963 [Reporter](INFO): homing_target_azimuth 280.105184 arcdeg
2013-06-04T00:32:27.963Z,1370305947.963 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:28.273Z,1370305948.273 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:28.570Z,1370305948.570 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:28.710Z,1370305948.710 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:28.710Z,1370305948.710 [Reporter](INFO): homing_target_azimuth 278.611285 arcdeg
2013-06-04T00:32:28.711Z,1370305948.711 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:29.094Z,1370305949.094 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:29.094Z,1370305949.095 [Reporter](INFO): homing_target_azimuth 278.360343 arcdeg
2013-06-04T00:32:29.095Z,1370305949.095 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:29.493Z,1370305949.493 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:29.493Z,1370305949.493 [Reporter](INFO): homing_target_azimuth 274.279005 arcdeg
2013-06-04T00:32:29.494Z,1370305949.494 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:29.894Z,1370305949.894 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:29.895Z,1370305949.895 [Reporter](INFO): homing_target_azimuth 277.111293 arcdeg
2013-06-04T00:32:29.895Z,1370305949.895 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:30.302Z,1370305950.302 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:30.303Z,1370305950.303 [Reporter](INFO): homing_target_azimuth 277.533508 arcdeg
2013-06-04T00:32:30.303Z,1370305950.303 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:30.672Z,1370305950.671 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:31.095Z,1370305951.095 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:31.096Z,1370305951.096 [Reporter](INFO): homing_target_azimuth 278.783296 arcdeg
2013-06-04T00:32:31.097Z,1370305951.096 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:31.138Z,1370305951.138 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:31.555Z,1370305951.555 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:31.555Z,1370305951.556 [Reporter](INFO): homing_target_azimuth 276.683122 arcdeg
2013-06-04T00:32:31.556Z,1370305951.556 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:31.910Z,1370305951.910 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:31.910Z,1370305951.910 [Reporter](INFO): homing_target_azimuth 278.939188 arcdeg
2013-06-04T00:32:31.911Z,1370305951.911 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:32.388Z,1370305952.388 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:32.698Z,1370305952.698 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:32.699Z,1370305952.699 [Reporter](INFO): homing_target_azimuth 277.919742 arcdeg
2013-06-04T00:32:32.699Z,1370305952.699 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:33.191Z,1370305953.191 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:33.192Z,1370305953.192 [Reporter](INFO): homing_target_azimuth 277.793738 arcdeg
2013-06-04T00:32:33.192Z,1370305953.192 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:33.535Z,1370305953.536 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:33.536Z,1370305953.536 [Reporter](INFO): homing_target_azimuth 279.430716 arcdeg
2013-06-04T00:32:33.537Z,1370305953.537 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:33.690Z,1370305953.690 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:33.902Z,1370305953.902 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:33.903Z,1370305953.903 [Reporter](INFO): homing_target_azimuth 280.252224 arcdeg
2013-06-04T00:32:33.904Z,1370305953.904 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:34.366Z,1370305954.366 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:34.367Z,1370305954.367 [Reporter](INFO): homing_target_azimuth 276.083869 arcdeg
2013-06-04T00:32:34.367Z,1370305954.367 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:34.702Z,1370305954.702 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:35.099Z,1370305955.099 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:35.100Z,1370305955.100 [Reporter](INFO): homing_target_azimuth 277.223882 arcdeg
2013-06-04T00:32:35.101Z,1370305955.101 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:35.502Z,1370305955.501 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:35.502Z,1370305955.502 [Reporter](INFO): homing_target_azimuth 278.729365 arcdeg
2013-06-04T00:32:35.503Z,1370305955.503 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:35.961Z,1370305955.961 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:35.962Z,1370305955.962 [Reporter](INFO): homing_target_azimuth 279.870280 arcdeg
2013-06-04T00:32:35.963Z,1370305955.963 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:36.238Z,1370305956.238 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:36.326Z,1370305956.326 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:36.327Z,1370305956.327 [Reporter](INFO): homing_target_azimuth 278.778706 arcdeg
2013-06-04T00:32:36.328Z,1370305956.328 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:36.850Z,1370305956.850 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:37.159Z,1370305957.159 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:37.159Z,1370305957.159 [Reporter](INFO): homing_target_azimuth 278.534787 arcdeg
2013-06-04T00:32:37.160Z,1370305957.160 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:37.563Z,1370305957.563 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:37.563Z,1370305957.563 [Reporter](INFO): homing_target_azimuth 278.174371 arcdeg
2013-06-04T00:32:37.564Z,1370305957.564 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:37.999Z,1370305957.999 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:38.000Z,1370305958.000 [Reporter](INFO): homing_target_azimuth 278.976672 arcdeg
2013-06-04T00:32:38.001Z,1370305958.001 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:38.377Z,1370305958.378 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:38.378Z,1370305958.378 [Reporter](INFO): homing_target_azimuth 279.529508 arcdeg
2013-06-04T00:32:38.379Z,1370305958.379 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:38.781Z,1370305958.781 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:32:38.798Z,1370305958.798 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:38.800Z,1370305958.800 [Reporter](INFO): homing_target_azimuth 279.965274 arcdeg
2013-06-04T00:32:38.800Z,1370305958.800 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:39.167Z,1370305959.167 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:39.543Z,1370305959.543 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:39.544Z,1370305959.543 [Reporter](INFO): homing_target_azimuth 279.104998 arcdeg
2013-06-04T00:32:39.544Z,1370305959.544 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:39.954Z,1370305959.954 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:39.954Z,1370305959.954 [Reporter](INFO): homing_target_azimuth 280.584963 arcdeg
2013-06-04T00:32:39.955Z,1370305959.955 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:40.127Z,1370305960.127 [CommandLine](IMPORTANT): got command show stack
2013-06-04T00:32:40.127Z,1370305960.127 [CommandLine](INFO): Behavior Stack:

2013-06-04T00:32:40.128Z,1370305960.128 [homing_pursuit](INFO): Priority 0: homing_pursuit:A.Pitch
2013-06-04T00:32:40.128Z,1370305960.128 [homing_pursuit](INFO): Priority 1: homing_pursuit:B.Buoyancy
2013-06-04T00:32:40.128Z,1370305960.128 [homing_pursuit](INFO): Priority 2: homing_pursuit:C
2013-06-04T00:32:40.129Z,1370305960.129 [homing_pursuit](INFO): Priority 3: homing_pursuit:D
2013-06-04T00:32:40.129Z,1370305960.129 [homing_pursuit](INFO): Priority 4: homing_pursuit:E
2013-06-04T00:32:40.130Z,1370305960.130 [homing_pursuit:InitialPursuit](INFO): Priority 5: homing_pursuit:InitialPursuit:A.SetSpeed
2013-06-04T00:32:40.130Z,1370305960.130 [homing_pursuit:InitialPursuit](INFO): Priority 6: homing_pursuit:InitialPursuit:B.Pitch
2013-06-04T00:32:40.131Z,1370305960.131 [homing_pursuit:InitialPursuit](INFO): Priority 7: homing_pursuit:InitialPursuit:C.Point
2013-06-04T00:32:40.131Z,1370305960.131 [homing_pursuit:InitialPursuit](INFO): Priority 8: homing_pursuit:InitialPursuit:D.Wait
2013-06-04T00:32:40.393Z,1370305960.393 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:40.394Z,1370305960.394 [Reporter](INFO): homing_target_azimuth 279.285042 arcdeg
2013-06-04T00:32:40.395Z,1370305960.395 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:40.865Z,1370305960.865 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:41.329Z,1370305961.329 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:41.331Z,1370305961.331 [Reporter](INFO): homing_target_azimuth 276.420297 arcdeg
2013-06-04T00:32:41.331Z,1370305961.331 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:41.354Z,1370305961.354 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:41.869Z,1370305961.869 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:41.870Z,1370305961.870 [Reporter](INFO): homing_target_azimuth 279.396073 arcdeg
2013-06-04T00:32:41.871Z,1370305961.871 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:42.198Z,1370305962.198 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:42.199Z,1370305962.198 [Reporter](INFO): homing_target_azimuth 278.920419 arcdeg
2013-06-04T00:32:42.199Z,1370305962.199 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:42.602Z,1370305962.602 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:42.603Z,1370305962.603 [Reporter](INFO): homing_target_azimuth 280.653648 arcdeg
2013-06-04T00:32:42.603Z,1370305962.603 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:42.994Z,1370305962.994 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:42.995Z,1370305962.995 [Reporter](INFO): homing_target_azimuth 278.719447 arcdeg
2013-06-04T00:32:42.996Z,1370305962.996 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:43.503Z,1370305963.503 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:43.504Z,1370305963.504 [Reporter](INFO): homing_target_azimuth 281.028434 arcdeg
2013-06-04T00:32:43.505Z,1370305963.505 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:43.809Z,1370305963.809 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:43.810Z,1370305963.810 [Reporter](INFO): homing_target_azimuth 278.468097 arcdeg
2013-06-04T00:32:43.811Z,1370305963.811 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:43.934Z,1370305963.934 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:44.202Z,1370305964.202 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:44.611Z,1370305964.611 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:44.612Z,1370305964.612 [Reporter](INFO): homing_target_azimuth 281.200937 arcdeg
2013-06-04T00:32:44.612Z,1370305964.612 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:45.067Z,1370305965.066 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:45.067Z,1370305965.067 [Reporter](INFO): homing_target_azimuth 276.471769 arcdeg
2013-06-04T00:32:45.068Z,1370305965.068 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:45.426Z,1370305965.426 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:45.426Z,1370305965.426 [Reporter](INFO): homing_target_azimuth 280.160535 arcdeg
2013-06-04T00:32:45.427Z,1370305965.427 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:45.918Z,1370305965.918 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:45.918Z,1370305965.918 [Reporter](INFO): homing_target_azimuth 276.126899 arcdeg
2013-06-04T00:32:45.919Z,1370305965.919 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:46.195Z,1370305966.195 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:46.470Z,1370305966.470 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:46.698Z,1370305966.698 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:46.699Z,1370305966.699 [Reporter](INFO): homing_target_azimuth 281.342568 arcdeg
2013-06-04T00:32:46.699Z,1370305966.699 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:47.007Z,1370305967.007 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:32:47.008Z,1370305967.008 [Reporter](INFO): homing_target_azimuth 279.426017 arcdeg
2013-06-04T00:32:47.009Z,1370305967.009 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:47.470Z,1370305967.470 [Reporter](INFO): homing_target_range 202.800003 m
2013-06-04T00:32:47.471Z,1370305967.471 [Reporter](INFO): homing_target_azimuth 278.033615 arcdeg
2013-06-04T00:32:47.472Z,1370305967.472 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:47.838Z,1370305967.838 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:47.839Z,1370305967.839 [Reporter](INFO): homing_target_azimuth 278.320182 arcdeg
2013-06-04T00:32:47.839Z,1370305967.839 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:48.402Z,1370305968.402 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:48.402Z,1370305968.402 [Reporter](INFO): homing_target_azimuth 279.387030 arcdeg
2013-06-04T00:32:48.403Z,1370305968.403 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:48.697Z,1370305968.697 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:49.022Z,1370305969.022 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:49.139Z,1370305969.139 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:49.140Z,1370305969.140 [Reporter](INFO): homing_target_azimuth 281.770001 arcdeg
2013-06-04T00:32:49.141Z,1370305969.141 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:49.503Z,1370305969.503 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:49.504Z,1370305969.504 [Reporter](INFO): homing_target_azimuth 278.238028 arcdeg
2013-06-04T00:32:49.505Z,1370305969.505 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:50.006Z,1370305970.006 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:50.007Z,1370305970.007 [Reporter](INFO): homing_target_azimuth 276.679980 arcdeg
2013-06-04T00:32:50.008Z,1370305970.008 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:50.377Z,1370305970.378 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:50.379Z,1370305970.378 [Reporter](INFO): homing_target_azimuth 280.354950 arcdeg
2013-06-04T00:32:50.379Z,1370305970.379 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:50.806Z,1370305970.806 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:51.099Z,1370305971.099 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:51.100Z,1370305971.100 [Reporter](INFO): homing_target_azimuth 280.613923 arcdeg
2013-06-04T00:32:51.101Z,1370305971.101 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:51.507Z,1370305971.507 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:51.508Z,1370305971.508 [Reporter](INFO): homing_target_azimuth 278.212128 arcdeg
2013-06-04T00:32:51.509Z,1370305971.509 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:51.566Z,1370305971.566 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:51.902Z,1370305971.902 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:51.903Z,1370305971.903 [Reporter](INFO): homing_target_azimuth 277.975039 arcdeg
2013-06-04T00:32:51.904Z,1370305971.904 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:52.294Z,1370305972.294 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:52.294Z,1370305972.295 [Reporter](INFO): homing_target_azimuth 276.711181 arcdeg
2013-06-04T00:32:52.295Z,1370305972.295 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:52.702Z,1370305972.702 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:53.182Z,1370305973.181 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:53.190Z,1370305973.190 [Reporter](INFO): homing_target_azimuth 278.564184 arcdeg
2013-06-04T00:32:53.191Z,1370305973.191 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:53.658Z,1370305973.658 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:53.659Z,1370305973.659 [Reporter](INFO): homing_target_azimuth 278.270322 arcdeg
2013-06-04T00:32:53.660Z,1370305973.660 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:54.007Z,1370305974.007 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:54.007Z,1370305974.007 [Reporter](INFO): homing_target_azimuth 278.678822 arcdeg
2013-06-04T00:32:54.008Z,1370305974.008 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:54.126Z,1370305974.126 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:54.502Z,1370305974.503 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:54.503Z,1370305974.503 [Reporter](INFO): homing_target_azimuth 280.794814 arcdeg
2013-06-04T00:32:54.504Z,1370305974.504 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:54.802Z,1370305974.802 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:54.803Z,1370305974.803 [Reporter](INFO): homing_target_azimuth 277.848981 arcdeg
2013-06-04T00:32:54.803Z,1370305974.803 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:55.201Z,1370305975.201 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:55.611Z,1370305975.611 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:55.612Z,1370305975.612 [Reporter](INFO): homing_target_azimuth 278.505635 arcdeg
2013-06-04T00:32:55.613Z,1370305975.612 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:56.003Z,1370305976.003 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:56.004Z,1370305976.004 [Reporter](INFO): homing_target_azimuth 279.255344 arcdeg
2013-06-04T00:32:56.004Z,1370305976.004 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:56.426Z,1370305976.426 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:56.426Z,1370305976.426 [Reporter](INFO): homing_target_azimuth 277.821004 arcdeg
2013-06-04T00:32:56.427Z,1370305976.427 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:56.686Z,1370305976.686 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:56.806Z,1370305976.806 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:56.806Z,1370305976.806 [Reporter](INFO): homing_target_azimuth 277.900180 arcdeg
2013-06-04T00:32:56.807Z,1370305976.807 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:57.197Z,1370305977.197 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:57.666Z,1370305977.666 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:57.666Z,1370305977.667 [Reporter](INFO): homing_target_azimuth 277.800077 arcdeg
2013-06-04T00:32:57.667Z,1370305977.667 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:58.026Z,1370305978.026 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:58.026Z,1370305978.026 [Reporter](INFO): homing_target_azimuth 280.352846 arcdeg
2013-06-04T00:32:58.027Z,1370305978.027 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:58.579Z,1370305978.579 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:58.580Z,1370305978.580 [Reporter](INFO): homing_target_azimuth 277.582849 arcdeg
2013-06-04T00:32:58.581Z,1370305978.581 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:58.898Z,1370305978.898 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:32:58.899Z,1370305978.898 [Reporter](INFO): homing_target_azimuth 275.943850 arcdeg
2013-06-04T00:32:58.899Z,1370305978.899 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:59.246Z,1370305979.246 [DVL_micro](DEBUG): NQ1
2013-06-04T00:32:59.278Z,1370305979.278 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:32:59.279Z,1370305979.279 [Reporter](INFO): homing_target_azimuth 277.702077 arcdeg
2013-06-04T00:32:59.279Z,1370305979.279 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:32:59.702Z,1370305979.702 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:00.098Z,1370305980.098 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:00.098Z,1370305980.099 [Reporter](INFO): homing_target_azimuth 280.364622 arcdeg
2013-06-04T00:33:00.099Z,1370305980.099 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:00.481Z,1370305980.481 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:00.515Z,1370305980.515 [Reporter](INFO): homing_target_azimuth 279.063225 arcdeg
2013-06-04T00:33:00.515Z,1370305980.515 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:00.882Z,1370305980.882 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:00.906Z,1370305980.906 [Reporter](INFO): homing_target_azimuth 278.947029 arcdeg
2013-06-04T00:33:00.907Z,1370305980.907 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:01.338Z,1370305981.338 [Reporter](INFO): homing_target_range 202.800003 m
2013-06-04T00:33:01.338Z,1370305981.338 [Reporter](INFO): homing_target_azimuth 278.681854 arcdeg
2013-06-04T00:33:01.339Z,1370305981.339 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:01.726Z,1370305981.726 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:01.802Z,1370305981.802 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:02.226Z,1370305982.226 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:02.226Z,1370305982.226 [Reporter](INFO): homing_target_azimuth 277.370430 arcdeg
2013-06-04T00:33:02.227Z,1370305982.227 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:02.531Z,1370305982.531 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:02.532Z,1370305982.532 [Reporter](INFO): homing_target_azimuth 279.641605 arcdeg
2013-06-04T00:33:02.533Z,1370305982.533 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:02.971Z,1370305982.971 [CommandLine](IMPORTANT): got command show stack
2013-06-04T00:33:02.971Z,1370305982.971 [CommandLine](INFO): Behavior Stack:

2013-06-04T00:33:02.972Z,1370305982.972 [homing_pursuit](INFO): Priority 0: homing_pursuit:A.Pitch
2013-06-04T00:33:02.972Z,1370305982.972 [homing_pursuit](INFO): Priority 1: homing_pursuit:B.Buoyancy
2013-06-04T00:33:02.972Z,1370305982.972 [homing_pursuit](INFO): Priority 2: homing_pursuit:C
2013-06-04T00:33:02.973Z,1370305982.973 [homing_pursuit](INFO): Priority 3: homing_pursuit:D
2013-06-04T00:33:02.973Z,1370305982.973 [homing_pursuit](INFO): Priority 4: homing_pursuit:E
2013-06-04T00:33:02.974Z,1370305982.974 [homing_pursuit:InitialPursuit](INFO): Priority 5: homing_pursuit:InitialPursuit:A.SetSpeed
2013-06-04T00:33:02.974Z,1370305982.974 [homing_pursuit:InitialPursuit](INFO): Priority 6: homing_pursuit:InitialPursuit:B.Pitch
2013-06-04T00:33:02.974Z,1370305982.974 [homing_pursuit:InitialPursuit](INFO): Priority 7: homing_pursuit:InitialPursuit:C.Point
2013-06-04T00:33:02.975Z,1370305982.975 [homing_pursuit:InitialPursuit](INFO): Priority 8: homing_pursuit:InitialPursuit:D.Wait
2013-06-04T00:33:02.992Z,1370305982.992 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:02.993Z,1370305982.993 [Reporter](INFO): homing_target_azimuth 276.286097 arcdeg
2013-06-04T00:33:02.994Z,1370305982.994 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:03.322Z,1370305983.322 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:03.322Z,1370305983.322 [Reporter](INFO): homing_target_azimuth 277.801716 arcdeg
2013-06-04T00:33:03.323Z,1370305983.323 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:03.802Z,1370305983.802 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:03.803Z,1370305983.803 [Reporter](INFO): homing_target_azimuth 276.694542 arcdeg
2013-06-04T00:33:03.803Z,1370305983.803 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:04.115Z,1370305984.115 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:04.358Z,1370305984.358 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:04.595Z,1370305984.595 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:04.596Z,1370305984.596 [Reporter](INFO): homing_target_azimuth 278.115741 arcdeg
2013-06-04T00:33:04.597Z,1370305984.597 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:04.938Z,1370305984.938 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:04.939Z,1370305984.939 [Reporter](INFO): homing_target_azimuth 278.438645 arcdeg
2013-06-04T00:33:04.940Z,1370305984.940 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:05.389Z,1370305985.389 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:05.390Z,1370305985.390 [Reporter](INFO): homing_target_azimuth 281.467369 arcdeg
2013-06-04T00:33:05.391Z,1370305985.391 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:05.858Z,1370305985.858 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:05.858Z,1370305985.858 [Reporter](INFO): homing_target_azimuth 277.746747 arcdeg
2013-06-04T00:33:05.859Z,1370305985.859 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:06.202Z,1370305986.202 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:06.607Z,1370305986.607 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:06.608Z,1370305986.608 [Reporter](INFO): homing_target_azimuth 278.938205 arcdeg
2013-06-04T00:33:06.609Z,1370305986.609 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:06.916Z,1370305986.916 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:06.942Z,1370305986.942 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:06.943Z,1370305986.943 [Reporter](INFO): homing_target_azimuth 278.149400 arcdeg
2013-06-04T00:33:06.944Z,1370305986.944 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:07.378Z,1370305987.378 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:07.379Z,1370305987.379 [Reporter](INFO): homing_target_azimuth 278.466020 arcdeg
2013-06-04T00:33:07.379Z,1370305987.379 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:07.793Z,1370305987.793 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:07.794Z,1370305987.794 [Reporter](INFO): homing_target_azimuth 278.415422 arcdeg
2013-06-04T00:33:07.794Z,1370305987.795 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:08.209Z,1370305988.210 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:08.770Z,1370305988.770 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:08.771Z,1370305988.771 [Reporter](INFO): homing_target_azimuth 280.692170 arcdeg
2013-06-04T00:33:08.771Z,1370305988.771 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:09.278Z,1370305989.278 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:09.278Z,1370305989.278 [Reporter](INFO): homing_target_azimuth 274.977405 arcdeg
2013-06-04T00:33:09.279Z,1370305989.279 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:09.475Z,1370305989.475 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:09.814Z,1370305989.814 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:09.817Z,1370305989.817 [Reporter](INFO): homing_target_azimuth 273.661692 arcdeg
2013-06-04T00:33:09.818Z,1370305989.818 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:10.127Z,1370305990.127 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:10.128Z,1370305990.128 [Reporter](INFO): homing_target_azimuth 277.394910 arcdeg
2013-06-04T00:33:10.128Z,1370305990.128 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:10.535Z,1370305990.534 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:10.535Z,1370305990.535 [Reporter](INFO): homing_target_azimuth 277.154132 arcdeg
2013-06-04T00:33:10.536Z,1370305990.536 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:10.906Z,1370305990.906 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:10.906Z,1370305990.907 [Reporter](INFO): homing_target_azimuth 279.429678 arcdeg
2013-06-04T00:33:10.907Z,1370305990.907 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:11.310Z,1370305991.310 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:11.310Z,1370305991.310 [Reporter](INFO): homing_target_azimuth 278.642649 arcdeg
2013-06-04T00:33:11.311Z,1370305991.311 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:11.706Z,1370305991.707 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:11.707Z,1370305991.707 [Reporter](INFO): homing_target_azimuth 277.731447 arcdeg
2013-06-04T00:33:11.708Z,1370305991.708 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:12.040Z,1370305992.040 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:12.165Z,1370305992.165 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:12.646Z,1370305992.646 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:12.646Z,1370305992.646 [Reporter](INFO): homing_target_azimuth 278.986508 arcdeg
2013-06-04T00:33:12.647Z,1370305992.647 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:13.050Z,1370305993.050 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:13.051Z,1370305993.051 [Reporter](INFO): homing_target_azimuth 278.253820 arcdeg
2013-06-04T00:33:13.052Z,1370305993.052 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:13.361Z,1370305993.362 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:13.362Z,1370305993.362 [Reporter](INFO): homing_target_azimuth 280.787410 arcdeg
2013-06-04T00:33:13.363Z,1370305993.363 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:13.798Z,1370305993.798 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:13.799Z,1370305993.799 [Reporter](INFO): homing_target_azimuth 278.985852 arcdeg
2013-06-04T00:33:13.799Z,1370305993.799 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:14.138Z,1370305994.138 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:14.567Z,1370305994.567 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:14.568Z,1370305994.568 [Reporter](INFO): homing_target_azimuth 277.304533 arcdeg
2013-06-04T00:33:14.568Z,1370305994.568 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:14.602Z,1370305994.602 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:14.943Z,1370305994.943 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:14.944Z,1370305994.944 [Reporter](INFO): homing_target_azimuth 275.680970 arcdeg
2013-06-04T00:33:14.945Z,1370305994.944 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:15.407Z,1370305995.407 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:15.408Z,1370305995.408 [Reporter](INFO): homing_target_azimuth 277.110091 arcdeg
2013-06-04T00:33:15.408Z,1370305995.408 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:15.822Z,1370305995.822 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:15.822Z,1370305995.822 [Reporter](INFO): homing_target_azimuth 277.102113 arcdeg
2013-06-04T00:33:15.823Z,1370305995.823 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:16.245Z,1370305996.246 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:16.567Z,1370305996.567 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:16.567Z,1370305996.567 [Reporter](INFO): homing_target_azimuth 277.183256 arcdeg
2013-06-04T00:33:16.568Z,1370305996.568 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:16.931Z,1370305996.931 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:16.932Z,1370305996.931 [Reporter](INFO): homing_target_azimuth 280.556686 arcdeg
2013-06-04T00:33:16.932Z,1370305996.932 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:17.150Z,1370305997.150 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:17.366Z,1370305997.365 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:17.366Z,1370305997.366 [Reporter](INFO): homing_target_azimuth 278.387528 arcdeg
2013-06-04T00:33:17.367Z,1370305997.367 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:17.742Z,1370305997.741 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:17.743Z,1370305997.743 [Reporter](INFO): homing_target_azimuth 277.936079 arcdeg
2013-06-04T00:33:17.743Z,1370305997.743 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:18.130Z,1370305998.130 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:18.567Z,1370305998.567 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:18.568Z,1370305998.568 [Reporter](INFO): homing_target_azimuth 276.936030 arcdeg
2013-06-04T00:33:18.569Z,1370305998.569 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:19.079Z,1370305999.079 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:19.080Z,1370305999.080 [Reporter](INFO): homing_target_azimuth 277.930861 arcdeg
2013-06-04T00:33:19.081Z,1370305999.081 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:19.467Z,1370305999.467 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:19.468Z,1370305999.468 [Reporter](INFO): homing_target_azimuth 279.186851 arcdeg
2013-06-04T00:33:19.468Z,1370305999.468 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:19.698Z,1370305999.698 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:19.907Z,1370305999.907 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:19.908Z,1370305999.908 [Reporter](INFO): homing_target_azimuth 277.963127 arcdeg
2013-06-04T00:33:19.909Z,1370305999.909 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:20.354Z,1370306000.353 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:20.354Z,1370306000.354 [Reporter](INFO): homing_target_azimuth 276.811994 arcdeg
2013-06-04T00:33:20.355Z,1370306000.355 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:20.907Z,1370306000.907 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:21.202Z,1370306001.202 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:21.203Z,1370306001.203 [Reporter](INFO): homing_target_azimuth 276.024883 arcdeg
2013-06-04T00:33:21.203Z,1370306001.203 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:21.603Z,1370306001.603 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:21.604Z,1370306001.604 [Reporter](INFO): homing_target_azimuth 278.500799 arcdeg
2013-06-04T00:33:21.605Z,1370306001.605 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:22.003Z,1370306002.003 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:22.004Z,1370306002.004 [Reporter](INFO): homing_target_azimuth 278.640654 arcdeg
2013-06-04T00:33:22.005Z,1370306002.005 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:22.238Z,1370306002.238 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:22.494Z,1370306002.494 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:22.503Z,1370306002.503 [Reporter](INFO): homing_target_azimuth 279.225155 arcdeg
2013-06-04T00:33:22.504Z,1370306002.504 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:22.866Z,1370306002.866 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:22.866Z,1370306002.866 [Reporter](INFO): homing_target_azimuth 278.578281 arcdeg
2013-06-04T00:33:22.867Z,1370306002.867 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:23.301Z,1370306003.302 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:23.302Z,1370306003.302 [Reporter](INFO): homing_target_azimuth 278.146231 arcdeg
2013-06-04T00:33:23.303Z,1370306003.303 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:23.689Z,1370306003.690 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:24.342Z,1370306004.342 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:24.342Z,1370306004.342 [Reporter](INFO): homing_target_azimuth 279.170377 arcdeg
2013-06-04T00:33:24.343Z,1370306004.343 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:24.682Z,1370306004.681 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:24.689Z,1370306004.689 [Reporter](INFO): homing_target_azimuth 277.192955 arcdeg
2013-06-04T00:33:24.689Z,1370306004.689 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:24.790Z,1370306004.790 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:25.067Z,1370306005.067 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:25.068Z,1370306005.068 [Reporter](INFO): homing_target_azimuth 277.441792 arcdeg
2013-06-04T00:33:25.069Z,1370306005.069 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:25.504Z,1370306005.504 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:25.504Z,1370306005.504 [Reporter](INFO): homing_target_azimuth 277.882831 arcdeg
2013-06-04T00:33:25.505Z,1370306005.505 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:25.922Z,1370306005.922 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:25.923Z,1370306005.923 [Reporter](INFO): homing_target_azimuth 277.155717 arcdeg
2013-06-04T00:33:25.923Z,1370306005.923 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:26.394Z,1370306006.394 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:26.395Z,1370306006.395 [Reporter](INFO): homing_target_azimuth 276.421663 arcdeg
2013-06-04T00:33:26.396Z,1370306006.396 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:26.702Z,1370306006.702 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:26.702Z,1370306006.702 [Reporter](INFO): homing_target_azimuth 275.915928 arcdeg
2013-06-04T00:33:26.703Z,1370306006.703 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:27.098Z,1370306007.098 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:27.346Z,1370306007.346 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:27.503Z,1370306007.503 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:27.504Z,1370306007.504 [Reporter](INFO): homing_target_azimuth 277.133560 arcdeg
2013-06-04T00:33:27.504Z,1370306007.504 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:27.927Z,1370306007.927 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:27.928Z,1370306007.928 [Reporter](INFO): homing_target_azimuth 281.562828 arcdeg
2013-06-04T00:33:27.929Z,1370306007.929 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:28.362Z,1370306008.362 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:28.362Z,1370306008.362 [Reporter](INFO): homing_target_azimuth 278.914955 arcdeg
2013-06-04T00:33:28.363Z,1370306008.363 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:28.854Z,1370306008.854 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:28.855Z,1370306008.855 [Reporter](INFO): homing_target_azimuth 277.450535 arcdeg
2013-06-04T00:33:28.856Z,1370306008.856 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:29.226Z,1370306009.226 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:29.227Z,1370306009.227 [Reporter](INFO): homing_target_azimuth 281.939964 arcdeg
2013-06-04T00:33:29.227Z,1370306009.227 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:29.603Z,1370306009.603 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:29.919Z,1370306009.919 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:30.031Z,1370306010.031 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:30.032Z,1370306010.032 [Reporter](INFO): homing_target_azimuth 278.004354 arcdeg
2013-06-04T00:33:30.033Z,1370306010.033 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:30.554Z,1370306010.554 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:30.555Z,1370306010.555 [Reporter](INFO): homing_target_azimuth 276.503816 arcdeg
2013-06-04T00:33:30.556Z,1370306010.556 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:31.003Z,1370306011.003 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:31.004Z,1370306011.003 [Reporter](INFO): homing_target_azimuth 277.101157 arcdeg
2013-06-04T00:33:31.004Z,1370306011.004 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:31.294Z,1370306011.294 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:31.294Z,1370306011.295 [Reporter](INFO): homing_target_azimuth 280.734353 arcdeg
2013-06-04T00:33:31.295Z,1370306011.295 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:31.726Z,1370306011.726 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:31.726Z,1370306011.727 [Reporter](INFO): homing_target_azimuth 278.801902 arcdeg
2013-06-04T00:33:31.727Z,1370306011.727 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:32.099Z,1370306012.099 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:32.482Z,1370306012.482 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:32.515Z,1370306012.515 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:32.515Z,1370306012.515 [Reporter](INFO): homing_target_azimuth 277.736337 arcdeg
2013-06-04T00:33:32.516Z,1370306012.516 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:32.898Z,1370306012.898 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:32.899Z,1370306012.899 [Reporter](INFO): homing_target_azimuth 277.362289 arcdeg
2013-06-04T00:33:32.900Z,1370306012.900 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:33.302Z,1370306013.302 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:33.303Z,1370306013.303 [Reporter](INFO): homing_target_azimuth 280.710803 arcdeg
2013-06-04T00:33:33.304Z,1370306013.304 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:33.698Z,1370306013.698 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:33.698Z,1370306013.698 [Reporter](INFO): homing_target_azimuth 278.660954 arcdeg
2013-06-04T00:33:33.699Z,1370306013.699 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:34.166Z,1370306014.166 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:34.503Z,1370306014.503 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:34.504Z,1370306014.504 [Reporter](INFO): homing_target_azimuth 278.807202 arcdeg
2013-06-04T00:33:34.504Z,1370306014.504 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:34.927Z,1370306014.927 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:34.928Z,1370306014.928 [Reporter](INFO): homing_target_azimuth 279.883640 arcdeg
2013-06-04T00:33:34.929Z,1370306014.929 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:35.050Z,1370306015.050 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:35.298Z,1370306015.298 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:35.299Z,1370306015.299 [Reporter](INFO): homing_target_azimuth 278.062766 arcdeg
2013-06-04T00:33:35.299Z,1370306015.299 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:35.698Z,1370306015.698 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:35.698Z,1370306015.698 [Reporter](INFO): homing_target_azimuth 275.319543 arcdeg
2013-06-04T00:33:35.699Z,1370306015.699 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:36.101Z,1370306016.101 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:36.503Z,1370306016.503 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:36.504Z,1370306016.504 [Reporter](INFO): homing_target_azimuth 278.129674 arcdeg
2013-06-04T00:33:36.505Z,1370306016.505 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:36.902Z,1370306016.902 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:36.903Z,1370306016.903 [Reporter](INFO): homing_target_azimuth 279.588603 arcdeg
2013-06-04T00:33:36.903Z,1370306016.903 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:37.302Z,1370306017.302 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:37.302Z,1370306017.302 [Reporter](INFO): homing_target_azimuth 276.185966 arcdeg
2013-06-04T00:33:37.303Z,1370306017.303 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:37.598Z,1370306017.598 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:37.710Z,1370306017.710 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:37.710Z,1370306017.710 [Reporter](INFO): homing_target_azimuth 276.908928 arcdeg
2013-06-04T00:33:37.711Z,1370306017.711 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:38.134Z,1370306018.134 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:38.503Z,1370306018.503 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:38.504Z,1370306018.504 [Reporter](INFO): homing_target_azimuth 279.491204 arcdeg
2013-06-04T00:33:38.504Z,1370306018.504 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:38.899Z,1370306018.898 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:38.899Z,1370306018.899 [Reporter](INFO): homing_target_azimuth 279.740014 arcdeg
2013-06-04T00:33:38.900Z,1370306018.900 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:39.403Z,1370306019.403 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:39.404Z,1370306019.404 [Reporter](INFO): homing_target_azimuth 280.475954 arcdeg
2013-06-04T00:33:39.405Z,1370306019.405 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:39.794Z,1370306019.794 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:39.794Z,1370306019.794 [Reporter](INFO): homing_target_azimuth 277.417231 arcdeg
2013-06-04T00:33:39.795Z,1370306019.795 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:40.102Z,1370306020.102 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:40.146Z,1370306020.146 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:40.503Z,1370306020.503 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:40.504Z,1370306020.504 [Reporter](INFO): homing_target_azimuth 280.509941 arcdeg
2013-06-04T00:33:40.504Z,1370306020.504 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:40.961Z,1370306020.961 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:40.962Z,1370306020.962 [Reporter](INFO): homing_target_azimuth 280.063465 arcdeg
2013-06-04T00:33:40.963Z,1370306020.963 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:41.395Z,1370306021.395 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:41.396Z,1370306021.396 [Reporter](INFO): homing_target_azimuth 277.392069 arcdeg
2013-06-04T00:33:41.397Z,1370306021.397 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:41.918Z,1370306021.918 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:41.919Z,1370306021.919 [Reporter](INFO): homing_target_azimuth 277.576047 arcdeg
2013-06-04T00:33:41.920Z,1370306021.920 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:42.195Z,1370306022.195 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:42.196Z,1370306022.196 [Reporter](INFO): homing_target_azimuth 281.044553 arcdeg
2013-06-04T00:33:42.196Z,1370306022.196 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:42.598Z,1370306022.598 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:42.694Z,1370306022.694 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:43.022Z,1370306023.022 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:43.023Z,1370306023.023 [Reporter](INFO): homing_target_azimuth 278.358977 arcdeg
2013-06-04T00:33:43.024Z,1370306023.024 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:43.375Z,1370306023.375 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:43.375Z,1370306023.375 [Reporter](INFO): homing_target_azimuth 280.754161 arcdeg
2013-06-04T00:33:43.376Z,1370306023.376 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:43.801Z,1370306023.801 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:43.802Z,1370306023.802 [Reporter](INFO): homing_target_azimuth 278.251470 arcdeg
2013-06-04T00:33:43.802Z,1370306023.802 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:44.322Z,1370306024.322 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:44.323Z,1370306024.323 [Reporter](INFO): homing_target_azimuth 279.665347 arcdeg
2013-06-04T00:33:44.323Z,1370306024.323 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:44.706Z,1370306024.706 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:44.707Z,1370306024.707 [Reporter](INFO): homing_target_azimuth 279.616142 arcdeg
2013-06-04T00:33:44.707Z,1370306024.707 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:45.101Z,1370306025.102 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:45.266Z,1370306025.266 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:45.399Z,1370306025.399 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:45.399Z,1370306025.399 [Reporter](INFO): homing_target_azimuth 282.507498 arcdeg
2013-06-04T00:33:45.400Z,1370306025.400 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:45.781Z,1370306025.782 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:45.803Z,1370306025.803 [Reporter](INFO): homing_target_azimuth 278.571943 arcdeg
2013-06-04T00:33:45.803Z,1370306025.803 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:46.197Z,1370306026.197 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:46.197Z,1370306026.197 [Reporter](INFO): homing_target_azimuth 278.755784 arcdeg
2013-06-04T00:33:46.206Z,1370306026.206 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:46.575Z,1370306026.575 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:47.006Z,1370306027.006 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:47.007Z,1370306027.007 [Reporter](INFO): homing_target_azimuth 280.102260 arcdeg
2013-06-04T00:33:47.008Z,1370306027.008 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:47.377Z,1370306027.377 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:47.378Z,1370306027.378 [Reporter](INFO): homing_target_azimuth 280.736976 arcdeg
2013-06-04T00:33:47.378Z,1370306027.378 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:47.818Z,1370306027.818 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:47.863Z,1370306027.863 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:47.863Z,1370306027.864 [Reporter](INFO): homing_target_azimuth 278.648687 arcdeg
2013-06-04T00:33:47.864Z,1370306027.864 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:48.197Z,1370306028.197 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:48.197Z,1370306028.197 [Reporter](INFO): homing_target_azimuth 280.141930 arcdeg
2013-06-04T00:33:48.206Z,1370306028.206 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:48.572Z,1370306028.572 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:49.002Z,1370306029.002 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:49.003Z,1370306029.003 [Reporter](INFO): homing_target_azimuth 278.255049 arcdeg
2013-06-04T00:33:49.004Z,1370306029.003 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:49.551Z,1370306029.551 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:49.552Z,1370306029.552 [Reporter](INFO): homing_target_azimuth 278.424110 arcdeg
2013-06-04T00:33:49.553Z,1370306029.553 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:49.904Z,1370306029.904 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:49.905Z,1370306029.905 [Reporter](INFO): homing_target_azimuth 278.549267 arcdeg
2013-06-04T00:33:49.905Z,1370306029.905 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:50.346Z,1370306030.346 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:50.378Z,1370306030.378 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:50.379Z,1370306030.379 [Reporter](INFO): homing_target_azimuth 281.462260 arcdeg
2013-06-04T00:33:50.380Z,1370306030.379 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:50.662Z,1370306030.662 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:50.662Z,1370306030.662 [Reporter](INFO): homing_target_azimuth 281.299647 arcdeg
2013-06-04T00:33:50.663Z,1370306030.663 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:51.079Z,1370306031.079 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:51.458Z,1370306031.458 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:51.459Z,1370306031.459 [Reporter](INFO): homing_target_azimuth 279.626988 arcdeg
2013-06-04T00:33:51.460Z,1370306031.460 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:51.854Z,1370306031.854 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:51.855Z,1370306031.855 [Reporter](INFO): homing_target_azimuth 277.934850 arcdeg
2013-06-04T00:33:51.856Z,1370306031.856 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:52.254Z,1370306032.254 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:52.254Z,1370306032.254 [Reporter](INFO): homing_target_azimuth 283.359878 arcdeg
2013-06-04T00:33:52.255Z,1370306032.255 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:52.654Z,1370306032.654 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:52.654Z,1370306032.654 [Reporter](INFO): homing_target_azimuth 279.730507 arcdeg
2013-06-04T00:33:52.655Z,1370306032.655 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:52.914Z,1370306032.914 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:53.066Z,1370306033.066 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:53.458Z,1370306033.458 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:53.459Z,1370306033.459 [Reporter](INFO): homing_target_azimuth 279.863805 arcdeg
2013-06-04T00:33:53.460Z,1370306033.460 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:53.854Z,1370306033.854 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:53.855Z,1370306033.855 [Reporter](INFO): homing_target_azimuth 280.832353 arcdeg
2013-06-04T00:33:53.856Z,1370306033.856 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:54.301Z,1370306034.301 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:54.302Z,1370306034.302 [Reporter](INFO): homing_target_azimuth 280.710748 arcdeg
2013-06-04T00:33:54.303Z,1370306034.303 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:54.706Z,1370306034.706 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:54.707Z,1370306034.707 [Reporter](INFO): homing_target_azimuth 281.189681 arcdeg
2013-06-04T00:33:54.707Z,1370306034.707 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:55.050Z,1370306035.050 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:55.463Z,1370306035.463 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:55.463Z,1370306035.464 [Reporter](INFO): homing_target_azimuth 280.146110 arcdeg
2013-06-04T00:33:55.464Z,1370306035.464 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:55.465Z,1370306035.465 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:55.895Z,1370306035.895 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:55.896Z,1370306035.896 [Reporter](INFO): homing_target_azimuth 280.822763 arcdeg
2013-06-04T00:33:55.897Z,1370306035.897 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:56.329Z,1370306036.329 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:56.331Z,1370306036.331 [Reporter](INFO): homing_target_azimuth 278.736578 arcdeg
2013-06-04T00:33:56.331Z,1370306036.331 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:56.678Z,1370306036.678 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:56.678Z,1370306036.678 [Reporter](INFO): homing_target_azimuth 279.795284 arcdeg
2013-06-04T00:33:56.679Z,1370306036.679 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:57.122Z,1370306037.122 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:57.682Z,1370306037.681 [Reporter](INFO): homing_target_range 203.000000 m
2013-06-04T00:33:57.682Z,1370306037.682 [Reporter](INFO): homing_target_azimuth 279.901453 arcdeg
2013-06-04T00:33:57.683Z,1370306037.683 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:58.003Z,1370306038.003 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:58.004Z,1370306038.004 [Reporter](INFO): homing_target_azimuth 281.149793 arcdeg
2013-06-04T00:33:58.004Z,1370306038.004 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:58.023Z,1370306038.023 [DVL_micro](DEBUG): NQ1
2013-06-04T00:33:58.430Z,1370306038.430 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:58.430Z,1370306038.430 [Reporter](INFO): homing_target_azimuth 277.718524 arcdeg
2013-06-04T00:33:58.431Z,1370306038.431 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:58.802Z,1370306038.802 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:33:58.802Z,1370306038.802 [Reporter](INFO): homing_target_azimuth 280.176218 arcdeg
2013-06-04T00:33:58.803Z,1370306038.803 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:59.282Z,1370306039.282 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:33:59.287Z,1370306039.287 [Reporter](INFO): homing_target_azimuth 279.786787 arcdeg
2013-06-04T00:33:59.288Z,1370306039.288 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:59.650Z,1370306039.650 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:33:59.651Z,1370306039.651 [Reporter](INFO): homing_target_azimuth 278.690378 arcdeg
2013-06-04T00:33:59.651Z,1370306039.651 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:33:59.950Z,1370306039.950 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:00.355Z,1370306040.355 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:34:00.355Z,1370306040.355 [Reporter](INFO): homing_target_azimuth 278.132734 arcdeg
2013-06-04T00:34:00.356Z,1370306040.356 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:00.570Z,1370306040.570 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:00.863Z,1370306040.862 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:34:00.863Z,1370306040.863 [Reporter](INFO): homing_target_azimuth 277.335405 arcdeg
2013-06-04T00:34:00.864Z,1370306040.864 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:01.198Z,1370306041.198 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:34:01.199Z,1370306041.199 [Reporter](INFO): homing_target_azimuth 278.420941 arcdeg
2013-06-04T00:34:01.199Z,1370306041.199 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:01.665Z,1370306041.665 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:01.962Z,1370306041.962 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:34:01.963Z,1370306041.963 [Reporter](INFO): homing_target_azimuth 281.495482 arcdeg
2013-06-04T00:34:01.964Z,1370306041.964 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:02.353Z,1370306042.353 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:34:02.354Z,1370306042.354 [Reporter](INFO): homing_target_azimuth 281.610530 arcdeg
2013-06-04T00:34:02.355Z,1370306042.355 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:02.753Z,1370306042.753 [Reporter](INFO): homing_target_range 203.399994 m
2013-06-04T00:34:02.754Z,1370306042.754 [Reporter](INFO): homing_target_azimuth 280.340115 arcdeg
2013-06-04T00:34:02.755Z,1370306042.755 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:03.122Z,1370306043.122 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:03.157Z,1370306043.158 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:34:03.158Z,1370306043.158 [Reporter](INFO): homing_target_azimuth 279.709442 arcdeg
2013-06-04T00:34:03.159Z,1370306043.159 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:03.562Z,1370306043.562 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:03.999Z,1370306043.999 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:34:03.000Z,1370306044.000 [Reporter](INFO): homing_target_azimuth 280.044832 arcdeg
2013-06-04T00:34:04.000Z,1370306044.000 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:04.354Z,1370306044.354 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:34:04.355Z,1370306044.355 [Reporter](INFO): homing_target_azimuth 279.991229 arcdeg
2013-06-04T00:34:04.356Z,1370306044.356 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:04.753Z,1370306044.753 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:34:04.754Z,1370306044.754 [Reporter](INFO): homing_target_azimuth 281.207467 arcdeg
2013-06-04T00:34:04.755Z,1370306044.755 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:05.235Z,1370306045.235 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:34:05.236Z,1370306045.236 [Reporter](INFO): homing_target_azimuth 281.126324 arcdeg
2013-06-04T00:34:05.236Z,1370306045.236 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:05.549Z,1370306045.549 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:05.670Z,1370306045.670 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:05.962Z,1370306045.962 [Reporter](INFO): homing_target_range 203.300003 m
2013-06-04T00:34:05.963Z,1370306045.963 [Reporter](INFO): homing_target_azimuth 278.277807 arcdeg
2013-06-04T00:34:05.964Z,1370306045.964 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:06.354Z,1370306046.354 [Reporter](INFO): homing_target_range 203.100006 m
2013-06-04T00:34:06.355Z,1370306046.355 [Reporter](INFO): homing_target_azimuth 276.181923 arcdeg
2013-06-04T00:34:06.355Z,1370306046.355 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:06.742Z,1370306046.742 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:07.158Z,1370306047.158 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:07.546Z,1370306047.546 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:07.941Z,1370306047.941 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:08.230Z,1370306048.230 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:08.350Z,1370306048.350 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:08.742Z,1370306048.741 [Reporter](INFO): HorizontalControl.headingCmd 4.907433 rad
2013-06-04T00:34:09.114Z,1370306049.114 [homing_pursuit:InitialPursuit] Stopped
2013-06-04T00:34:09.114Z,1370306049.114 [homing_pursuit:InitialPursuit](INFO): Aggregate::uninitialize homing_pursuit:InitialPursuit
2013-06-04T00:34:09.114Z,1370306049.114 [homing_pursuit:InitialPursuit:A.SetSpeed] Stopped
2013-06-04T00:34:09.114Z,1370306049.114 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:34:09.115Z,1370306049.115 [homing_pursuit:InitialPursuit:B.Pitch] Stopped
2013-06-04T00:34:09.115Z,1370306049.115 [homing_pursuit:InitialPursuit:C.Point] Stopped
2013-06-04T00:34:09.115Z,1370306049.115 [homing_pursuit:InitialPursuit:D.Wait] Stopped
2013-06-04T00:34:09.115Z,1370306049.115 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:34:09.115Z,1370306049.115 [homing_pursuit:ClosePursuit] Running Loop=1
2013-06-04T00:34:09.115Z,1370306049.115 [homing_pursuit:ClosePursuit](INFO): Aggregate::initialize homing_pursuit:ClosePursuit
2013-06-04T00:34:09.115Z,1370306049.115 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-04T00:34:09.115Z,1370306049.115 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-04T00:34:09.115Z,1370306049.115 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Initialize.
2013-06-04T00:34:09.116Z,1370306049.115 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-04T00:34:09.116Z,1370306049.116 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Initialize.
2013-06-04T00:34:09.116Z,1370306049.116 [homing_pursuit:ClosePursuit:D.Point] Running Loop=1
2013-06-04T00:34:09.116Z,1370306049.116 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Initialize.
2013-06-04T00:34:09.154Z,1370306049.154 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:09.154Z,1370306049.154 [Reporter](INFO): homing_target_azimuth 278.821627 arcdeg
2013-06-04T00:34:09.510Z,1370306049.510 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-04T00:34:09.511Z,1370306049.511 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-04T00:34:09.512Z,1370306049.513 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-04T00:34:09.650Z,1370306049.650 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:10.011Z,1370306050.011 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:10.012Z,1370306050.012 [Reporter](INFO): homing_target_azimuth 280.247989 arcdeg
2013-06-04T00:34:10.012Z,1370306050.012 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:10.562Z,1370306050.562 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:10.563Z,1370306050.563 [Reporter](INFO): homing_target_azimuth 280.351644 arcdeg
2013-06-04T00:34:10.564Z,1370306050.564 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:10.782Z,1370306050.782 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:10.929Z,1370306050.929 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:10.930Z,1370306050.930 [Reporter](INFO): homing_target_azimuth 279.684444 arcdeg
2013-06-04T00:34:10.931Z,1370306050.931 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:11.394Z,1370306051.394 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:11.395Z,1370306051.395 [Reporter](INFO): homing_target_azimuth 280.527180 arcdeg
2013-06-04T00:34:11.396Z,1370306051.396 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:11.682Z,1370306051.682 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:11.699Z,1370306051.699 [Reporter](INFO): homing_target_azimuth 280.473604 arcdeg
2013-06-04T00:34:11.699Z,1370306051.699 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:12.078Z,1370306052.078 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:12.588Z,1370306052.588 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:12.589Z,1370306052.589 [Reporter](INFO): homing_target_azimuth 279.513443 arcdeg
2013-06-04T00:34:12.589Z,1370306052.589 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:12.858Z,1370306052.858 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:12.859Z,1370306052.859 [Reporter](INFO): homing_target_azimuth 280.102643 arcdeg
2013-06-04T00:34:12.860Z,1370306052.860 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:13.253Z,1370306053.253 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:13.254Z,1370306053.254 [Reporter](INFO): homing_target_azimuth 277.129543 arcdeg
2013-06-04T00:34:13.255Z,1370306053.255 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:13.322Z,1370306053.322 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:13.697Z,1370306053.697 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:13.703Z,1370306053.703 [Reporter](INFO): homing_target_azimuth 278.674587 arcdeg
2013-06-04T00:34:13.703Z,1370306053.704 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:14.050Z,1370306054.050 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:14.462Z,1370306054.462 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:14.463Z,1370306054.463 [Reporter](INFO): homing_target_azimuth 280.767849 arcdeg
2013-06-04T00:34:14.464Z,1370306054.464 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:14.859Z,1370306054.859 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-04T00:34:14.859Z,1370306054.859 [Reporter](INFO): homing_target_azimuth 281.461714 arcdeg
2013-06-04T00:34:14.860Z,1370306054.860 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:15.303Z,1370306055.303 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:15.303Z,1370306055.303 [Reporter](INFO): homing_target_azimuth 280.761947 arcdeg
2013-06-04T00:34:15.304Z,1370306055.304 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:15.654Z,1370306055.654 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:15.654Z,1370306055.654 [Reporter](INFO): homing_target_azimuth 280.697935 arcdeg
2013-06-04T00:34:15.655Z,1370306055.655 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:15.866Z,1370306055.866 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:16.058Z,1370306056.058 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:16.467Z,1370306056.467 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:16.468Z,1370306056.468 [Reporter](INFO): homing_target_azimuth 281.330629 arcdeg
2013-06-04T00:34:16.468Z,1370306056.468 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:17.046Z,1370306057.046 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:17.046Z,1370306057.046 [Reporter](INFO): homing_target_azimuth 280.731211 arcdeg
2013-06-04T00:34:17.047Z,1370306057.047 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:17.355Z,1370306057.355 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:17.356Z,1370306057.355 [Reporter](INFO): homing_target_azimuth 279.281026 arcdeg
2013-06-04T00:34:17.356Z,1370306057.356 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:17.902Z,1370306057.902 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:17.903Z,1370306057.903 [Reporter](INFO): homing_target_azimuth 278.905529 arcdeg
2013-06-04T00:34:17.904Z,1370306057.904 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:18.193Z,1370306058.193 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:18.210Z,1370306058.210 [Reporter](INFO): homing_target_azimuth 278.554294 arcdeg
2013-06-04T00:34:18.211Z,1370306058.211 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:18.426Z,1370306058.426 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:18.689Z,1370306058.690 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:18.973Z,1370306058.973 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:18.974Z,1370306058.974 [Reporter](INFO): homing_target_azimuth 278.679423 arcdeg
2013-06-04T00:34:18.975Z,1370306058.975 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:19.367Z,1370306059.367 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:19.368Z,1370306059.368 [Reporter](INFO): homing_target_azimuth 278.297724 arcdeg
2013-06-04T00:34:19.368Z,1370306059.368 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:19.762Z,1370306059.761 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:19.763Z,1370306059.763 [Reporter](INFO): homing_target_azimuth 280.686159 arcdeg
2013-06-04T00:34:19.764Z,1370306059.764 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:20.274Z,1370306060.274 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:20.274Z,1370306060.274 [Reporter](INFO): homing_target_azimuth 278.376026 arcdeg
2013-06-04T00:34:20.275Z,1370306060.275 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:20.566Z,1370306060.566 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:20.973Z,1370306060.973 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:20.975Z,1370306060.975 [Reporter](INFO): homing_target_azimuth 280.557834 arcdeg
2013-06-04T00:34:20.976Z,1370306060.976 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:20.990Z,1370306060.990 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:21.366Z,1370306061.366 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:21.367Z,1370306061.367 [Reporter](INFO): homing_target_azimuth 282.582357 arcdeg
2013-06-04T00:34:21.368Z,1370306061.368 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:21.826Z,1370306061.826 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:21.827Z,1370306061.827 [Reporter](INFO): homing_target_azimuth 281.677083 arcdeg
2013-06-04T00:34:21.827Z,1370306061.828 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:22.198Z,1370306062.198 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:22.199Z,1370306062.198 [Reporter](INFO): homing_target_azimuth 279.043554 arcdeg
2013-06-04T00:34:22.199Z,1370306062.199 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:22.677Z,1370306062.677 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:22.973Z,1370306062.973 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:22.974Z,1370306062.974 [Reporter](INFO): homing_target_azimuth 280.224794 arcdeg
2013-06-04T00:34:22.975Z,1370306062.975 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:23.414Z,1370306063.414 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:23.415Z,1370306063.415 [Reporter](INFO): homing_target_azimuth 278.547982 arcdeg
2013-06-04T00:34:23.416Z,1370306063.416 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:23.542Z,1370306063.542 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:23.770Z,1370306063.770 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:23.772Z,1370306063.772 [Reporter](INFO): homing_target_azimuth 282.376413 arcdeg
2013-06-04T00:34:23.773Z,1370306063.773 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:24.162Z,1370306064.162 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:24.162Z,1370306064.162 [Reporter](INFO): homing_target_azimuth 281.930101 arcdeg
2013-06-04T00:34:24.163Z,1370306064.163 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:24.558Z,1370306064.558 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:24.966Z,1370306064.966 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:24.967Z,1370306064.967 [Reporter](INFO): homing_target_azimuth 278.115495 arcdeg
2013-06-04T00:34:24.967Z,1370306064.967 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:25.439Z,1370306065.439 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:25.440Z,1370306065.440 [Reporter](INFO): homing_target_azimuth 277.177245 arcdeg
2013-06-04T00:34:25.440Z,1370306065.441 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:25.762Z,1370306065.762 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:25.762Z,1370306065.762 [Reporter](INFO): homing_target_azimuth 279.787689 arcdeg
2013-06-04T00:34:25.763Z,1370306065.763 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:26.094Z,1370306066.094 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:26.182Z,1370306066.182 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:26.199Z,1370306066.198 [Reporter](INFO): homing_target_azimuth 280.153705 arcdeg
2013-06-04T00:34:26.199Z,1370306066.199 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:26.598Z,1370306066.598 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:26.599Z,1370306066.599 [Reporter](INFO): homing_target_azimuth 280.136357 arcdeg
2013-06-04T00:34:26.599Z,1370306066.599 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:26.954Z,1370306066.954 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:27.366Z,1370306067.366 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:27.367Z,1370306067.367 [Reporter](INFO): homing_target_azimuth 278.704858 arcdeg
2013-06-04T00:34:27.368Z,1370306067.368 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:27.757Z,1370306067.757 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:27.758Z,1370306067.758 [Reporter](INFO): homing_target_azimuth 281.403603 arcdeg
2013-06-04T00:34:27.759Z,1370306067.759 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:28.162Z,1370306068.161 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:28.162Z,1370306068.162 [Reporter](INFO): homing_target_azimuth 279.628272 arcdeg
2013-06-04T00:34:28.163Z,1370306068.163 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:28.618Z,1370306068.618 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:28.618Z,1370306068.618 [Reporter](INFO): homing_target_azimuth 282.577630 arcdeg
2013-06-04T00:34:28.619Z,1370306068.619 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:28.626Z,1370306068.626 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:29.041Z,1370306069.042 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:29.438Z,1370306069.438 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:29.439Z,1370306069.439 [Reporter](INFO): homing_target_azimuth 280.773641 arcdeg
2013-06-04T00:34:29.440Z,1370306069.440 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:29.918Z,1370306069.918 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:29.919Z,1370306069.919 [Reporter](INFO): homing_target_azimuth 278.445202 arcdeg
2013-06-04T00:34:29.920Z,1370306069.920 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:30.238Z,1370306070.238 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:30.238Z,1370306070.238 [Reporter](INFO): homing_target_azimuth 276.562638 arcdeg
2013-06-04T00:34:30.239Z,1370306070.239 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:30.731Z,1370306070.731 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:30.732Z,1370306070.732 [Reporter](INFO): homing_target_azimuth 280.179687 arcdeg
2013-06-04T00:34:30.732Z,1370306070.732 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:31.101Z,1370306071.102 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:31.174Z,1370306071.174 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:31.462Z,1370306071.462 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:31.463Z,1370306071.463 [Reporter](INFO): homing_target_azimuth 281.463490 arcdeg
2013-06-04T00:34:31.464Z,1370306071.464 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:31.826Z,1370306071.826 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:31.827Z,1370306071.827 [Reporter](INFO): homing_target_azimuth 280.520596 arcdeg
2013-06-04T00:34:31.828Z,1370306071.828 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:32.354Z,1370306072.354 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:32.355Z,1370306072.355 [Reporter](INFO): homing_target_azimuth 278.235105 arcdeg
2013-06-04T00:34:32.356Z,1370306072.356 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:32.658Z,1370306072.658 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:32.658Z,1370306072.658 [Reporter](INFO): homing_target_azimuth 282.359529 arcdeg
2013-06-04T00:34:32.659Z,1370306072.659 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:33.074Z,1370306073.074 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:33.075Z,1370306073.075 [Reporter](INFO): homing_target_azimuth 280.103790 arcdeg
2013-06-04T00:34:33.075Z,1370306073.075 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:33.446Z,1370306073.446 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:33.738Z,1370306073.738 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:33.878Z,1370306073.878 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:33.879Z,1370306073.879 [Reporter](INFO): homing_target_azimuth 280.763368 arcdeg
2013-06-04T00:34:33.880Z,1370306073.880 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:34.269Z,1370306074.269 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:34.270Z,1370306074.270 [Reporter](INFO): homing_target_azimuth 280.896147 arcdeg
2013-06-04T00:34:34.271Z,1370306074.271 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:34.641Z,1370306074.641 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:34.642Z,1370306074.642 [Reporter](INFO): homing_target_azimuth 280.858034 arcdeg
2013-06-04T00:34:34.643Z,1370306074.643 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:35.011Z,1370306075.011 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:35.462Z,1370306075.462 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:35.463Z,1370306075.463 [Reporter](INFO): homing_target_azimuth 281.725414 arcdeg
2013-06-04T00:34:35.464Z,1370306075.464 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:35.966Z,1370306075.967 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:35.967Z,1370306075.967 [Reporter](INFO): homing_target_azimuth 278.773351 arcdeg
2013-06-04T00:34:35.968Z,1370306075.968 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:36.262Z,1370306076.262 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:36.310Z,1370306076.310 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:36.310Z,1370306076.310 [Reporter](INFO): homing_target_azimuth 280.994802 arcdeg
2013-06-04T00:34:36.311Z,1370306076.311 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:36.770Z,1370306076.770 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:36.771Z,1370306076.770 [Reporter](INFO): homing_target_azimuth 279.875744 arcdeg
2013-06-04T00:34:36.771Z,1370306076.771 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:37.062Z,1370306077.062 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:37.458Z,1370306077.458 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:37.459Z,1370306077.459 [Reporter](INFO): homing_target_azimuth 281.248994 arcdeg
2013-06-04T00:34:37.460Z,1370306077.460 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:37.870Z,1370306077.870 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:37.871Z,1370306077.871 [Reporter](INFO): homing_target_azimuth 280.379293 arcdeg
2013-06-04T00:34:37.872Z,1370306077.872 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:38.245Z,1370306078.245 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:38.246Z,1370306078.246 [Reporter](INFO): homing_target_azimuth 280.465135 arcdeg
2013-06-04T00:34:38.247Z,1370306078.247 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:38.661Z,1370306078.661 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:38.662Z,1370306078.662 [Reporter](INFO): homing_target_azimuth 282.534764 arcdeg
2013-06-04T00:34:38.663Z,1370306078.663 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:38.834Z,1370306078.834 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:39.045Z,1370306079.046 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:39.503Z,1370306079.503 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:39.503Z,1370306079.503 [Reporter](INFO): homing_target_azimuth 280.677390 arcdeg
2013-06-04T00:34:39.504Z,1370306079.504 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:39.874Z,1370306079.874 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-04T00:34:39.875Z,1370306079.875 [Reporter](INFO): homing_target_azimuth 278.387336 arcdeg
2013-06-04T00:34:39.876Z,1370306079.875 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:40.249Z,1370306080.249 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:40.250Z,1370306080.250 [Reporter](INFO): homing_target_azimuth 281.446305 arcdeg
2013-06-04T00:34:40.251Z,1370306080.251 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:40.709Z,1370306080.709 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:40.710Z,1370306080.710 [Reporter](INFO): homing_target_azimuth 280.391341 arcdeg
2013-06-04T00:34:40.710Z,1370306080.710 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:41.054Z,1370306081.053 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:41.382Z,1370306081.382 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:41.549Z,1370306081.549 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:41.550Z,1370306081.550 [Reporter](INFO): homing_target_azimuth 281.991709 arcdeg
2013-06-04T00:34:41.551Z,1370306081.551 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:41.902Z,1370306081.902 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:41.903Z,1370306081.903 [Reporter](INFO): homing_target_azimuth 279.518088 arcdeg
2013-06-04T00:34:41.904Z,1370306081.904 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:42.323Z,1370306082.323 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:42.323Z,1370306082.323 [Reporter](INFO): homing_target_azimuth 278.219887 arcdeg
2013-06-04T00:34:42.324Z,1370306082.324 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:42.802Z,1370306082.802 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:42.803Z,1370306082.803 [Reporter](INFO): homing_target_azimuth 281.157033 arcdeg
2013-06-04T00:34:42.804Z,1370306082.804 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:43.065Z,1370306083.066 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:43.066Z,1370306083.066 [Reporter](INFO): homing_target_azimuth 279.937270 arcdeg
2013-06-04T00:34:43.067Z,1370306083.067 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:43.454Z,1370306083.454 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:43.874Z,1370306083.874 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:43.875Z,1370306083.875 [Reporter](INFO): homing_target_azimuth 282.515366 arcdeg
2013-06-04T00:34:43.875Z,1370306083.875 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:43.922Z,1370306083.922 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:44.262Z,1370306084.262 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:44.262Z,1370306084.263 [Reporter](INFO): homing_target_azimuth 279.456288 arcdeg
2013-06-04T00:34:44.263Z,1370306084.263 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:44.662Z,1370306084.662 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-04T00:34:44.662Z,1370306084.662 [Reporter](INFO): homing_target_azimuth 280.984557 arcdeg
2013-06-04T00:34:44.663Z,1370306084.663 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:45.066Z,1370306085.066 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:45.066Z,1370306085.066 [Reporter](INFO): homing_target_azimuth 279.120352 arcdeg
2013-06-04T00:34:45.067Z,1370306085.067 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:45.497Z,1370306085.497 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:46.002Z,1370306086.002 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:46.003Z,1370306086.003 [Reporter](INFO): homing_target_azimuth 282.423541 arcdeg
2013-06-04T00:34:46.004Z,1370306086.003 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:46.274Z,1370306086.274 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:46.275Z,1370306086.275 [Reporter](INFO): homing_target_azimuth 278.039625 arcdeg
2013-06-04T00:34:46.276Z,1370306086.276 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:46.489Z,1370306086.489 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:46.737Z,1370306086.737 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-04T00:34:46.738Z,1370306086.738 [Reporter](INFO): homing_target_azimuth 284.764957 arcdeg
2013-06-04T00:34:46.739Z,1370306086.739 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:47.098Z,1370306087.098 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:47.098Z,1370306087.099 [Reporter](INFO): homing_target_azimuth 279.536857 arcdeg
2013-06-04T00:34:47.099Z,1370306087.099 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:47.573Z,1370306087.573 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:47.943Z,1370306087.943 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:47.943Z,1370306087.943 [Reporter](INFO): homing_target_azimuth 281.215390 arcdeg
2013-06-04T00:34:47.944Z,1370306087.944 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:48.374Z,1370306088.374 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:48.375Z,1370306088.375 [Reporter](INFO): homing_target_azimuth 278.967192 arcdeg
2013-06-04T00:34:48.376Z,1370306088.376 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:48.669Z,1370306088.670 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:48.670Z,1370306088.670 [Reporter](INFO): homing_target_azimuth 280.173158 arcdeg
2013-06-04T00:34:48.671Z,1370306088.671 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:49.022Z,1370306089.022 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:49.162Z,1370306089.162 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:49.162Z,1370306089.162 [Reporter](INFO): homing_target_azimuth 280.340552 arcdeg
2013-06-04T00:34:49.163Z,1370306089.163 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:49.463Z,1370306089.463 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:49.903Z,1370306089.903 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:49.904Z,1370306089.904 [Reporter](INFO): homing_target_azimuth 282.040204 arcdeg
2013-06-04T00:34:49.905Z,1370306089.905 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:50.270Z,1370306090.270 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:50.271Z,1370306090.271 [Reporter](INFO): homing_target_azimuth 280.231815 arcdeg
2013-06-04T00:34:50.272Z,1370306090.272 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:50.762Z,1370306090.762 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:50.762Z,1370306090.763 [Reporter](INFO): homing_target_azimuth 282.544190 arcdeg
2013-06-04T00:34:50.763Z,1370306090.763 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:51.194Z,1370306091.194 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:51.195Z,1370306091.195 [Reporter](INFO): homing_target_azimuth 280.907485 arcdeg
2013-06-04T00:34:51.195Z,1370306091.195 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:51.570Z,1370306091.570 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:51.577Z,1370306091.577 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:51.903Z,1370306091.903 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:51.904Z,1370306091.904 [Reporter](INFO): homing_target_azimuth 280.293560 arcdeg
2013-06-04T00:34:51.905Z,1370306091.905 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:52.355Z,1370306092.355 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:52.355Z,1370306092.355 [Reporter](INFO): homing_target_azimuth 279.972787 arcdeg
2013-06-04T00:34:52.356Z,1370306092.356 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:52.750Z,1370306092.750 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:52.750Z,1370306092.750 [Reporter](INFO): homing_target_azimuth 279.503007 arcdeg
2013-06-04T00:34:52.751Z,1370306092.751 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:53.174Z,1370306093.174 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:53.175Z,1370306093.174 [Reporter](INFO): homing_target_azimuth 278.948068 arcdeg
2013-06-04T00:34:53.175Z,1370306093.175 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:53.459Z,1370306093.459 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:53.874Z,1370306093.874 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:53.875Z,1370306093.875 [Reporter](INFO): homing_target_azimuth 279.138794 arcdeg
2013-06-04T00:34:53.876Z,1370306093.876 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:54.114Z,1370306094.114 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:54.282Z,1370306094.282 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:54.299Z,1370306094.299 [Reporter](INFO): homing_target_azimuth 280.605836 arcdeg
2013-06-04T00:34:54.299Z,1370306094.299 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:54.662Z,1370306094.662 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:54.663Z,1370306094.662 [Reporter](INFO): homing_target_azimuth 284.365173 arcdeg
2013-06-04T00:34:54.663Z,1370306094.663 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:55.062Z,1370306095.062 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:55.062Z,1370306095.062 [Reporter](INFO): homing_target_azimuth 282.554107 arcdeg
2013-06-04T00:34:55.063Z,1370306095.063 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:55.459Z,1370306095.459 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:55.998Z,1370306095.998 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:55.999Z,1370306095.999 [Reporter](INFO): homing_target_azimuth 280.967153 arcdeg
2013-06-04T00:34:55.999Z,1370306095.999 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:56.342Z,1370306096.342 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:34:56.343Z,1370306096.343 [Reporter](INFO): homing_target_azimuth 280.917129 arcdeg
2013-06-04T00:34:56.344Z,1370306096.344 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:56.678Z,1370306096.678 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:56.710Z,1370306096.710 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:56.710Z,1370306096.710 [Reporter](INFO): homing_target_azimuth 280.464014 arcdeg
2013-06-04T00:34:56.711Z,1370306096.711 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:57.190Z,1370306097.190 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:57.190Z,1370306097.190 [Reporter](INFO): homing_target_azimuth 280.381069 arcdeg
2013-06-04T00:34:57.191Z,1370306097.191 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:57.459Z,1370306097.459 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:57.874Z,1370306097.874 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:57.875Z,1370306097.875 [Reporter](INFO): homing_target_azimuth 279.777580 arcdeg
2013-06-04T00:34:57.876Z,1370306097.876 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:58.262Z,1370306098.262 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:58.263Z,1370306098.263 [Reporter](INFO): homing_target_azimuth 278.648823 arcdeg
2013-06-04T00:34:58.264Z,1370306098.264 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:58.662Z,1370306098.662 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:58.662Z,1370306098.662 [Reporter](INFO): homing_target_azimuth 279.546501 arcdeg
2013-06-04T00:34:58.663Z,1370306098.663 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:59.106Z,1370306099.106 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:34:59.107Z,1370306099.107 [Reporter](INFO): homing_target_azimuth 279.592018 arcdeg
2013-06-04T00:34:59.107Z,1370306099.107 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:59.238Z,1370306099.238 [DVL_micro](DEBUG): NQ1
2013-06-04T00:34:59.463Z,1370306099.463 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:34:59.874Z,1370306099.874 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:34:59.875Z,1370306099.875 [Reporter](INFO): homing_target_azimuth 280.777192 arcdeg
2013-06-04T00:34:59.876Z,1370306099.876 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:00.263Z,1370306100.263 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:35:00.264Z,1370306100.264 [Reporter](INFO): homing_target_azimuth 280.975022 arcdeg
2013-06-04T00:35:00.264Z,1370306100.264 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:00.729Z,1370306100.730 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:35:00.730Z,1370306100.730 [Reporter](INFO): homing_target_azimuth 282.026352 arcdeg
2013-06-04T00:35:00.731Z,1370306100.731 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:01.274Z,1370306101.274 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:35:01.275Z,1370306101.275 [Reporter](INFO): homing_target_azimuth 280.169497 arcdeg
2013-06-04T00:35:01.276Z,1370306101.276 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:01.789Z,1370306101.789 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:35:01.790Z,1370306101.790 [Reporter](INFO): homing_target_azimuth 280.891557 arcdeg
2013-06-04T00:35:01.791Z,1370306101.791 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:01.799Z,1370306101.799 [DVL_micro](DEBUG): NQ1
2013-06-04T00:35:02.157Z,1370306102.158 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:35:02.159Z,1370306102.159 [Reporter](INFO): homing_target_azimuth 280.421777 arcdeg
2013-06-04T00:35:02.159Z,1370306102.159 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:02.458Z,1370306102.458 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:02.866Z,1370306102.866 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:35:02.867Z,1370306102.867 [Reporter](INFO): homing_target_azimuth 282.836904 arcdeg
2013-06-04T00:35:02.868Z,1370306102.868 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:03.254Z,1370306103.254 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:35:03.255Z,1370306103.255 [Reporter](INFO): homing_target_azimuth 279.897846 arcdeg
2013-06-04T00:35:03.256Z,1370306103.256 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:03.654Z,1370306103.654 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:35:03.654Z,1370306103.654 [Reporter](INFO): homing_target_azimuth 280.404701 arcdeg
2013-06-04T00:35:03.655Z,1370306103.655 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:04.053Z,1370306104.053 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:35:04.054Z,1370306104.054 [Reporter](INFO): homing_target_azimuth 278.161366 arcdeg
2013-06-04T00:35:04.055Z,1370306104.055 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:04.371Z,1370306104.371 [DVL_micro](DEBUG): NQ1
2013-06-04T00:35:04.468Z,1370306104.468 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:04.867Z,1370306104.867 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:35:04.868Z,1370306104.868 [Reporter](INFO): homing_target_azimuth 281.200145 arcdeg
2013-06-04T00:35:04.868Z,1370306104.868 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:05.254Z,1370306105.254 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:35:05.255Z,1370306105.255 [Reporter](INFO): homing_target_azimuth 276.862729 arcdeg
2013-06-04T00:35:05.256Z,1370306105.256 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:05.771Z,1370306105.771 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:35:05.772Z,1370306105.772 [Reporter](INFO): homing_target_azimuth 282.022144 arcdeg
2013-06-04T00:35:05.773Z,1370306105.773 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:06.166Z,1370306106.166 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:35:06.167Z,1370306106.167 [Reporter](INFO): homing_target_azimuth 280.531524 arcdeg
2013-06-04T00:35:06.168Z,1370306106.168 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:06.589Z,1370306106.589 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:06.871Z,1370306106.871 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:35:06.871Z,1370306106.871 [Reporter](INFO): homing_target_azimuth 283.755920 arcdeg
2013-06-04T00:35:06.872Z,1370306106.872 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:06.918Z,1370306106.918 [DVL_micro](DEBUG): NQ1
2013-06-04T00:35:07.255Z,1370306107.255 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:35:07.256Z,1370306107.256 [Reporter](INFO): homing_target_azimuth 279.531475 arcdeg
2013-06-04T00:35:07.257Z,1370306107.257 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:07.658Z,1370306107.658 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:35:07.659Z,1370306107.659 [Reporter](INFO): homing_target_azimuth 280.827954 arcdeg
2013-06-04T00:35:07.659Z,1370306107.659 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:08.054Z,1370306108.053 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:35:08.054Z,1370306108.054 [Reporter](INFO): homing_target_azimuth 279.422356 arcdeg
2013-06-04T00:35:08.055Z,1370306108.055 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:08.450Z,1370306108.450 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:08.907Z,1370306108.907 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:35:08.907Z,1370306108.907 [Reporter](INFO): homing_target_azimuth 280.834457 arcdeg
2013-06-04T00:35:08.908Z,1370306108.908 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:09.254Z,1370306109.254 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:35:09.255Z,1370306109.255 [Reporter](INFO): homing_target_azimuth 282.620005 arcdeg
2013-06-04T00:35:09.256Z,1370306109.256 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:09.458Z,1370306109.458 [DVL_micro](DEBUG): NQ1
2013-06-04T00:35:09.734Z,1370306109.734 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:35:09.735Z,1370306109.735 [Reporter](INFO): homing_target_azimuth 281.132963 arcdeg
2013-06-04T00:35:09.735Z,1370306109.735 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:10.102Z,1370306110.102 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:35:10.102Z,1370306110.102 [Reporter](INFO): homing_target_azimuth 281.040592 arcdeg
2013-06-04T00:35:10.103Z,1370306110.103 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:10.633Z,1370306110.633 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:10.926Z,1370306110.926 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:35:10.927Z,1370306110.927 [Reporter](INFO): homing_target_azimuth 281.327159 arcdeg
2013-06-04T00:35:10.928Z,1370306110.928 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:11.455Z,1370306111.455 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:35:11.456Z,1370306111.456 [Reporter](INFO): homing_target_azimuth 279.356349 arcdeg
2013-06-04T00:35:11.456Z,1370306111.456 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:11.854Z,1370306111.854 [Reporter](INFO): homing_target_range 0.700000 m
2013-06-04T00:35:11.855Z,1370306111.855 [Reporter](INFO): homing_target_azimuth 280.275692 arcdeg
2013-06-04T00:35:11.856Z,1370306111.856 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:12.022Z,1370306112.022 [DVL_micro](DEBUG): NQ1
2013-06-04T00:35:12.176Z,1370306112.176 [Reporter](INFO): homing_target_range 0.400000 m
2013-06-04T00:35:12.177Z,1370306112.177 [Reporter](INFO): homing_target_azimuth 282.864034 arcdeg
2013-06-04T00:35:12.177Z,1370306112.177 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:12.541Z,1370306112.541 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-04T00:35:12.542Z,1370306112.542 [Reporter](INFO): homing_target_azimuth 282.363572 arcdeg
2013-06-04T00:35:12.543Z,1370306112.543 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:12.970Z,1370306112.970 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:13.367Z,1370306113.367 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:35:13.368Z,1370306113.368 [Reporter](INFO): homing_target_azimuth 281.854696 arcdeg
2013-06-04T00:35:13.368Z,1370306113.368 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:13.826Z,1370306113.826 [Reporter](INFO): homing_target_range 0.900000 m
2013-06-04T00:35:13.826Z,1370306113.826 [Reporter](INFO): homing_target_azimuth 281.004583 arcdeg
2013-06-04T00:35:13.827Z,1370306113.827 [Reporter](INFO): HorizontalControl.headingCmd 4.866355 rad
2013-06-04T00:35:13.873Z,1370306113.872 [CommandLine](IMPORTANT): got command stop
2013-06-04T00:35:14.078Z,1370306114.078 [homing_pursuit] Stopped
2013-06-04T00:35:14.078Z,1370306114.078 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:35:14.078Z,1370306114.078 [homing_pursuit:A.Pitch] Stopped
2013-06-04T00:35:14.078Z,1370306114.078 [homing_pursuit:B.Buoyancy] Stopped
2013-06-04T00:35:14.078Z,1370306114.078 [homing_pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:35:14.078Z,1370306114.078 [homing_pursuit:C] Stopped
2013-06-04T00:35:14.078Z,1370306114.078 [homing_pursuit:D] Stopped
2013-06-04T00:35:14.078Z,1370306114.078 [homing_pursuit:E] Stopped
2013-06-04T00:35:14.078Z,1370306114.078 [homing_pursuit:ClosePursuit] Stopped
2013-06-04T00:35:14.079Z,1370306114.079 [homing_pursuit:ClosePursuit](INFO): Aggregate::uninitialize homing_pursuit:ClosePursuit
2013-06-04T00:35:14.079Z,1370306114.079 [homing_pursuit:ClosePursuit:A] Stopped
2013-06-04T00:35:14.079Z,1370306114.079 [homing_pursuit:ClosePursuit:B.SetSpeed] Stopped
2013-06-04T00:35:14.079Z,1370306114.079 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:35:14.079Z,1370306114.079 [homing_pursuit:ClosePursuit:C.Pitch] Stopped
2013-06-04T00:35:14.079Z,1370306114.079 [homing_pursuit:ClosePursuit:D.Point] Stopped
2013-06-04T00:35:14.132Z,1370306114.132 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:35:14.230Z,1370306114.230 [Reporter](INFO): homing_target_range 0.600000 m
2013-06-04T00:35:14.231Z,1370306114.231 [Reporter](INFO): homing_target_azimuth 279.299658 arcdeg
2013-06-04T00:35:14.232Z,1370306114.232 [Reporter](INFO): HorizontalControl.headingCmd no_value
2013-06-04T00:35:14.463Z,1370306114.463 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:35:14.464Z,1370306114.464 [Default] Running Loop=1
2013-06-04T00:35:14.464Z,1370306114.464 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:35:14.464Z,1370306114.464 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:35:14.464Z,1370306114.464 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:35:14.464Z,1370306114.464 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:35:14.464Z,1370306114.464 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:35:14.464Z,1370306114.464 [Default:Iridium] Running Loop=1
2013-06-04T00:35:14.464Z,1370306114.464 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:35:14.465Z,1370306114.464 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:35:14.465Z,1370306114.465 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:35:14.465Z,1370306114.465 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:35:14.465Z,1370306114.465 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:35:14.467Z,1370306114.467 [Default:CallIridium] Running Loop=1
2013-06-04T00:35:14.467Z,1370306114.467 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-04T00:35:14.467Z,1370306114.467 [Default:CallIridium:A] Running Loop=1
2013-06-04T00:35:14.467Z,1370306114.467 [Default:CallIridium:A] Stopped
2013-06-04T00:35:14.467Z,1370306114.467 [Default:CallIridium:B] Running Loop=1
2013-06-04T00:35:14.468Z,1370306114.467 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-04T00:35:14.468Z,1370306114.468 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:35:14.468Z,1370306114.468 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:35:14.468Z,1370306114.468 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:35:14.469Z,1370306114.469 [Default:GPS] Running Loop=1
2013-06-04T00:35:14.469Z,1370306114.469 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:35:14.469Z,1370306114.469 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:35:14.469Z,1370306114.469 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:35:14.469Z,1370306114.469 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:35:14.469Z,1370306114.469 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:35:14.470Z,1370306114.470 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:35:14.471Z,1370306114.471 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:35:14.471Z,1370306114.471 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:35:14.851Z,1370306114.851 [DAT](INFO): Powering down
2013-06-04T00:35:15.373Z,1370306115.374 [NAL9602](INFO): Powering up
2013-06-04T00:35:25.902Z,1370306125.902 [NAL9602](INFO): NAL9602 initialized
2013-06-04T00:35:26.663Z,1370306126.662 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-06-04T00:35:26.663Z,1370306126.663 [NAL9602] Data Fault, FailCount= 1
2013-06-04T00:35:26.663Z,1370306126.663 [NAL9602](ERROR): Data Fault
2013-06-04T00:35:26.731Z,1370306126.731 [CBIT](ERROR): Data Fault in component: NAL9602
2013-06-04T00:35:27.068Z,1370306127.068 [NAL9602](INFO): Powering down
2013-06-04T00:35:27.955Z,1370306127.955 [CBIT](INFO): Clearing failed state for component NAL9602
2013-06-04T00:35:27.955Z,1370306127.955 [NAL9602] No Fault, FailCount= 1
2013-06-04T00:35:32.273Z,1370306132.273 [NAL9602](INFO): Powering up NAL9602
2013-06-04T00:35:43.102Z,1370306143.102 [NAL9602](INFO): NAL9602 initialized
2013-06-04T00:35:46.628Z,1370306146.628 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:35:51.044Z,1370306151.044 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:35:54.992Z,1370306154.992 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:35:59.332Z,1370306159.332 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:03.732Z,1370306163.732 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:08.108Z,1370306168.108 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:12.933Z,1370306172.932 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:17.208Z,1370306177.208 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:21.587Z,1370306181.588 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:25.956Z,1370306185.956 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:29.904Z,1370306189.904 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:34.417Z,1370306194.417 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:38.940Z,1370306198.940 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:43.136Z,1370306203.136 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:47.901Z,1370306207.901 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:52.236Z,1370306212.236 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:36:56.600Z,1370306216.600 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:37:00.952Z,1370306220.952 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:37:04.536Z,1370306224.536 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:37:08.904Z,1370306228.904 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:37:12.504Z,1370306232.504 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:37:16.818Z,1370306236.818 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:37:20.768Z,1370306240.768 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:37:25.075Z,1370306245.075 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:37:29.800Z,1370306249.800 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:37:34.280Z,1370306254.280 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:37:38.516Z,1370306258.516 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:37:39.938Z,1370306259.938 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:37:39.939Z,1370306259.939 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:37:40.018Z,1370306260.018 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:37:40.021Z,1370306260.021 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = -0.006000 n/a
2013-06-04T00:37:40.024Z,1370306260.024 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000560 n/a
2013-06-04T00:37:40.026Z,1370306260.026 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:37:40.029Z,1370306260.029 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 40.000000 m
2013-06-04T00:37:40.031Z,1370306260.031 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:37:40.033Z,1370306260.033 [MissionManager](INFO): DefineArg homing_pursuit.PowerOnDATTimeoutDuration = 1.000000 min
2013-06-04T00:37:40.036Z,1370306260.036 [MissionManager](INFO): DefineArg homing_pursuit.ClosePursuitTimeout = 180.000000 s
2013-06-04T00:37:40.038Z,1370306260.038 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:37:40.041Z,1370306260.040 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:37:40.043Z,1370306260.043 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:37:40.045Z,1370306260.045 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:37:40.048Z,1370306260.048 [homing_pursuit:A.Pitch](DEBUG): Construct.
2013-06-04T00:37:40.052Z,1370306260.052 [homing_pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:37:40.058Z,1370306260.058 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:37:40.060Z,1370306260.060 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:37:40.064Z,1370306260.065 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:37:40.068Z,1370306260.068 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:37:40.070Z,1370306260.070 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:37:40.074Z,1370306260.074 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:37:40.079Z,1370306260.079 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:37:40.113Z,1370306260.113 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:37:40.120Z,1370306260.120 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:37:40.132Z,1370306260.132 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:37:40.141Z,1370306260.141 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Construct Wait.
2013-06-04T00:37:40.144Z,1370306260.144 [homing_pursuit:Rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:37:40.149Z,1370306260.149 [homing_pursuit:Rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:37:40.159Z,1370306260.159 [homing_pursuit:Rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:37:40.172Z,1370306260.172 [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">

<!-- Define mission arguments -->

    <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>0.2</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>40.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="PowerOnDATTimeoutDuration"><Description>
        Wait this long after turning on DAT before starting any behaviors that require DAT output.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ClosePursuitTimeout"><Description>
        Run in OneWayMode for this long.
    </Description><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within minimum range.
    </Description><Units:minute/><Value>7</Value></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

<!-- TODO any other science sensors that should be active? -->

<!-- Begin the mission. -->

    <Timeout Duration="TimeoutDuration"/>

<!-- Safety nets and surfacing behaviors -->
<!-- TODO re-enable
    <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>

-->

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

<!-- Set default mass and pump positions -->

    <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>

<!-- Request desired engineering data -->

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

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

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

<!-- Start actual engineering mission sequence. -->

    <Aggregate Id="PowerOnDAT">
	
        <Description>
            Give the DAT some time to start up before you ask for ranges from it.
        </Description>

        <Timeout Duration="PowerOnDATTimeoutDuration"/>

        <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">

	<Description>
            Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate.
        </Description>

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

        <!-- <Timeout Duration="InitialPursuitTimeout"/> -->

        <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">

	<Description>
            Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate.
        </Description>

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

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

        <Timeout Duration="ClosePursuitTimeout"/>

        <Assign RunIn="Parallel"><Sensor:DAT.onewayRequestedCmd/><Units:bool/><Value>1</Value></Assign>

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

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

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

        <Guidance:Wait RunIn="Sequence"/> 

    </Aggregate>

    <Aggregate Id="Rollout">

	<Description>
            Move away from the target at the last commanded heading until *RolloutTimeout* has passed.

            (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)
        </Description>

        <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>

 <!--   <Call Id="PhoneHome" RefId="SurfaceComms"/> -->

</Mission>


2013-06-04T00:37:40.173Z,1370306260.173 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:37:40.204Z,1370306260.204 [Default] Stopped
2013-06-04T00:37:40.204Z,1370306260.204 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:37:40.204Z,1370306260.204 [Default:GPS] Stopped
2013-06-04T00:37:40.204Z,1370306260.204 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:37:40.204Z,1370306260.204 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:37:40.205Z,1370306260.204 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:37:40.205Z,1370306260.205 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:37:40.205Z,1370306260.205 [Default:Iridium] Stopped
2013-06-04T00:37:40.205Z,1370306260.205 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:37:40.205Z,1370306260.205 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:37:40.205Z,1370306260.205 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:37:40.205Z,1370306260.205 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:37:40.205Z,1370306260.205 [Default:CallIridium] Stopped
2013-06-04T00:37:40.205Z,1370306260.205 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-04T00:37:40.205Z,1370306260.205 [Default:CallIridium:B] Stopped
2013-06-04T00:37:40.206Z,1370306260.205 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-04T00:37:40.206Z,1370306260.205 [Default:D.SetSpeed] Stopped
2013-06-04T00:37:40.206Z,1370306260.206 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:37:40.206Z,1370306260.206 [Default:E.GoToSurface] Stopped
2013-06-04T00:37:40.206Z,1370306260.206 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:37:40.206Z,1370306260.206 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:37:40.206Z,1370306260.206 [homing_pursuit] Running Loop=1
2013-06-04T00:37:40.206Z,1370306260.207 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:37:40.207Z,1370306260.207 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:37:40.207Z,1370306260.207 [homing_pursuit:A.Pitch](DEBUG): Initialize.
2013-06-04T00:37:40.207Z,1370306260.207 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:37:40.207Z,1370306260.207 [homing_pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:37:40.207Z,1370306260.207 [homing_pursuit:C] Running Loop=1
2013-06-04T00:37:40.207Z,1370306260.207 [homing_pursuit:D] Running Loop=1
2013-06-04T00:37:40.207Z,1370306260.207 [homing_pursuit:E] Running Loop=1
2013-06-04T00:37:40.207Z,1370306260.207 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-04T00:37:40.208Z,1370306260.208 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-04T00:37:40.208Z,1370306260.208 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:37:40.208Z,1370306260.208 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:37:40.208Z,1370306260.208 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:37:40.208Z,1370306260.208 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-04T00:37:40.208Z,1370306260.208 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-04T00:37:40.208Z,1370306260.208 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:37:40.209Z,1370306260.210 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:37:40.215Z,1370306260.215 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:37:40.216Z,1370306260.216 [homing_pursuit:E] Running Loop=1
2013-06-04T00:37:40.217Z,1370306260.217 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:37:40.217Z,1370306260.217 [homing_pursuit:D] Running Loop=1
2013-06-04T00:37:40.222Z,1370306260.222 [homing_pursuit:D](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:37:40.223Z,1370306260.223 [homing_pursuit:C] Running Loop=1
2013-06-04T00:37:40.224Z,1370306260.224 [homing_pursuit:C](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:37:40.225Z,1370306260.225 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:37:40.226Z,1370306260.226 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:37:40.451Z,1370306260.451 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:37:40.451Z,1370306260.451 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:37:40.451Z,1370306260.451 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:37:40.510Z,1370306260.510 [DAT](INFO): Powering up
2013-06-04T00:37:42.458Z,1370306262.458 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:37:42.459Z,1370306262.459 [DVL_micro](INFO): Querying output modes
2013-06-04T00:37:42.459Z,1370306262.459 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:37:42.470Z,1370306262.470 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:37:42.470Z,1370306262.470 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:37:42.470Z,1370306262.470 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:37:42.482Z,1370306262.482 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:37:45.001Z,1370306265.001 [DVL_micro](DEBUG): NQ1
2013-06-04T00:37:46.531Z,1370306266.531 [NAL9602](INFO): Powering down
2013-06-04T00:37:47.570Z,1370306267.570 [DVL_micro](DEBUG): NQ1
2013-06-04T00:37:50.118Z,1370306270.118 [DVL_micro](DEBUG): NQ1
2013-06-04T00:37:52.678Z,1370306272.678 [DVL_micro](DEBUG): NQ1
2013-06-04T00:37:55.226Z,1370306275.226 [DVL_micro](DEBUG): NQ1
2013-06-04T00:37:57.770Z,1370306277.770 [DVL_micro](DEBUG): NQ1
2013-06-04T00:38:00.267Z,1370306280.267 [homing_pursuit:ClosePursuit] Running Loop=1
2013-06-04T00:38:00.267Z,1370306280.267 [homing_pursuit:ClosePursuit](INFO): Aggregate::initialize homing_pursuit:ClosePursuit
2013-06-04T00:38:00.267Z,1370306280.267 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-04T00:38:00.267Z,1370306280.267 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-04T00:38:00.267Z,1370306280.267 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Initialize.
2013-06-04T00:38:00.267Z,1370306280.267 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-04T00:38:00.268Z,1370306280.267 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Initialize.
2013-06-04T00:38:00.268Z,1370306280.268 [homing_pursuit:ClosePursuit:D.Point] Running Loop=1
2013-06-04T00:38:00.268Z,1370306280.268 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Initialize.
2013-06-04T00:38:00.268Z,1370306280.268 [homing_pursuit:ClosePursuit:E.Wait] Running Loop=1
2013-06-04T00:38:00.268Z,1370306280.268 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:38:00.269Z,1370306280.269 [homing_pursuit:ClosePursuit:D.Point] Running Loop=1
2013-06-04T00:38:00.271Z,1370306280.271 [homing_pursuit:ClosePursuit:C.Pitch] Running Loop=1
2013-06-04T00:38:00.272Z,1370306280.272 [homing_pursuit:ClosePursuit:B.SetSpeed] Running Loop=1
2013-06-04T00:38:00.273Z,1370306280.273 [homing_pursuit:ClosePursuit:A] Running Loop=1
2013-06-04T00:38:00.346Z,1370306280.346 [DVL_micro](DEBUG): NQ1
2013-06-04T00:38:00.358Z,1370306280.358 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:00.670Z,1370306280.670 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:01.070Z,1370306281.070 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:01.550Z,1370306281.550 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:01.866Z,1370306281.866 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:02.302Z,1370306282.302 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:02.702Z,1370306282.702 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:02.946Z,1370306282.946 [DVL_micro](DEBUG): NQ1
2013-06-04T00:38:03.122Z,1370306283.122 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:03.470Z,1370306283.470 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:03.903Z,1370306283.903 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:04.435Z,1370306284.435 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:04.436Z,1370306284.436 [Reporter](INFO): homing_target_azimuth 277.273442 arcdeg
2013-06-04T00:38:04.437Z,1370306284.437 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:04.991Z,1370306284.991 [Reporter](INFO): homing_target_range 292.700012 m
2013-06-04T00:38:04.992Z,1370306284.992 [Reporter](INFO): homing_target_azimuth 281.209297 arcdeg
2013-06-04T00:38:04.993Z,1370306284.993 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:05.419Z,1370306285.418 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:05.419Z,1370306285.419 [Reporter](INFO): homing_target_azimuth 280.029150 arcdeg
2013-06-04T00:38:05.420Z,1370306285.420 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:05.494Z,1370306285.494 [DVL_micro](DEBUG): NQ1
2013-06-04T00:38:05.794Z,1370306285.794 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:05.795Z,1370306285.795 [Reporter](INFO): homing_target_azimuth 280.742140 arcdeg
2013-06-04T00:38:05.795Z,1370306285.795 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:06.103Z,1370306286.103 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:06.534Z,1370306286.534 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:06.535Z,1370306286.535 [Reporter](INFO): homing_target_azimuth 279.935194 arcdeg
2013-06-04T00:38:06.536Z,1370306286.536 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:06.899Z,1370306286.899 [Reporter](INFO): homing_target_range 292.700012 m
2013-06-04T00:38:06.900Z,1370306286.900 [Reporter](INFO): homing_target_azimuth 279.784137 arcdeg
2013-06-04T00:38:06.901Z,1370306286.901 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:07.307Z,1370306287.307 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:07.308Z,1370306287.308 [Reporter](INFO): homing_target_azimuth 277.754451 arcdeg
2013-06-04T00:38:07.308Z,1370306287.308 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:07.718Z,1370306287.718 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:07.718Z,1370306287.718 [Reporter](INFO): homing_target_azimuth 279.183545 arcdeg
2013-06-04T00:38:07.719Z,1370306287.719 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:08.058Z,1370306288.059 [DVL_micro](DEBUG): NQ1
2013-06-04T00:38:08.098Z,1370306288.098 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:08.535Z,1370306288.535 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:08.536Z,1370306288.536 [Reporter](INFO): homing_target_azimuth 280.100867 arcdeg
2013-06-04T00:38:08.537Z,1370306288.537 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:08.978Z,1370306288.977 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:08.979Z,1370306288.978 [Reporter](INFO): homing_target_azimuth 281.404231 arcdeg
2013-06-04T00:38:08.979Z,1370306288.979 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:09.330Z,1370306289.330 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:09.330Z,1370306289.330 [Reporter](INFO): homing_target_azimuth 280.577259 arcdeg
2013-06-04T00:38:09.331Z,1370306289.331 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:09.854Z,1370306289.854 [Reporter](INFO): homing_target_range 292.700012 m
2013-06-04T00:38:09.855Z,1370306289.855 [Reporter](INFO): homing_target_azimuth 280.347246 arcdeg
2013-06-04T00:38:09.855Z,1370306289.855 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:10.182Z,1370306290.182 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:10.508Z,1370306290.508 [homing_pursuit:PowerOnDAT:C.Wait](INFO): Done Waiting.
2013-06-04T00:38:10.508Z,1370306290.508 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-04T00:38:10.508Z,1370306290.508 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:38:10.509Z,1370306290.509 [homing_pursuit:PowerOnDAT](INFO): Completed homing_pursuit:PowerOnDAT
2013-06-04T00:38:10.510Z,1370306290.510 [homing_pursuit:PowerOnDAT] Stopped
2013-06-04T00:38:10.510Z,1370306290.510 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-04T00:38:10.510Z,1370306290.510 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-04T00:38:10.510Z,1370306290.510 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:38:10.511Z,1370306290.510 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-04T00:38:10.511Z,1370306290.511 [homing_pursuit:InitialPursuit] Running Loop=1
2013-06-04T00:38:10.511Z,1370306290.511 [homing_pursuit:InitialPursuit](INFO): Aggregate::initialize homing_pursuit:InitialPursuit
2013-06-04T00:38:10.511Z,1370306290.511 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:38:10.511Z,1370306290.511 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:38:10.511Z,1370306290.511 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:38:10.511Z,1370306290.511 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:38:10.512Z,1370306290.512 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:38:10.512Z,1370306290.512 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Initialize.
2013-06-04T00:38:10.512Z,1370306290.512 [homing_pursuit:InitialPursuit:D.Wait] Running Loop=1
2013-06-04T00:38:10.512Z,1370306290.512 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:38:10.634Z,1370306290.634 [DVL_micro](DEBUG): NQ1
2013-06-04T00:38:10.661Z,1370306290.661 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:10.662Z,1370306290.662 [Reporter](INFO): homing_target_azimuth 279.165295 arcdeg
2013-06-04T00:38:10.663Z,1370306290.663 [Reporter](INFO): HorizontalControl.headingCmd 4.874699 rad
2013-06-04T00:38:10.918Z,1370306290.918 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:38:10.920Z,1370306290.920 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:38:10.921Z,1370306290.921 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:38:11.106Z,1370306291.106 [Reporter](INFO): homing_target_range 292.700012 m
2013-06-04T00:38:11.106Z,1370306291.106 [Reporter](INFO): homing_target_azimuth 279.644911 arcdeg
2013-06-04T00:38:11.107Z,1370306291.107 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:11.399Z,1370306291.399 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:11.400Z,1370306291.400 [Reporter](INFO): homing_target_azimuth 280.591138 arcdeg
2013-06-04T00:38:11.400Z,1370306291.400 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:11.806Z,1370306291.806 [Reporter](INFO): homing_target_range 292.700012 m
2013-06-04T00:38:11.807Z,1370306291.806 [Reporter](INFO): homing_target_azimuth 278.098911 arcdeg
2013-06-04T00:38:11.807Z,1370306291.807 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:12.266Z,1370306292.266 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:12.267Z,1370306292.267 [Reporter](INFO): homing_target_azimuth 280.631135 arcdeg
2013-06-04T00:38:12.267Z,1370306292.267 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:12.601Z,1370306292.601 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:13.015Z,1370306293.015 [Reporter](INFO): homing_target_range 292.700012 m
2013-06-04T00:38:13.016Z,1370306293.016 [Reporter](INFO): homing_target_azimuth 278.611858 arcdeg
2013-06-04T00:38:13.017Z,1370306293.017 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:13.202Z,1370306293.202 [DVL_micro](DEBUG): NQ1
2013-06-04T00:38:13.415Z,1370306293.415 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:13.415Z,1370306293.415 [Reporter](INFO): homing_target_azimuth 279.170213 arcdeg
2013-06-04T00:38:13.416Z,1370306293.416 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:13.867Z,1370306293.867 [Reporter](INFO): homing_target_range 292.700012 m
2013-06-04T00:38:13.868Z,1370306293.868 [Reporter](INFO): homing_target_azimuth 276.626732 arcdeg
2013-06-04T00:38:13.869Z,1370306293.869 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:14.226Z,1370306294.226 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:14.226Z,1370306294.226 [Reporter](INFO): homing_target_azimuth 280.371424 arcdeg
2013-06-04T00:38:14.227Z,1370306294.227 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:14.710Z,1370306294.710 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:15.106Z,1370306295.106 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:15.107Z,1370306295.107 [Reporter](INFO): homing_target_azimuth 280.013932 arcdeg
2013-06-04T00:38:15.107Z,1370306295.107 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:15.471Z,1370306295.471 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:15.472Z,1370306295.472 [Reporter](INFO): homing_target_azimuth 281.966356 arcdeg
2013-06-04T00:38:15.473Z,1370306295.473 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:15.742Z,1370306295.742 [DVL_micro](DEBUG): NQ1
2013-06-04T00:38:15.841Z,1370306295.842 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:15.842Z,1370306295.842 [Reporter](INFO): homing_target_azimuth 279.471806 arcdeg
2013-06-04T00:38:15.843Z,1370306295.843 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:16.210Z,1370306296.210 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:16.211Z,1370306296.211 [Reporter](INFO): homing_target_azimuth 278.523913 arcdeg
2013-06-04T00:38:16.211Z,1370306296.211 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:16.661Z,1370306296.661 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:17.059Z,1370306297.059 [Reporter](INFO): homing_target_range 292.700012 m
2013-06-04T00:38:17.060Z,1370306297.060 [Reporter](INFO): homing_target_azimuth 279.003310 arcdeg
2013-06-04T00:38:17.060Z,1370306297.060 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:17.523Z,1370306297.523 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:17.524Z,1370306297.524 [Reporter](INFO): homing_target_azimuth 279.679772 arcdeg
2013-06-04T00:38:17.525Z,1370306297.524 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:17.834Z,1370306297.834 [Reporter](INFO): homing_target_range 292.600006 m
2013-06-04T00:38:17.835Z,1370306297.835 [Reporter](INFO): homing_target_azimuth 279.120981 arcdeg
2013-06-04T00:38:17.836Z,1370306297.836 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:18.214Z,1370306298.214 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:18.215Z,1370306298.215 [Reporter](INFO): homing_target_azimuth 279.905797 arcdeg
2013-06-04T00:38:18.215Z,1370306298.215 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:18.338Z,1370306298.338 [DVL_micro](DEBUG): NQ1
2013-06-04T00:38:18.682Z,1370306298.682 [Reporter](INFO): homing_target_range 292.700012 m
2013-06-04T00:38:18.699Z,1370306298.699 [Reporter](INFO): homing_target_azimuth 276.972913 arcdeg
2013-06-04T00:38:18.699Z,1370306298.699 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:19.027Z,1370306299.027 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:19.399Z,1370306299.399 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:19.400Z,1370306299.400 [Reporter](INFO): homing_target_azimuth 275.763314 arcdeg
2013-06-04T00:38:19.401Z,1370306299.401 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:19.903Z,1370306299.903 [Reporter](INFO): homing_target_range 292.700012 m
2013-06-04T00:38:19.904Z,1370306299.904 [Reporter](INFO): homing_target_azimuth 279.011151 arcdeg
2013-06-04T00:38:19.905Z,1370306299.905 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:20.230Z,1370306300.230 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:20.230Z,1370306300.230 [Reporter](INFO): homing_target_azimuth 281.549222 arcdeg
2013-06-04T00:38:20.231Z,1370306300.231 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:20.634Z,1370306300.634 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:20.898Z,1370306300.898 [DVL_micro](DEBUG): NQ1
2013-06-04T00:38:21.071Z,1370306301.071 [Reporter](INFO): homing_target_range 292.700012 m
2013-06-04T00:38:21.072Z,1370306301.072 [Reporter](INFO): homing_target_azimuth 279.782799 arcdeg
2013-06-04T00:38:21.073Z,1370306301.073 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:21.435Z,1370306301.435 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:21.435Z,1370306301.435 [Reporter](INFO): homing_target_azimuth 280.492647 arcdeg
2013-06-04T00:38:21.436Z,1370306301.436 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:21.895Z,1370306301.895 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:21.896Z,1370306301.896 [Reporter](INFO): homing_target_azimuth 277.107414 arcdeg
2013-06-04T00:38:21.897Z,1370306301.897 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:22.058Z,1370306302.059 [CommandLine](IMPORTANT): got command show stack
2013-06-04T00:38:22.059Z,1370306302.059 [CommandLine](INFO): Behavior Stack:

2013-06-04T00:38:22.060Z,1370306302.060 [homing_pursuit](INFO): Priority 0: homing_pursuit:A.Pitch
2013-06-04T00:38:22.060Z,1370306302.060 [homing_pursuit](INFO): Priority 1: homing_pursuit:B.Buoyancy
2013-06-04T00:38:22.060Z,1370306302.060 [homing_pursuit](INFO): Priority 2: homing_pursuit:C
2013-06-04T00:38:22.061Z,1370306302.061 [homing_pursuit](INFO): Priority 3: homing_pursuit:D
2013-06-04T00:38:22.061Z,1370306302.061 [homing_pursuit](INFO): Priority 4: homing_pursuit:E
2013-06-04T00:38:22.062Z,1370306302.062 [homing_pursuit:InitialPursuit](INFO): Priority 5: homing_pursuit:InitialPursuit:A.SetSpeed
2013-06-04T00:38:22.062Z,1370306302.062 [homing_pursuit:InitialPursuit](INFO): Priority 6: homing_pursuit:InitialPursuit:B.Pitch
2013-06-04T00:38:22.062Z,1370306302.062 [homing_pursuit:InitialPursuit](INFO): Priority 7: homing_pursuit:InitialPursuit:C.Point
2013-06-04T00:38:22.063Z,1370306302.063 [homing_pursuit:InitialPursuit](INFO): Priority 8: homing_pursuit:InitialPursuit:D.Wait
2013-06-04T00:38:22.063Z,1370306302.063 [homing_pursuit:ClosePursuit](INFO): Priority 9: homing_pursuit:ClosePursuit:A
2013-06-04T00:38:22.064Z,1370306302.064 [homing_pursuit:ClosePursuit](INFO): Priority 10: homing_pursuit:ClosePursuit:B.SetSpeed
2013-06-04T00:38:22.064Z,1370306302.064 [homing_pursuit:ClosePursuit](INFO): Priority 11: homing_pursuit:ClosePursuit:C.Pitch
2013-06-04T00:38:22.064Z,1370306302.064 [homing_pursuit:ClosePursuit](INFO): Priority 12: homing_pursuit:ClosePursuit:D.Point
2013-06-04T00:38:22.065Z,1370306302.065 [homing_pursuit:ClosePursuit](INFO): Priority 13: homing_pursuit:ClosePursuit:E.Wait
2013-06-04T00:38:22.234Z,1370306302.234 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:22.234Z,1370306302.234 [Reporter](INFO): homing_target_azimuth 279.991884 arcdeg
2013-06-04T00:38:22.235Z,1370306302.235 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:22.630Z,1370306302.630 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:23.027Z,1370306303.027 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:23.028Z,1370306303.028 [Reporter](INFO): homing_target_azimuth 277.740436 arcdeg
2013-06-04T00:38:23.029Z,1370306303.029 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:23.399Z,1370306303.399 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:23.400Z,1370306303.400 [Reporter](INFO): homing_target_azimuth 281.049389 arcdeg
2013-06-04T00:38:23.400Z,1370306303.401 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:23.454Z,1370306303.454 [DVL_micro](DEBUG): NQ1
2013-06-04T00:38:23.826Z,1370306303.826 [Reporter](INFO): homing_target_range 292.899994 m
2013-06-04T00:38:23.826Z,1370306303.826 [Reporter](INFO): homing_target_azimuth 279.905305 arcdeg
2013-06-04T00:38:23.827Z,1370306303.827 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:24.234Z,1370306304.234 [Reporter](INFO): homing_target_range 293.000000 m
2013-06-04T00:38:24.234Z,1370306304.234 [Reporter](INFO): homing_target_azimuth 276.555370 arcdeg
2013-06-04T00:38:24.235Z,1370306304.235 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:24.606Z,1370306304.606 [Reporter](INFO): HorizontalControl.headingCmd 4.872354 rad
2013-06-04T00:38:24.618Z,1370306304.618 [CommandLine](IMPORTANT): got command stop
2013-06-04T00:38:25.069Z,1370306305.069 [homing_pursuit] Stopped
2013-06-04T00:38:25.069Z,1370306305.069 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:38:25.069Z,1370306305.069 [homing_pursuit:A.Pitch] Stopped
2013-06-04T00:38:25.069Z,1370306305.069 [homing_pursuit:B.Buoyancy] Stopped
2013-06-04T00:38:25.069Z,1370306305.069 [homing_pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:38:25.069Z,1370306305.069 [homing_pursuit:C] Stopped
2013-06-04T00:38:25.069Z,1370306305.069 [homing_pursuit:D] Stopped
2013-06-04T00:38:25.069Z,1370306305.069 [homing_pursuit:E] Stopped
2013-06-04T00:38:25.069Z,1370306305.069 [homing_pursuit:InitialPursuit] Stopped
2013-06-04T00:38:25.069Z,1370306305.069 [homing_pursuit:InitialPursuit](INFO): Aggregate::uninitialize homing_pursuit:InitialPursuit
2013-06-04T00:38:25.069Z,1370306305.069 [homing_pursuit:InitialPursuit:A.SetSpeed] Stopped
2013-06-04T00:38:25.070Z,1370306305.070 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:38:25.070Z,1370306305.070 [homing_pursuit:InitialPursuit:B.Pitch] Stopped
2013-06-04T00:38:25.070Z,1370306305.070 [homing_pursuit:InitialPursuit:C.Point] Stopped
2013-06-04T00:38:25.070Z,1370306305.070 [homing_pursuit:InitialPursuit:D.Wait] Stopped
2013-06-04T00:38:25.070Z,1370306305.070 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:38:25.070Z,1370306305.070 [homing_pursuit:ClosePursuit] Stopped
2013-06-04T00:38:25.070Z,1370306305.070 [homing_pursuit:ClosePursuit](INFO): Aggregate::uninitialize homing_pursuit:ClosePursuit
2013-06-04T00:38:25.070Z,1370306305.070 [homing_pursuit:ClosePursuit:A] Stopped
2013-06-04T00:38:25.070Z,1370306305.070 [homing_pursuit:ClosePursuit:B.SetSpeed] Stopped
2013-06-04T00:38:25.071Z,1370306305.070 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:38:25.071Z,1370306305.071 [homing_pursuit:ClosePursuit:C.Pitch] Stopped
2013-06-04T00:38:25.071Z,1370306305.071 [homing_pursuit:ClosePursuit:D.Point] Stopped
2013-06-04T00:38:25.071Z,1370306305.071 [homing_pursuit:ClosePursuit:E.Wait] Stopped
2013-06-04T00:38:25.071Z,1370306305.071 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:38:25.198Z,1370306305.198 [Reporter](INFO): homing_target_range 292.700012 m
2013-06-04T00:38:25.199Z,1370306305.199 [Reporter](INFO): homing_target_azimuth 278.773870 arcdeg
2013-06-04T00:38:25.199Z,1370306305.199 [Reporter](INFO): HorizontalControl.headingCmd no_value
2013-06-04T00:38:25.410Z,1370306305.410 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:38:25.410Z,1370306305.411 [Default] Running Loop=1
2013-06-04T00:38:25.411Z,1370306305.411 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:38:25.411Z,1370306305.411 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:38:25.411Z,1370306305.411 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:38:25.411Z,1370306305.411 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:38:25.411Z,1370306305.411 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:38:25.412Z,1370306305.411 [Default:Iridium] Running Loop=1
2013-06-04T00:38:25.412Z,1370306305.412 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:38:25.412Z,1370306305.412 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:38:25.412Z,1370306305.412 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:38:25.412Z,1370306305.412 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:38:25.412Z,1370306305.412 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:38:25.414Z,1370306305.414 [Default:CallIridium] Running Loop=1
2013-06-04T00:38:25.414Z,1370306305.414 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-04T00:38:25.415Z,1370306305.415 [Default:CallIridium:A] Running Loop=1
2013-06-04T00:38:25.415Z,1370306305.415 [Default:CallIridium:A] Stopped
2013-06-04T00:38:25.415Z,1370306305.415 [Default:CallIridium:B] Running Loop=1
2013-06-04T00:38:25.415Z,1370306305.415 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-04T00:38:25.416Z,1370306305.416 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:38:25.416Z,1370306305.416 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:38:25.417Z,1370306305.417 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:38:25.417Z,1370306305.417 [Default:GPS] Running Loop=1
2013-06-04T00:38:25.417Z,1370306305.417 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:38:25.417Z,1370306305.417 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:38:25.418Z,1370306305.418 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:38:25.418Z,1370306305.418 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:38:25.419Z,1370306305.419 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:38:25.420Z,1370306305.420 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:38:25.420Z,1370306305.420 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:38:25.420Z,1370306305.420 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:38:25.576Z,1370306305.576 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:38:25.801Z,1370306305.801 [DAT](INFO): Powering down
2013-06-04T00:38:26.279Z,1370306306.279 [NAL9602](INFO): Powering up
2013-06-04T00:38:36.750Z,1370306316.750 [NAL9602](INFO): NAL9602 initialized
2013-06-04T00:38:40.752Z,1370306320.752 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:38:45.108Z,1370306325.108 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:38:49.857Z,1370306329.857 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:38:54.244Z,1370306334.244 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:38:58.947Z,1370306338.947 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:03.304Z,1370306343.304 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:07.703Z,1370306347.703 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:12.028Z,1370306352.028 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:15.544Z,1370306355.544 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:19.928Z,1370306359.928 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:23.840Z,1370306363.840 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:28.153Z,1370306368.153 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:32.920Z,1370306372.920 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:37.272Z,1370306377.272 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:41.648Z,1370306381.648 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:45.960Z,1370306385.960 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:49.944Z,1370306389.944 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:54.635Z,1370306394.635 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:39:56.334Z,1370306396.334 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:39:56.335Z,1370306396.335 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:39:56.406Z,1370306396.406 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:39:56.408Z,1370306396.408 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = -0.006000 n/a
2013-06-04T00:39:56.411Z,1370306396.411 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000560 n/a
2013-06-04T00:39:56.414Z,1370306396.414 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:39:56.416Z,1370306396.416 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 40.000000 m
2013-06-04T00:39:56.419Z,1370306396.419 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:39:56.421Z,1370306396.421 [MissionManager](INFO): DefineArg homing_pursuit.PowerOnDATTimeoutDuration = 1.000000 min
2013-06-04T00:39:56.423Z,1370306396.423 [MissionManager](INFO): DefineArg homing_pursuit.ClosePursuitTimeout = 180.000000 s
2013-06-04T00:39:56.426Z,1370306396.426 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:39:56.428Z,1370306396.428 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:39:56.431Z,1370306396.431 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:39:56.433Z,1370306396.433 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:39:56.435Z,1370306396.435 [homing_pursuit:A.Pitch](DEBUG): Construct.
2013-06-04T00:39:56.439Z,1370306396.439 [homing_pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:39:56.463Z,1370306396.463 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:39:56.465Z,1370306396.465 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:39:56.469Z,1370306396.469 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:39:56.472Z,1370306396.472 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:39:56.475Z,1370306396.475 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:39:56.481Z,1370306396.481 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:39:56.515Z,1370306396.515 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:39:56.525Z,1370306396.525 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:39:56.527Z,1370306396.527 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:39:56.531Z,1370306396.531 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:39:56.539Z,1370306396.539 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Construct Wait.
2013-06-04T00:39:56.541Z,1370306396.541 [homing_pursuit:Rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:39:56.543Z,1370306396.543 [homing_pursuit:Rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:39:56.547Z,1370306396.547 [homing_pursuit:Rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:39:56.556Z,1370306396.556 [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">

<!-- Define mission arguments -->

    <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>0.2</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>40.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="PowerOnDATTimeoutDuration"><Description>
        Wait this long after turning on DAT before starting any behaviors that require DAT output.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ClosePursuitTimeout"><Description>
        Run in OneWayMode for this long.
    </Description><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within minimum range.
    </Description><Units:minute/><Value>7</Value></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

<!-- TODO any other science sensors that should be active? -->

<!-- Begin the mission. -->

    <Timeout Duration="TimeoutDuration"/>

<!-- Safety nets and surfacing behaviors -->
<!-- TODO re-enable
    <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>

-->

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

<!-- Set default mass and pump positions -->

    <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>

<!-- Request desired engineering data -->

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

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

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

<!-- Start actual engineering mission sequence. -->

    <Aggregate Id="PowerOnDAT">
	
        <Description>
            Give the DAT some time to start up before you ask for ranges from it.
        </Description>

        <Timeout Duration="PowerOnDATTimeoutDuration"/>

        <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">

	<Description>
            Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate.
        </Description>

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

        <!-- <Timeout Duration="InitialPursuitTimeout"/> -->

        <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">

	<Description>
            Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate.
        </Description>

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

        <Timeout Duration="ClosePursuitTimeout"/>

        <Assign RunIn="Parallel"><Sensor:DAT.onewayRequestedCmd/><Units:bool/><Value>1</Value></Assign>

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

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

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

        <Guidance:Wait RunIn="Sequence"/> 

    </Aggregate>

    <Aggregate Id="Rollout">

	<Description>
            Move away from the target at the last commanded heading until *RolloutTimeout* has passed.

            (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)
        </Description>

        <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>

 <!--   <Call Id="PhoneHome" RefId="SurfaceComms"/> -->

</Mission>


2013-06-04T00:39:56.556Z,1370306396.556 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:39:56.713Z,1370306396.713 [Default] Stopped
2013-06-04T00:39:56.714Z,1370306396.714 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:39:56.714Z,1370306396.714 [Default:GPS] Stopped
2013-06-04T00:39:56.714Z,1370306396.714 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:39:56.714Z,1370306396.714 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:39:56.714Z,1370306396.714 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:39:56.714Z,1370306396.714 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:39:56.714Z,1370306396.714 [Default:Iridium] Stopped
2013-06-04T00:39:56.714Z,1370306396.714 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:39:56.714Z,1370306396.714 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:39:56.714Z,1370306396.714 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:39:56.715Z,1370306396.714 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:39:56.715Z,1370306396.715 [Default:CallIridium] Stopped
2013-06-04T00:39:56.715Z,1370306396.715 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-04T00:39:56.715Z,1370306396.715 [Default:CallIridium:B] Stopped
2013-06-04T00:39:56.715Z,1370306396.715 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-04T00:39:56.715Z,1370306396.715 [Default:D.SetSpeed] Stopped
2013-06-04T00:39:56.715Z,1370306396.715 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:39:56.715Z,1370306396.715 [Default:E.GoToSurface] Stopped
2013-06-04T00:39:56.715Z,1370306396.715 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:39:56.715Z,1370306396.715 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:39:56.716Z,1370306396.716 [homing_pursuit] Running Loop=1
2013-06-04T00:39:56.716Z,1370306396.716 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:39:56.716Z,1370306396.716 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:39:56.716Z,1370306396.716 [homing_pursuit:A.Pitch](DEBUG): Initialize.
2013-06-04T00:39:56.716Z,1370306396.716 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:39:56.716Z,1370306396.716 [homing_pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:39:56.716Z,1370306396.716 [homing_pursuit:C] Running Loop=1
2013-06-04T00:39:56.716Z,1370306396.716 [homing_pursuit:D] Running Loop=1
2013-06-04T00:39:56.717Z,1370306396.717 [homing_pursuit:E] Running Loop=1
2013-06-04T00:39:56.717Z,1370306396.717 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-04T00:39:56.717Z,1370306396.717 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-04T00:39:56.717Z,1370306396.717 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:39:56.717Z,1370306396.717 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:39:56.717Z,1370306396.717 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:39:56.717Z,1370306396.717 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-04T00:39:56.718Z,1370306396.718 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-04T00:39:56.718Z,1370306396.718 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:39:56.719Z,1370306396.719 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:39:56.720Z,1370306396.720 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:39:56.721Z,1370306396.721 [homing_pursuit:E] Running Loop=1
2013-06-04T00:39:56.722Z,1370306396.722 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:39:56.723Z,1370306396.723 [homing_pursuit:D] Running Loop=1
2013-06-04T00:39:56.723Z,1370306396.723 [homing_pursuit:D](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:39:56.724Z,1370306396.724 [homing_pursuit:C] Running Loop=1
2013-06-04T00:39:56.725Z,1370306396.725 [homing_pursuit:C](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:39:56.726Z,1370306396.726 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:39:56.727Z,1370306396.727 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:39:56.943Z,1370306396.943 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:39:56.943Z,1370306396.943 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:39:56.943Z,1370306396.943 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:39:57.038Z,1370306397.038 [DAT](INFO): Powering up
2013-06-04T00:39:58.950Z,1370306398.950 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:39:58.951Z,1370306398.951 [DVL_micro](INFO): Querying output modes
2013-06-04T00:39:58.951Z,1370306398.951 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:39:58.962Z,1370306398.962 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:39:58.962Z,1370306398.962 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:39:58.962Z,1370306398.963 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:39:58.974Z,1370306398.974 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:40:01.499Z,1370306401.499 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:02.631Z,1370306402.631 [NAL9602](INFO): Powering down
2013-06-04T00:40:04.022Z,1370306404.022 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:06.586Z,1370306406.586 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:09.130Z,1370306409.130 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:11.678Z,1370306411.678 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:14.235Z,1370306414.235 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:16.794Z,1370306416.794 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:19.362Z,1370306419.362 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:20.758Z,1370306420.758 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:20.758Z,1370306420.758 [Reporter](INFO): homing_target_azimuth 276.860680 arcdeg
2013-06-04T00:40:21.564Z,1370306421.564 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:21.564Z,1370306421.565 [Reporter](INFO): homing_target_azimuth 279.561856 arcdeg
2013-06-04T00:40:21.916Z,1370306421.916 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:21.942Z,1370306421.942 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:40:21.943Z,1370306421.943 [Reporter](INFO): homing_target_azimuth 279.979617 arcdeg
2013-06-04T00:40:22.402Z,1370306422.402 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:22.403Z,1370306422.403 [Reporter](INFO): homing_target_azimuth 279.097539 arcdeg
2013-06-04T00:40:22.693Z,1370306422.693 [DAT](ERROR): Unexpected response:01:38:54.9046 , LVL= 32064, 14449, C=  53, IDX= 62-0.43,-1.060, PHS= 0.124, 0.397, 0.194, |v|= 0.204, RAW= 315.7,-45.7, CAL= 329.5,-44.9, ROT=  48.5,-44.9
Range 1 to 0 :   162.9 m
2013-06-04T00:40:23.558Z,1370306423.558 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:23.559Z,1370306423.559 [Reporter](INFO): homing_target_azimuth 279.588138 arcdeg
2013-06-04T00:40:23.942Z,1370306423.942 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:40:23.943Z,1370306423.943 [Reporter](INFO): homing_target_azimuth 278.467714 arcdeg
2013-06-04T00:40:24.382Z,1370306424.382 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:24.395Z,1370306424.395 [Reporter](INFO): homing_target_azimuth 276.401910 arcdeg
2013-06-04T00:40:24.490Z,1370306424.490 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:24.778Z,1370306424.778 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:40:24.778Z,1370306424.778 [Reporter](INFO): homing_target_azimuth 280.197337 arcdeg
2013-06-04T00:40:25.567Z,1370306425.567 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:25.567Z,1370306425.567 [Reporter](INFO): homing_target_azimuth 278.707618 arcdeg
2013-06-04T00:40:25.939Z,1370306425.939 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:25.940Z,1370306425.940 [Reporter](INFO): homing_target_azimuth 277.348301 arcdeg
2013-06-04T00:40:26.362Z,1370306426.362 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:26.362Z,1370306426.362 [Reporter](INFO): homing_target_azimuth 278.669068 arcdeg
2013-06-04T00:40:26.782Z,1370306426.782 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:26.799Z,1370306426.799 [Reporter](INFO): homing_target_azimuth 277.381031 arcdeg
2013-06-04T00:40:27.023Z,1370306427.023 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:27.123Z,1370306427.123 [homing_pursuit:PowerOnDAT:C.Wait](INFO): Done Waiting.
2013-06-04T00:40:27.124Z,1370306427.124 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-04T00:40:27.124Z,1370306427.124 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:40:27.125Z,1370306427.125 [homing_pursuit:PowerOnDAT](INFO): Completed homing_pursuit:PowerOnDAT
2013-06-04T00:40:27.125Z,1370306427.125 [homing_pursuit:PowerOnDAT] Stopped
2013-06-04T00:40:27.125Z,1370306427.125 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-04T00:40:27.125Z,1370306427.125 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-04T00:40:27.125Z,1370306427.125 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:40:27.126Z,1370306427.126 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-04T00:40:27.130Z,1370306427.130 [homing_pursuit:InitialPursuit] Running Loop=1
2013-06-04T00:40:27.130Z,1370306427.130 [homing_pursuit:InitialPursuit](INFO): Aggregate::initialize homing_pursuit:InitialPursuit
2013-06-04T00:40:27.130Z,1370306427.130 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:40:27.130Z,1370306427.130 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:40:27.131Z,1370306427.131 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:40:27.131Z,1370306427.131 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:40:27.131Z,1370306427.131 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:40:27.131Z,1370306427.131 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Initialize.
2013-06-04T00:40:27.131Z,1370306427.131 [homing_pursuit:InitialPursuit:D.Wait] Running Loop=1
2013-06-04T00:40:27.131Z,1370306427.131 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:40:27.617Z,1370306427.617 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:40:27.624Z,1370306427.624 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:40:27.625Z,1370306427.625 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:40:27.702Z,1370306427.702 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:27.703Z,1370306427.703 [Reporter](INFO): homing_target_azimuth 279.784137 arcdeg
2013-06-04T00:40:27.703Z,1370306427.703 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:28.003Z,1370306428.003 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:40:28.004Z,1370306428.004 [Reporter](INFO): homing_target_azimuth 279.940057 arcdeg
2013-06-04T00:40:28.005Z,1370306428.005 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:28.398Z,1370306428.398 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:28.398Z,1370306428.398 [Reporter](INFO): homing_target_azimuth 277.845976 arcdeg
2013-06-04T00:40:28.399Z,1370306428.399 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:28.846Z,1370306428.846 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:40:28.847Z,1370306428.847 [Reporter](INFO): homing_target_azimuth 278.699012 arcdeg
2013-06-04T00:40:28.848Z,1370306428.848 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:29.289Z,1370306429.289 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:29.610Z,1370306429.610 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:29.662Z,1370306429.662 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:29.662Z,1370306429.662 [Reporter](INFO): homing_target_azimuth 278.410422 arcdeg
2013-06-04T00:40:29.663Z,1370306429.663 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:30.095Z,1370306430.095 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:40:30.096Z,1370306430.096 [Reporter](INFO): homing_target_azimuth 279.812496 arcdeg
2013-06-04T00:40:30.097Z,1370306430.097 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:30.551Z,1370306430.551 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:30.552Z,1370306430.552 [Reporter](INFO): homing_target_azimuth 279.311078 arcdeg
2013-06-04T00:40:30.552Z,1370306430.552 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:30.927Z,1370306430.927 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:40:30.928Z,1370306430.928 [Reporter](INFO): homing_target_azimuth 279.802797 arcdeg
2013-06-04T00:40:30.929Z,1370306430.929 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:31.290Z,1370306431.290 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:31.290Z,1370306431.290 [Reporter](INFO): homing_target_azimuth 275.517865 arcdeg
2013-06-04T00:40:31.291Z,1370306431.291 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:31.689Z,1370306431.690 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:32.162Z,1370306432.162 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:32.202Z,1370306432.202 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:40:32.202Z,1370306432.202 [Reporter](INFO): homing_target_azimuth 278.506892 arcdeg
2013-06-04T00:40:32.203Z,1370306432.203 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:32.627Z,1370306432.627 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:32.628Z,1370306432.628 [Reporter](INFO): homing_target_azimuth 280.096578 arcdeg
2013-06-04T00:40:32.628Z,1370306432.628 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:32.914Z,1370306432.914 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:32.915Z,1370306432.915 [Reporter](INFO): homing_target_azimuth 278.711224 arcdeg
2013-06-04T00:40:32.915Z,1370306432.915 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:33.326Z,1370306433.326 [Reporter](INFO): homing_target_range 163.300003 m
2013-06-04T00:40:33.326Z,1370306433.326 [Reporter](INFO): homing_target_azimuth 276.155722 arcdeg
2013-06-04T00:40:33.327Z,1370306433.327 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:33.742Z,1370306433.742 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:33.743Z,1370306433.743 [Reporter](INFO): homing_target_azimuth 279.992895 arcdeg
2013-06-04T00:40:33.743Z,1370306433.743 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:34.166Z,1370306434.166 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:34.595Z,1370306434.595 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:34.596Z,1370306434.596 [Reporter](INFO): homing_target_azimuth 278.270458 arcdeg
2013-06-04T00:40:34.596Z,1370306434.596 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:34.750Z,1370306434.750 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:34.955Z,1370306434.955 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:40:34.956Z,1370306434.956 [Reporter](INFO): homing_target_azimuth 280.470954 arcdeg
2013-06-04T00:40:34.956Z,1370306434.956 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:35.446Z,1370306435.446 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:35.447Z,1370306435.447 [Reporter](INFO): homing_target_azimuth 278.645654 arcdeg
2013-06-04T00:40:35.447Z,1370306435.447 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:35.754Z,1370306435.754 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:35.754Z,1370306435.754 [Reporter](INFO): homing_target_azimuth 279.258431 arcdeg
2013-06-04T00:40:35.755Z,1370306435.755 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:36.131Z,1370306436.131 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:36.535Z,1370306436.536 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:36.536Z,1370306436.536 [Reporter](INFO): homing_target_azimuth 278.709940 arcdeg
2013-06-04T00:40:36.537Z,1370306436.537 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:36.934Z,1370306436.934 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:36.935Z,1370306436.935 [Reporter](INFO): homing_target_azimuth 279.045712 arcdeg
2013-06-04T00:40:36.936Z,1370306436.936 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:37.290Z,1370306437.290 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:37.399Z,1370306437.399 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:37.400Z,1370306437.400 [Reporter](INFO): homing_target_azimuth 276.099250 arcdeg
2013-06-04T00:40:37.400Z,1370306437.400 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:37.794Z,1370306437.794 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:37.795Z,1370306437.795 [Reporter](INFO): homing_target_azimuth 280.066361 arcdeg
2013-06-04T00:40:37.796Z,1370306437.796 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:38.127Z,1370306438.127 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:38.567Z,1370306438.567 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:38.567Z,1370306438.567 [Reporter](INFO): homing_target_azimuth 279.867083 arcdeg
2013-06-04T00:40:38.568Z,1370306438.568 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:38.930Z,1370306438.930 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:38.931Z,1370306438.931 [Reporter](INFO): homing_target_azimuth 278.771275 arcdeg
2013-06-04T00:40:38.932Z,1370306438.932 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:39.342Z,1370306439.342 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:39.342Z,1370306439.342 [Reporter](INFO): homing_target_azimuth 277.509575 arcdeg
2013-06-04T00:40:39.343Z,1370306439.343 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:39.737Z,1370306439.737 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:39.738Z,1370306439.738 [Reporter](INFO): homing_target_azimuth 279.128385 arcdeg
2013-06-04T00:40:39.739Z,1370306439.739 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:39.854Z,1370306439.854 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:40.130Z,1370306440.130 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:40.599Z,1370306440.599 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:40.600Z,1370306440.600 [Reporter](INFO): homing_target_azimuth 278.648550 arcdeg
2013-06-04T00:40:40.601Z,1370306440.601 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:40.930Z,1370306440.930 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:40.930Z,1370306440.930 [Reporter](INFO): homing_target_azimuth 278.383867 arcdeg
2013-06-04T00:40:40.931Z,1370306440.931 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:41.350Z,1370306441.350 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:41.350Z,1370306441.350 [Reporter](INFO): homing_target_azimuth 278.791028 arcdeg
2013-06-04T00:40:41.351Z,1370306441.351 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:41.738Z,1370306441.737 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:41.739Z,1370306441.739 [Reporter](INFO): homing_target_azimuth 277.135089 arcdeg
2013-06-04T00:40:41.739Z,1370306441.739 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:42.194Z,1370306442.194 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:42.422Z,1370306442.422 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:42.734Z,1370306442.734 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:42.735Z,1370306442.735 [Reporter](INFO): homing_target_azimuth 277.092442 arcdeg
2013-06-04T00:40:42.735Z,1370306442.735 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:43.152Z,1370306443.152 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:40:43.153Z,1370306443.153 [Reporter](INFO): homing_target_azimuth 277.467583 arcdeg
2013-06-04T00:40:43.154Z,1370306443.154 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:43.482Z,1370306443.482 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:43.491Z,1370306443.491 [Reporter](INFO): homing_target_azimuth 279.386238 arcdeg
2013-06-04T00:40:43.491Z,1370306443.491 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:43.911Z,1370306443.911 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:43.912Z,1370306443.912 [Reporter](INFO): homing_target_azimuth 276.276535 arcdeg
2013-06-04T00:40:43.912Z,1370306443.912 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:44.270Z,1370306444.270 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:44.270Z,1370306444.270 [Reporter](INFO): homing_target_azimuth 280.190561 arcdeg
2013-06-04T00:40:44.271Z,1370306444.271 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:44.637Z,1370306444.637 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:44.986Z,1370306444.986 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:45.095Z,1370306445.095 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:45.096Z,1370306445.096 [Reporter](INFO): homing_target_azimuth 278.013179 arcdeg
2013-06-04T00:40:45.097Z,1370306445.096 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:45.458Z,1370306445.458 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:45.459Z,1370306445.459 [Reporter](INFO): homing_target_azimuth 279.660648 arcdeg
2013-06-04T00:40:45.460Z,1370306445.460 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:45.878Z,1370306445.878 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:45.878Z,1370306445.878 [Reporter](INFO): homing_target_azimuth 279.479210 arcdeg
2013-06-04T00:40:45.879Z,1370306445.879 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:46.290Z,1370306446.290 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:46.290Z,1370306446.290 [Reporter](INFO): homing_target_azimuth 277.772947 arcdeg
2013-06-04T00:40:46.291Z,1370306446.291 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:46.662Z,1370306446.662 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:47.166Z,1370306447.166 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:47.167Z,1370306447.167 [Reporter](INFO): homing_target_azimuth 275.974832 arcdeg
2013-06-04T00:40:47.167Z,1370306447.167 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:47.499Z,1370306447.499 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:47.500Z,1370306447.500 [Reporter](INFO): homing_target_azimuth 278.179753 arcdeg
2013-06-04T00:40:47.501Z,1370306447.501 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:47.534Z,1370306447.534 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:48.059Z,1370306448.059 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:48.060Z,1370306448.060 [Reporter](INFO): homing_target_azimuth 274.650021 arcdeg
2013-06-04T00:40:48.061Z,1370306448.061 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:48.410Z,1370306448.410 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:48.411Z,1370306448.411 [Reporter](INFO): homing_target_azimuth 278.670052 arcdeg
2013-06-04T00:40:48.411Z,1370306448.411 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:48.890Z,1370306448.889 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:48.890Z,1370306448.890 [Reporter](INFO): homing_target_azimuth 279.054291 arcdeg
2013-06-04T00:40:48.891Z,1370306448.891 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:49.182Z,1370306449.181 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:49.611Z,1370306449.611 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:49.612Z,1370306449.612 [Reporter](INFO): homing_target_azimuth 281.038843 arcdeg
2013-06-04T00:40:49.612Z,1370306449.612 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:49.999Z,1370306449.999 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:49.000Z,1370306450.000 [Reporter](INFO): homing_target_azimuth 279.665620 arcdeg
2013-06-04T00:40:50.001Z,1370306450.001 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:50.126Z,1370306450.126 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:50.499Z,1370306450.499 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:50.500Z,1370306450.500 [Reporter](INFO): homing_target_azimuth 276.825463 arcdeg
2013-06-04T00:40:50.501Z,1370306450.501 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:50.826Z,1370306450.826 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:50.827Z,1370306450.827 [Reporter](INFO): homing_target_azimuth 278.484325 arcdeg
2013-06-04T00:40:50.827Z,1370306450.828 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:51.326Z,1370306451.326 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:51.326Z,1370306451.326 [Reporter](INFO): homing_target_azimuth 279.029401 arcdeg
2013-06-04T00:40:51.327Z,1370306451.327 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:51.610Z,1370306451.610 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:52.031Z,1370306452.031 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:52.032Z,1370306452.032 [Reporter](INFO): homing_target_azimuth 277.984628 arcdeg
2013-06-04T00:40:52.032Z,1370306452.032 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:52.427Z,1370306452.427 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:52.428Z,1370306452.428 [Reporter](INFO): homing_target_azimuth 279.095081 arcdeg
2013-06-04T00:40:52.429Z,1370306452.429 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:52.686Z,1370306452.686 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:52.931Z,1370306452.931 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:52.932Z,1370306452.932 [Reporter](INFO): homing_target_azimuth 276.769920 arcdeg
2013-06-04T00:40:52.933Z,1370306452.933 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:53.230Z,1370306453.230 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:53.231Z,1370306453.231 [Reporter](INFO): homing_target_azimuth 278.568391 arcdeg
2013-06-04T00:40:53.231Z,1370306453.231 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:53.678Z,1370306453.678 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:54.043Z,1370306454.043 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:54.044Z,1370306454.044 [Reporter](INFO): homing_target_azimuth 275.445902 arcdeg
2013-06-04T00:40:54.045Z,1370306454.045 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:54.500Z,1370306454.500 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:54.501Z,1370306454.501 [Reporter](INFO): homing_target_azimuth 278.410723 arcdeg
2013-06-04T00:40:54.501Z,1370306454.501 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:54.923Z,1370306454.923 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:54.924Z,1370306454.924 [Reporter](INFO): homing_target_azimuth 279.136827 arcdeg
2013-06-04T00:40:54.925Z,1370306454.925 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:55.230Z,1370306455.230 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:55.382Z,1370306455.382 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:55.382Z,1370306455.382 [Reporter](INFO): homing_target_azimuth 278.874001 arcdeg
2013-06-04T00:40:55.383Z,1370306455.383 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:55.806Z,1370306455.806 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:55.806Z,1370306455.806 [Reporter](INFO): homing_target_azimuth 279.025331 arcdeg
2013-06-04T00:40:55.807Z,1370306455.807 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:56.107Z,1370306456.107 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:56.515Z,1370306456.514 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:40:56.515Z,1370306456.515 [Reporter](INFO): homing_target_azimuth 278.532519 arcdeg
2013-06-04T00:40:56.516Z,1370306456.516 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:56.931Z,1370306456.931 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:56.932Z,1370306456.932 [Reporter](INFO): homing_target_azimuth 278.082136 arcdeg
2013-06-04T00:40:56.933Z,1370306456.933 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:57.298Z,1370306457.298 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:57.299Z,1370306457.299 [Reporter](INFO): homing_target_azimuth 277.528809 arcdeg
2013-06-04T00:40:57.299Z,1370306457.299 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:57.710Z,1370306457.710 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:57.710Z,1370306457.710 [Reporter](INFO): homing_target_azimuth 277.681641 arcdeg
2013-06-04T00:40:57.711Z,1370306457.711 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:57.778Z,1370306457.778 [DVL_micro](DEBUG): NQ1
2013-06-04T00:40:58.190Z,1370306458.190 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:58.503Z,1370306458.503 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:58.504Z,1370306458.504 [Reporter](INFO): homing_target_azimuth 277.216068 arcdeg
2013-06-04T00:40:58.504Z,1370306458.504 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:58.898Z,1370306458.898 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:58.898Z,1370306458.898 [Reporter](INFO): homing_target_azimuth 275.916748 arcdeg
2013-06-04T00:40:58.899Z,1370306458.899 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:59.302Z,1370306459.302 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:40:59.302Z,1370306459.302 [Reporter](INFO): homing_target_azimuth 275.336182 arcdeg
2013-06-04T00:40:59.303Z,1370306459.303 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:40:59.702Z,1370306459.702 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:40:59.702Z,1370306459.702 [Reporter](INFO): homing_target_azimuth 275.297987 arcdeg
2013-06-04T00:40:59.703Z,1370306459.703 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:00.226Z,1370306460.226 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:00.362Z,1370306460.362 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:00.622Z,1370306460.622 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:00.622Z,1370306460.622 [Reporter](INFO): homing_target_azimuth 278.512493 arcdeg
2013-06-04T00:41:00.623Z,1370306460.623 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:01.051Z,1370306461.050 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:01.051Z,1370306461.051 [Reporter](INFO): homing_target_azimuth 279.000824 arcdeg
2013-06-04T00:41:01.052Z,1370306461.052 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:01.342Z,1370306461.342 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:41:01.342Z,1370306461.342 [Reporter](INFO): homing_target_azimuth 278.325182 arcdeg
2013-06-04T00:41:01.343Z,1370306461.343 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:01.738Z,1370306461.738 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:01.739Z,1370306461.739 [Reporter](INFO): homing_target_azimuth 278.252672 arcdeg
2013-06-04T00:41:01.739Z,1370306461.739 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:02.134Z,1370306462.134 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:02.598Z,1370306462.598 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:41:02.599Z,1370306462.599 [Reporter](INFO): homing_target_azimuth 277.001983 arcdeg
2013-06-04T00:41:02.600Z,1370306462.600 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:02.910Z,1370306462.910 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:03.106Z,1370306463.106 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:03.107Z,1370306463.107 [Reporter](INFO): homing_target_azimuth 278.356655 arcdeg
2013-06-04T00:41:03.107Z,1370306463.107 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:03.465Z,1370306463.466 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:41:03.466Z,1370306463.466 [Reporter](INFO): homing_target_azimuth 277.334531 arcdeg
2013-06-04T00:41:03.467Z,1370306463.467 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:03.826Z,1370306463.826 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:03.826Z,1370306463.826 [Reporter](INFO): homing_target_azimuth 276.904694 arcdeg
2013-06-04T00:41:03.827Z,1370306463.827 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:04.313Z,1370306464.313 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:04.314Z,1370306464.314 [Reporter](INFO): homing_target_azimuth 278.434984 arcdeg
2013-06-04T00:41:04.315Z,1370306464.315 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:04.606Z,1370306464.606 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:05.040Z,1370306465.040 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:41:05.041Z,1370306465.041 [Reporter](INFO): homing_target_azimuth 275.590237 arcdeg
2013-06-04T00:41:05.041Z,1370306465.042 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:05.402Z,1370306465.402 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:05.403Z,1370306465.403 [Reporter](INFO): homing_target_azimuth 278.931429 arcdeg
2013-06-04T00:41:05.404Z,1370306465.404 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:05.481Z,1370306465.481 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:05.879Z,1370306465.879 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:05.879Z,1370306465.879 [Reporter](INFO): homing_target_azimuth 275.090950 arcdeg
2013-06-04T00:41:05.880Z,1370306465.880 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:06.294Z,1370306466.294 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:06.295Z,1370306466.295 [Reporter](INFO): homing_target_azimuth 278.355863 arcdeg
2013-06-04T00:41:06.295Z,1370306466.295 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:06.714Z,1370306466.714 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:07.028Z,1370306467.028 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:07.029Z,1370306467.029 [Reporter](INFO): homing_target_azimuth 278.845014 arcdeg
2013-06-04T00:41:07.030Z,1370306467.030 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:07.415Z,1370306467.415 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:07.416Z,1370306467.416 [Reporter](INFO): homing_target_azimuth 278.476211 arcdeg
2013-06-04T00:41:07.417Z,1370306467.417 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:07.865Z,1370306467.865 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:07.866Z,1370306467.866 [Reporter](INFO): homing_target_azimuth 276.732409 arcdeg
2013-06-04T00:41:07.867Z,1370306467.867 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:08.074Z,1370306468.074 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:08.436Z,1370306468.436 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:08.436Z,1370306468.436 [Reporter](INFO): homing_target_azimuth 276.176923 arcdeg
2013-06-04T00:41:08.437Z,1370306468.437 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:08.911Z,1370306468.911 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:08.911Z,1370306468.911 [Reporter](INFO): homing_target_azimuth 273.781603 arcdeg
2013-06-04T00:41:08.912Z,1370306468.912 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:09.322Z,1370306469.322 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:41:09.322Z,1370306469.322 [Reporter](INFO): homing_target_azimuth 277.911573 arcdeg
2013-06-04T00:41:09.323Z,1370306469.323 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:09.666Z,1370306469.666 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:10.023Z,1370306470.023 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:10.024Z,1370306470.024 [Reporter](INFO): homing_target_azimuth 277.641698 arcdeg
2013-06-04T00:41:10.024Z,1370306470.024 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:10.427Z,1370306470.427 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:41:10.428Z,1370306470.428 [Reporter](INFO): homing_target_azimuth 277.120309 arcdeg
2013-06-04T00:41:10.428Z,1370306470.428 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:10.622Z,1370306470.622 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:10.830Z,1370306470.830 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:10.830Z,1370306470.830 [Reporter](INFO): homing_target_azimuth 276.523733 arcdeg
2013-06-04T00:41:10.831Z,1370306470.831 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:11.230Z,1370306471.230 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:41:11.230Z,1370306471.230 [Reporter](INFO): homing_target_azimuth 277.721366 arcdeg
2013-06-04T00:41:11.231Z,1370306471.231 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:11.601Z,1370306471.601 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:12.031Z,1370306472.030 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:12.031Z,1370306472.031 [Reporter](INFO): homing_target_azimuth 278.384386 arcdeg
2013-06-04T00:41:12.032Z,1370306472.032 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:12.407Z,1370306472.407 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:12.408Z,1370306472.408 [Reporter](INFO): homing_target_azimuth 278.737725 arcdeg
2013-06-04T00:41:12.408Z,1370306472.408 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:12.867Z,1370306472.867 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:41:12.868Z,1370306472.868 [Reporter](INFO): homing_target_azimuth 279.569287 arcdeg
2013-06-04T00:41:12.868Z,1370306472.868 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:13.170Z,1370306473.170 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:13.322Z,1370306473.322 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:13.323Z,1370306473.323 [Reporter](INFO): homing_target_azimuth 277.316527 arcdeg
2013-06-04T00:41:13.323Z,1370306473.323 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:13.598Z,1370306473.598 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:14.031Z,1370306474.031 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:14.032Z,1370306474.032 [Reporter](INFO): homing_target_azimuth 276.439558 arcdeg
2013-06-04T00:41:14.032Z,1370306474.032 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:14.431Z,1370306474.431 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:14.431Z,1370306474.431 [Reporter](INFO): homing_target_azimuth 279.958061 arcdeg
2013-06-04T00:41:14.432Z,1370306474.432 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:14.826Z,1370306474.826 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:14.826Z,1370306474.826 [Reporter](INFO): homing_target_azimuth 277.071186 arcdeg
2013-06-04T00:41:14.827Z,1370306474.827 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:15.226Z,1370306475.226 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:15.226Z,1370306475.226 [Reporter](INFO): homing_target_azimuth 277.117550 arcdeg
2013-06-04T00:41:15.227Z,1370306475.227 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:15.601Z,1370306475.601 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:15.742Z,1370306475.742 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:16.102Z,1370306476.102 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:16.102Z,1370306476.102 [Reporter](INFO): homing_target_azimuth 276.803989 arcdeg
2013-06-04T00:41:16.103Z,1370306476.103 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:16.507Z,1370306476.507 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:16.508Z,1370306476.508 [Reporter](INFO): homing_target_azimuth 277.521706 arcdeg
2013-06-04T00:41:16.508Z,1370306476.508 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:16.959Z,1370306476.959 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:16.960Z,1370306476.960 [Reporter](INFO): homing_target_azimuth 279.445934 arcdeg
2013-06-04T00:41:16.961Z,1370306476.961 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:17.450Z,1370306477.450 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:17.451Z,1370306477.451 [Reporter](INFO): homing_target_azimuth 278.265786 arcdeg
2013-06-04T00:41:17.452Z,1370306477.452 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:17.846Z,1370306477.846 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:17.847Z,1370306477.847 [Reporter](INFO): homing_target_azimuth 278.915310 arcdeg
2013-06-04T00:41:17.847Z,1370306477.847 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:18.274Z,1370306478.274 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:18.334Z,1370306478.334 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:41:18.335Z,1370306478.335 [Reporter](INFO): homing_target_azimuth 278.243465 arcdeg
2013-06-04T00:41:18.335Z,1370306478.335 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:18.682Z,1370306478.682 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:18.699Z,1370306478.699 [Reporter](INFO): homing_target_azimuth 277.569216 arcdeg
2013-06-04T00:41:18.699Z,1370306478.699 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:19.141Z,1370306479.141 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:19.507Z,1370306479.507 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:41:19.508Z,1370306479.508 [Reporter](INFO): homing_target_azimuth 277.232269 arcdeg
2013-06-04T00:41:19.509Z,1370306479.509 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:19.895Z,1370306479.895 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:19.896Z,1370306479.896 [Reporter](INFO): homing_target_azimuth 279.022599 arcdeg
2013-06-04T00:41:19.897Z,1370306479.897 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:20.262Z,1370306480.262 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:20.263Z,1370306480.263 [Reporter](INFO): homing_target_azimuth 277.077716 arcdeg
2013-06-04T00:41:20.263Z,1370306480.263 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:20.754Z,1370306480.754 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:20.886Z,1370306480.886 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:21.106Z,1370306481.106 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:41:21.106Z,1370306481.106 [Reporter](INFO): homing_target_azimuth 280.796262 arcdeg
2013-06-04T00:41:21.107Z,1370306481.107 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:21.499Z,1370306481.499 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:21.500Z,1370306481.500 [Reporter](INFO): homing_target_azimuth 279.655593 arcdeg
2013-06-04T00:41:21.500Z,1370306481.500 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:21.862Z,1370306481.862 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:41:21.863Z,1370306481.863 [Reporter](INFO): homing_target_azimuth 277.004278 arcdeg
2013-06-04T00:41:21.864Z,1370306481.864 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:22.262Z,1370306482.261 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:22.262Z,1370306482.262 [Reporter](INFO): homing_target_azimuth 275.723098 arcdeg
2013-06-04T00:41:22.263Z,1370306482.263 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:22.698Z,1370306482.698 [Reporter](INFO): homing_target_range 162.699997 m
2013-06-04T00:41:22.699Z,1370306482.699 [Reporter](INFO): homing_target_azimuth 279.416782 arcdeg
2013-06-04T00:41:22.699Z,1370306482.699 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:23.042Z,1370306483.042 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:23.434Z,1370306483.434 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:23.495Z,1370306483.495 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:23.495Z,1370306483.496 [Reporter](INFO): homing_target_azimuth 276.774920 arcdeg
2013-06-04T00:41:23.496Z,1370306483.496 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:23.899Z,1370306483.899 [Reporter](INFO): homing_target_range 162.899994 m
2013-06-04T00:41:23.900Z,1370306483.900 [Reporter](INFO): homing_target_azimuth 277.992770 arcdeg
2013-06-04T00:41:23.901Z,1370306483.901 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:24.270Z,1370306484.270 [Reporter](INFO): homing_target_range 163.199997 m
2013-06-04T00:41:24.270Z,1370306484.270 [Reporter](INFO): homing_target_azimuth 277.832288 arcdeg
2013-06-04T00:41:24.271Z,1370306484.271 [Reporter](INFO): HorizontalControl.headingCmd 4.841212 rad
2013-06-04T00:41:24.302Z,1370306484.302 [CommandLine](IMPORTANT): got command stop
2013-06-04T00:41:24.600Z,1370306484.599 [homing_pursuit] Stopped
2013-06-04T00:41:24.600Z,1370306484.600 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:41:24.600Z,1370306484.600 [homing_pursuit:A.Pitch] Stopped
2013-06-04T00:41:24.600Z,1370306484.600 [homing_pursuit:B.Buoyancy] Stopped
2013-06-04T00:41:24.600Z,1370306484.600 [homing_pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:41:24.600Z,1370306484.600 [homing_pursuit:C] Stopped
2013-06-04T00:41:24.600Z,1370306484.600 [homing_pursuit:D] Stopped
2013-06-04T00:41:24.600Z,1370306484.600 [homing_pursuit:E] Stopped
2013-06-04T00:41:24.600Z,1370306484.600 [homing_pursuit:InitialPursuit] Stopped
2013-06-04T00:41:24.600Z,1370306484.600 [homing_pursuit:InitialPursuit](INFO): Aggregate::uninitialize homing_pursuit:InitialPursuit
2013-06-04T00:41:24.600Z,1370306484.600 [homing_pursuit:InitialPursuit:A.SetSpeed] Stopped
2013-06-04T00:41:24.600Z,1370306484.600 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:41:24.600Z,1370306484.601 [homing_pursuit:InitialPursuit:B.Pitch] Stopped
2013-06-04T00:41:24.600Z,1370306484.601 [homing_pursuit:InitialPursuit:C.Point] Stopped
2013-06-04T00:41:24.601Z,1370306484.601 [homing_pursuit:InitialPursuit:D.Wait] Stopped
2013-06-04T00:41:24.601Z,1370306484.601 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:41:24.718Z,1370306484.718 [Reporter](INFO): homing_target_range 163.000000 m
2013-06-04T00:41:24.719Z,1370306484.719 [Reporter](INFO): homing_target_azimuth 278.203167 arcdeg
2013-06-04T00:41:24.719Z,1370306484.719 [Reporter](INFO): HorizontalControl.headingCmd no_value
2013-06-04T00:41:24.965Z,1370306484.965 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:41:24.965Z,1370306484.965 [Default] Running Loop=1
2013-06-04T00:41:24.965Z,1370306484.965 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:41:24.965Z,1370306484.965 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:41:24.965Z,1370306484.965 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:41:24.966Z,1370306484.966 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:41:24.966Z,1370306484.966 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:41:24.966Z,1370306484.966 [Default:Iridium] Running Loop=1
2013-06-04T00:41:24.966Z,1370306484.966 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:41:24.966Z,1370306484.966 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:41:24.967Z,1370306484.967 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:41:24.967Z,1370306484.967 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:41:24.967Z,1370306484.967 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:41:24.969Z,1370306484.969 [Default:CallIridium] Running Loop=1
2013-06-04T00:41:24.969Z,1370306484.969 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-04T00:41:24.969Z,1370306484.969 [Default:CallIridium:A] Running Loop=1
2013-06-04T00:41:24.970Z,1370306484.970 [Default:CallIridium:A] Stopped
2013-06-04T00:41:24.971Z,1370306484.971 [Default:CallIridium:B] Running Loop=1
2013-06-04T00:41:24.971Z,1370306484.971 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-04T00:41:24.972Z,1370306484.972 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:41:24.972Z,1370306484.972 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:41:24.972Z,1370306484.972 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:41:24.973Z,1370306484.973 [Default:GPS] Running Loop=1
2013-06-04T00:41:24.973Z,1370306484.973 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:41:24.973Z,1370306484.973 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:41:24.973Z,1370306484.973 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:41:24.974Z,1370306484.974 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:41:24.976Z,1370306484.977 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:41:24.978Z,1370306484.977 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:41:24.978Z,1370306484.978 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:41:24.978Z,1370306484.978 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:41:25.352Z,1370306485.352 [DAT](INFO): Powering down
2013-06-04T00:41:25.552Z,1370306485.552 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:41:25.867Z,1370306485.867 [NAL9602](INFO): Powering up
2013-06-04T00:41:30.010Z,1370306490.010 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:41:30.011Z,1370306490.011 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:41:30.105Z,1370306490.105 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:41:30.108Z,1370306490.108 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = -0.006000 n/a
2013-06-04T00:41:30.111Z,1370306490.111 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000560 n/a
2013-06-04T00:41:30.113Z,1370306490.113 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:41:30.115Z,1370306490.115 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 40.000000 m
2013-06-04T00:41:30.117Z,1370306490.118 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:41:30.120Z,1370306490.120 [MissionManager](INFO): DefineArg homing_pursuit.PowerOnDATTimeoutDuration = 1.000000 min
2013-06-04T00:41:30.122Z,1370306490.122 [MissionManager](INFO): DefineArg homing_pursuit.ClosePursuitTimeout = 180.000000 s
2013-06-04T00:41:30.124Z,1370306490.124 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:41:30.127Z,1370306490.127 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:41:30.129Z,1370306490.129 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:41:30.132Z,1370306490.132 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:41:30.133Z,1370306490.133 [homing_pursuit:A.Pitch](DEBUG): Construct.
2013-06-04T00:41:30.137Z,1370306490.137 [homing_pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:41:30.144Z,1370306490.144 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:41:30.149Z,1370306490.149 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:41:30.153Z,1370306490.153 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:41:30.156Z,1370306490.156 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:41:30.159Z,1370306490.159 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:41:30.162Z,1370306490.162 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:41:30.168Z,1370306490.168 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:41:30.172Z,1370306490.172 [homing_pursuit:ClosePursuit:B.SetSpeed](DEBUG): Construct.
2013-06-04T00:41:30.176Z,1370306490.177 [homing_pursuit:ClosePursuit:C.Pitch](DEBUG): Construct.
2013-06-04T00:41:30.181Z,1370306490.181 [homing_pursuit:ClosePursuit:D.Point](DEBUG): Construct.
2013-06-04T00:41:30.218Z,1370306490.218 [homing_pursuit:ClosePursuit:E.Wait](DEBUG): Construct Wait.
2013-06-04T00:41:30.220Z,1370306490.220 [homing_pursuit:Rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:41:30.222Z,1370306490.222 [homing_pursuit:Rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:41:30.234Z,1370306490.234 [homing_pursuit:Rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:41:30.255Z,1370306490.255 [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">

<!-- Define mission arguments -->

    <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>0.2</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>40.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="PowerOnDATTimeoutDuration"><Description>
        Wait this long after turning on DAT before starting any behaviors that require DAT output.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ClosePursuitTimeout"><Description>
        Run in OneWayMode for this long.
    </Description><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within minimum range.
    </Description><Units:minute/><Value>7</Value></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

<!-- TODO any other science sensors that should be active? -->

<!-- Begin the mission. -->

    <Timeout Duration="TimeoutDuration"/>

<!-- Safety nets and surfacing behaviors -->
<!-- TODO re-enable
    <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>

-->

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

<!-- Set default mass and pump positions -->

    <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>

<!-- Request desired engineering data -->

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

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

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

<!-- Start actual engineering mission sequence. -->

    <Aggregate Id="PowerOnDAT">
	
        <Description>
            Give the DAT some time to start up before you ask for ranges from it.
        </Description>

        <Timeout Duration="PowerOnDATTimeoutDuration"/>

        <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">

	<Description>
            Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate.
        </Description>

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

        <!-- <Timeout Duration="InitialPursuitTimeout"/> -->

        <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">

	<Description>
            Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate.
        </Description>

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

        <Timeout Duration="ClosePursuitTimeout"/>

        <Assign RunIn="Parallel"><Sensor:DAT.onewayRequestedCmd/><Units:bool/><Value>1</Value></Assign>

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

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

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

        <Guidance:Wait RunIn="Sequence"/> 

    </Aggregate>

    <Aggregate Id="Rollout">

	<Description>
            Move away from the target at the last commanded heading until *RolloutTimeout* has passed.

            (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)
        </Description>

        <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>

 <!--   <Call Id="PhoneHome" RefId="SurfaceComms"/> -->

</Mission>


2013-06-04T00:41:30.255Z,1370306490.255 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:41:30.264Z,1370306490.263 [Default] Stopped
2013-06-04T00:41:30.264Z,1370306490.264 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:41:30.264Z,1370306490.264 [Default:GPS] Stopped
2013-06-04T00:41:30.264Z,1370306490.264 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:41:30.264Z,1370306490.264 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:41:30.264Z,1370306490.264 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:41:30.264Z,1370306490.264 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:41:30.264Z,1370306490.264 [Default:Iridium] Stopped
2013-06-04T00:41:30.264Z,1370306490.264 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:41:30.264Z,1370306490.264 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:41:30.265Z,1370306490.265 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:41:30.265Z,1370306490.265 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:41:30.265Z,1370306490.265 [Default:CallIridium] Stopped
2013-06-04T00:41:30.265Z,1370306490.265 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-04T00:41:30.265Z,1370306490.265 [Default:CallIridium:B] Stopped
2013-06-04T00:41:30.265Z,1370306490.265 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-04T00:41:30.265Z,1370306490.265 [Default:D.SetSpeed] Stopped
2013-06-04T00:41:30.265Z,1370306490.265 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:41:30.265Z,1370306490.265 [Default:E.GoToSurface] Stopped
2013-06-04T00:41:30.265Z,1370306490.265 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:41:30.266Z,1370306490.266 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:41:30.266Z,1370306490.266 [homing_pursuit] Running Loop=1
2013-06-04T00:41:30.266Z,1370306490.266 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:41:30.266Z,1370306490.266 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:41:30.266Z,1370306490.266 [homing_pursuit:A.Pitch](DEBUG): Initialize.
2013-06-04T00:41:30.266Z,1370306490.266 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:41:30.266Z,1370306490.266 [homing_pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:41:30.267Z,1370306490.267 [homing_pursuit:C] Running Loop=1
2013-06-04T00:41:30.267Z,1370306490.267 [homing_pursuit:D] Running Loop=1
2013-06-04T00:41:30.267Z,1370306490.267 [homing_pursuit:E] Running Loop=1
2013-06-04T00:41:30.267Z,1370306490.267 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-04T00:41:30.267Z,1370306490.267 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-04T00:41:30.267Z,1370306490.267 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:41:30.267Z,1370306490.267 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:41:30.267Z,1370306490.267 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:41:30.268Z,1370306490.267 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-04T00:41:30.268Z,1370306490.268 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-04T00:41:30.268Z,1370306490.268 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:41:30.269Z,1370306490.269 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:41:30.270Z,1370306490.270 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:41:30.271Z,1370306490.271 [homing_pursuit:E] Running Loop=1
2013-06-04T00:41:30.272Z,1370306490.272 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:41:30.273Z,1370306490.273 [homing_pursuit:D] Running Loop=1
2013-06-04T00:41:30.273Z,1370306490.273 [homing_pursuit:D](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:41:30.274Z,1370306490.274 [homing_pursuit:C] Running Loop=1
2013-06-04T00:41:30.275Z,1370306490.275 [homing_pursuit:C](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:41:30.275Z,1370306490.276 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:41:30.277Z,1370306490.277 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:41:30.407Z,1370306490.407 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:41:30.407Z,1370306490.407 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:41:30.407Z,1370306490.407 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:41:30.648Z,1370306490.648 [DAT](INFO): Powering up
2013-06-04T00:41:32.414Z,1370306492.414 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:41:32.415Z,1370306492.415 [DVL_micro](INFO): Querying output modes
2013-06-04T00:41:32.415Z,1370306492.415 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:41:32.426Z,1370306492.426 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:41:32.426Z,1370306492.427 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:41:32.427Z,1370306492.427 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:41:32.438Z,1370306492.438 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:41:34.946Z,1370306494.946 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:36.451Z,1370306496.451 [NAL9602](INFO): NAL9602 initialized
2013-06-04T00:41:37.488Z,1370306497.488 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:40.038Z,1370306500.038 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:42.560Z,1370306502.560 [NAL9602](INFO): Powering down
2013-06-04T00:41:42.598Z,1370306502.598 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:45.170Z,1370306505.170 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:47.738Z,1370306507.738 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:50.290Z,1370306510.290 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:52.850Z,1370306512.850 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:55.410Z,1370306515.411 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:55.730Z,1370306515.730 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:41:55.730Z,1370306515.730 [Reporter](INFO): homing_target_azimuth 278.010966 arcdeg
2013-06-04T00:41:56.102Z,1370306516.102 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:41:56.102Z,1370306516.102 [Reporter](INFO): homing_target_azimuth 278.986043 arcdeg
2013-06-04T00:41:56.915Z,1370306516.915 [Reporter](INFO): homing_target_range 302.299988 m
2013-06-04T00:41:56.915Z,1370306516.915 [Reporter](INFO): homing_target_azimuth 278.206937 arcdeg
2013-06-04T00:41:57.299Z,1370306517.299 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:41:57.299Z,1370306517.299 [Reporter](INFO): homing_target_azimuth 277.032227 arcdeg
2013-06-04T00:41:57.702Z,1370306517.702 [Reporter](INFO): homing_target_range 302.299988 m
2013-06-04T00:41:57.702Z,1370306517.703 [Reporter](INFO): homing_target_azimuth 280.082343 arcdeg
2013-06-04T00:41:57.958Z,1370306517.958 [DVL_micro](DEBUG): NQ1
2013-06-04T00:41:58.154Z,1370306518.154 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:41:58.155Z,1370306518.155 [Reporter](INFO): homing_target_azimuth 278.002551 arcdeg
2013-06-04T00:41:58.914Z,1370306518.914 [Reporter](INFO): homing_target_range 302.299988 m
2013-06-04T00:41:58.915Z,1370306518.915 [Reporter](INFO): homing_target_azimuth 277.141619 arcdeg
2013-06-04T00:41:59.395Z,1370306519.395 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:41:59.396Z,1370306519.396 [Reporter](INFO): homing_target_azimuth 275.936965 arcdeg
2013-06-04T00:41:59.726Z,1370306519.726 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:41:59.726Z,1370306519.726 [Reporter](INFO): homing_target_azimuth 278.305948 arcdeg
2013-06-04T00:42:00.098Z,1370306520.099 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:00.099Z,1370306520.099 [Reporter](INFO): homing_target_azimuth 275.912677 arcdeg
2013-06-04T00:42:00.432Z,1370306520.432 [homing_pursuit:PowerOnDAT:C.Wait](INFO): Done Waiting.
2013-06-04T00:42:00.432Z,1370306520.432 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-04T00:42:00.433Z,1370306520.432 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:42:00.434Z,1370306520.434 [homing_pursuit:PowerOnDAT](INFO): Completed homing_pursuit:PowerOnDAT
2013-06-04T00:42:00.434Z,1370306520.434 [homing_pursuit:PowerOnDAT] Stopped
2013-06-04T00:42:00.434Z,1370306520.434 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-04T00:42:00.435Z,1370306520.434 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-04T00:42:00.435Z,1370306520.434 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:42:00.435Z,1370306520.435 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-04T00:42:00.435Z,1370306520.435 [homing_pursuit:InitialPursuit] Running Loop=1
2013-06-04T00:42:00.435Z,1370306520.435 [homing_pursuit:InitialPursuit](INFO): Aggregate::initialize homing_pursuit:InitialPursuit
2013-06-04T00:42:00.435Z,1370306520.435 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:42:00.435Z,1370306520.435 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:42:00.435Z,1370306520.435 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:42:00.435Z,1370306520.435 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:42:00.436Z,1370306520.436 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:42:00.436Z,1370306520.436 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Initialize.
2013-06-04T00:42:00.436Z,1370306520.436 [homing_pursuit:InitialPursuit:D.Wait] Running Loop=1
2013-06-04T00:42:00.436Z,1370306520.436 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:42:00.514Z,1370306520.514 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:00.842Z,1370306520.842 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:42:00.844Z,1370306520.844 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:42:00.845Z,1370306520.845 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:42:00.939Z,1370306520.939 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:00.940Z,1370306520.940 [Reporter](INFO): homing_target_azimuth 275.610427 arcdeg
2013-06-04T00:42:00.940Z,1370306520.940 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:01.339Z,1370306521.339 [Reporter](INFO): homing_target_range 302.700012 m
2013-06-04T00:42:01.340Z,1370306521.340 [Reporter](INFO): homing_target_azimuth 279.618027 arcdeg
2013-06-04T00:42:01.341Z,1370306521.341 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:01.710Z,1370306521.710 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:01.710Z,1370306521.710 [Reporter](INFO): homing_target_azimuth 280.988573 arcdeg
2013-06-04T00:42:01.711Z,1370306521.711 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:02.173Z,1370306522.173 [Reporter](INFO): homing_target_range 302.700012 m
2013-06-04T00:42:02.174Z,1370306522.174 [Reporter](INFO): homing_target_azimuth 278.927495 arcdeg
2013-06-04T00:42:02.175Z,1370306522.175 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:02.530Z,1370306522.530 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:02.955Z,1370306522.955 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:02.956Z,1370306522.956 [Reporter](INFO): homing_target_azimuth 276.725770 arcdeg
2013-06-04T00:42:02.957Z,1370306522.957 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:03.062Z,1370306523.062 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:03.339Z,1370306523.339 [Reporter](INFO): homing_target_range 302.700012 m
2013-06-04T00:42:03.340Z,1370306523.339 [Reporter](INFO): homing_target_azimuth 279.699361 arcdeg
2013-06-04T00:42:03.340Z,1370306523.340 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:03.734Z,1370306523.734 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:03.735Z,1370306523.735 [Reporter](INFO): homing_target_azimuth 277.834829 arcdeg
2013-06-04T00:42:03.735Z,1370306523.735 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:04.134Z,1370306524.134 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:04.135Z,1370306524.135 [Reporter](INFO): homing_target_azimuth 278.924763 arcdeg
2013-06-04T00:42:04.135Z,1370306524.135 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:04.651Z,1370306524.651 [Reporter](INFO): homing_target_range 302.299988 m
2013-06-04T00:42:04.651Z,1370306524.651 [Reporter](INFO): homing_target_azimuth 278.119784 arcdeg
2013-06-04T00:42:04.652Z,1370306524.652 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:05.005Z,1370306525.006 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:05.514Z,1370306525.514 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:05.535Z,1370306525.535 [Reporter](INFO): homing_target_azimuth 277.433815 arcdeg
2013-06-04T00:42:05.535Z,1370306525.535 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:05.618Z,1370306525.618 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:05.939Z,1370306525.939 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:05.940Z,1370306525.940 [Reporter](INFO): homing_target_azimuth 274.932873 arcdeg
2013-06-04T00:42:05.941Z,1370306525.941 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:06.262Z,1370306526.262 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:06.262Z,1370306526.262 [Reporter](INFO): homing_target_azimuth 278.977465 arcdeg
2013-06-04T00:42:06.263Z,1370306526.263 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:06.626Z,1370306526.626 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:06.627Z,1370306526.627 [Reporter](INFO): homing_target_azimuth 278.913070 arcdeg
2013-06-04T00:42:06.627Z,1370306526.627 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:07.114Z,1370306527.114 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:07.414Z,1370306527.414 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:07.415Z,1370306527.415 [Reporter](INFO): homing_target_azimuth 280.676925 arcdeg
2013-06-04T00:42:07.416Z,1370306527.416 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:07.870Z,1370306527.870 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:07.871Z,1370306527.871 [Reporter](INFO): homing_target_azimuth 279.866919 arcdeg
2013-06-04T00:42:07.872Z,1370306527.872 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:08.162Z,1370306528.162 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:08.265Z,1370306528.265 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:08.266Z,1370306528.266 [Reporter](INFO): homing_target_azimuth 281.012588 arcdeg
2013-06-04T00:42:08.267Z,1370306528.267 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:08.626Z,1370306528.626 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:08.626Z,1370306528.626 [Reporter](INFO): homing_target_azimuth 280.660451 arcdeg
2013-06-04T00:42:08.627Z,1370306528.627 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:09.058Z,1370306529.058 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:09.622Z,1370306529.622 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:09.622Z,1370306529.622 [Reporter](INFO): homing_target_azimuth 280.451720 arcdeg
2013-06-04T00:42:09.623Z,1370306529.623 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:09.902Z,1370306529.902 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:09.903Z,1370306529.903 [Reporter](INFO): homing_target_azimuth 279.004021 arcdeg
2013-06-04T00:42:09.904Z,1370306529.904 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:10.308Z,1370306530.308 [Reporter](INFO): homing_target_range 302.700012 m
2013-06-04T00:42:10.308Z,1370306530.309 [Reporter](INFO): homing_target_azimuth 280.853007 arcdeg
2013-06-04T00:42:10.309Z,1370306530.309 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:10.702Z,1370306530.702 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:10.702Z,1370306530.702 [Reporter](INFO): homing_target_azimuth 279.796568 arcdeg
2013-06-04T00:42:10.703Z,1370306530.703 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:10.722Z,1370306530.722 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:11.166Z,1370306531.166 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:11.166Z,1370306531.166 [Reporter](INFO): homing_target_azimuth 278.103938 arcdeg
2013-06-04T00:42:11.167Z,1370306531.167 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:11.471Z,1370306531.471 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:11.967Z,1370306531.967 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:11.968Z,1370306531.968 [Reporter](INFO): homing_target_azimuth 277.342372 arcdeg
2013-06-04T00:42:11.969Z,1370306531.969 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:12.350Z,1370306532.350 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:12.351Z,1370306532.351 [Reporter](INFO): homing_target_azimuth 282.024795 arcdeg
2013-06-04T00:42:12.352Z,1370306532.352 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:12.762Z,1370306532.762 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:12.762Z,1370306532.762 [Reporter](INFO): homing_target_azimuth 280.959258 arcdeg
2013-06-04T00:42:12.763Z,1370306532.763 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:13.166Z,1370306533.165 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:13.166Z,1370306533.166 [Reporter](INFO): homing_target_azimuth 281.596952 arcdeg
2013-06-04T00:42:13.167Z,1370306533.167 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:13.270Z,1370306533.270 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:13.602Z,1370306533.602 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:13.903Z,1370306533.903 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:13.904Z,1370306533.904 [Reporter](INFO): homing_target_azimuth 281.375353 arcdeg
2013-06-04T00:42:13.905Z,1370306533.905 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:14.366Z,1370306534.366 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:14.367Z,1370306534.367 [Reporter](INFO): homing_target_azimuth 280.526360 arcdeg
2013-06-04T00:42:14.368Z,1370306534.368 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:14.768Z,1370306534.768 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:14.768Z,1370306534.768 [Reporter](INFO): homing_target_azimuth 279.513635 arcdeg
2013-06-04T00:42:14.769Z,1370306534.769 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:15.109Z,1370306535.109 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:15.109Z,1370306535.109 [Reporter](INFO): homing_target_azimuth 279.426072 arcdeg
2013-06-04T00:42:15.110Z,1370306535.110 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:15.534Z,1370306535.534 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:15.827Z,1370306535.827 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:16.065Z,1370306536.066 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:16.066Z,1370306536.066 [Reporter](INFO): homing_target_azimuth 278.227373 arcdeg
2013-06-04T00:42:16.067Z,1370306536.067 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:16.374Z,1370306536.374 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:16.375Z,1370306536.375 [Reporter](INFO): homing_target_azimuth 281.244541 arcdeg
2013-06-04T00:42:16.376Z,1370306536.376 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:16.759Z,1370306536.759 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:16.760Z,1370306536.760 [Reporter](INFO): homing_target_azimuth 278.265896 arcdeg
2013-06-04T00:42:16.760Z,1370306536.760 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:17.158Z,1370306537.158 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:17.159Z,1370306537.159 [Reporter](INFO): homing_target_azimuth 281.185747 arcdeg
2013-06-04T00:42:17.159Z,1370306537.159 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:17.562Z,1370306537.562 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:17.563Z,1370306537.563 [Reporter](INFO): homing_target_azimuth 275.506472 arcdeg
2013-06-04T00:42:17.563Z,1370306537.563 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:17.959Z,1370306537.959 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:18.367Z,1370306538.367 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:18.367Z,1370306538.367 [Reporter](INFO): homing_target_azimuth 281.702027 arcdeg
2013-06-04T00:42:18.368Z,1370306538.368 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:18.369Z,1370306538.369 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:18.830Z,1370306538.830 [Reporter](INFO): homing_target_range 302.500000 m
2013-06-04T00:42:18.831Z,1370306538.831 [Reporter](INFO): homing_target_azimuth 279.234799 arcdeg
2013-06-04T00:42:18.832Z,1370306538.832 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:19.178Z,1370306539.178 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:19.178Z,1370306539.178 [Reporter](INFO): homing_target_azimuth 281.907752 arcdeg
2013-06-04T00:42:19.179Z,1370306539.179 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:19.706Z,1370306539.706 [Reporter](INFO): homing_target_range 302.299988 m
2013-06-04T00:42:19.706Z,1370306539.706 [Reporter](INFO): homing_target_azimuth 282.095555 arcdeg
2013-06-04T00:42:19.707Z,1370306539.707 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:20.038Z,1370306540.037 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:20.401Z,1370306540.401 [Reporter](INFO): homing_target_range 302.600006 m
2013-06-04T00:42:20.402Z,1370306540.402 [Reporter](INFO): homing_target_azimuth 281.814097 arcdeg
2013-06-04T00:42:20.402Z,1370306540.402 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:20.902Z,1370306540.902 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:20.930Z,1370306540.930 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:21.222Z,1370306541.222 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:21.602Z,1370306541.602 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:22.088Z,1370306542.088 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:22.370Z,1370306542.369 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:22.754Z,1370306542.754 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:23.154Z,1370306543.154 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:23.482Z,1370306543.482 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:23.574Z,1370306543.574 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:24.001Z,1370306544.001 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:24.354Z,1370306544.354 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:24.816Z,1370306544.816 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:25.162Z,1370306545.162 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:25.458Z,1370306545.458 [CommandLine](IMPORTANT): got command show stack
2013-06-04T00:42:25.458Z,1370306545.458 [CommandLine](INFO): Behavior Stack:

2013-06-04T00:42:25.459Z,1370306545.459 [homing_pursuit](INFO): Priority 0: homing_pursuit:A.Pitch
2013-06-04T00:42:25.459Z,1370306545.459 [homing_pursuit](INFO): Priority 1: homing_pursuit:B.Buoyancy
2013-06-04T00:42:25.460Z,1370306545.460 [homing_pursuit](INFO): Priority 2: homing_pursuit:C
2013-06-04T00:42:25.460Z,1370306545.460 [homing_pursuit](INFO): Priority 3: homing_pursuit:D
2013-06-04T00:42:25.460Z,1370306545.460 [homing_pursuit](INFO): Priority 4: homing_pursuit:E
2013-06-04T00:42:25.461Z,1370306545.461 [homing_pursuit:InitialPursuit](INFO): Priority 5: homing_pursuit:InitialPursuit:A.SetSpeed
2013-06-04T00:42:25.461Z,1370306545.461 [homing_pursuit:InitialPursuit](INFO): Priority 6: homing_pursuit:InitialPursuit:B.Pitch
2013-06-04T00:42:25.461Z,1370306545.461 [homing_pursuit:InitialPursuit](INFO): Priority 7: homing_pursuit:InitialPursuit:C.Point
2013-06-04T00:42:25.461Z,1370306545.461 [homing_pursuit:InitialPursuit](INFO): Priority 8: homing_pursuit:InitialPursuit:D.Wait
2013-06-04T00:42:25.630Z,1370306545.630 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:25.962Z,1370306545.962 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:26.018Z,1370306546.018 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:26.366Z,1370306546.366 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:26.782Z,1370306546.782 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:27.242Z,1370306547.242 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:27.622Z,1370306547.622 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:28.026Z,1370306548.026 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:28.434Z,1370306548.434 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:28.566Z,1370306548.566 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:28.822Z,1370306548.822 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:29.226Z,1370306549.226 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:29.626Z,1370306549.625 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:30.074Z,1370306550.074 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:30.426Z,1370306550.425 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:31.002Z,1370306551.002 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:31.130Z,1370306551.130 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:31.326Z,1370306551.326 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:31.770Z,1370306551.770 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:32.054Z,1370306552.054 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:32.454Z,1370306552.454 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:32.854Z,1370306552.853 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:33.254Z,1370306553.253 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:33.674Z,1370306553.674 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:33.697Z,1370306553.697 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:34.050Z,1370306554.050 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:34.454Z,1370306554.454 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:34.906Z,1370306554.906 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:35.254Z,1370306555.254 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:35.650Z,1370306555.650 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:36.049Z,1370306556.049 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:36.234Z,1370306556.234 [DVL_micro](DEBUG): NQ1
2013-06-04T00:42:36.458Z,1370306556.457 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:36.854Z,1370306556.854 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:37.298Z,1370306557.298 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:37.661Z,1370306557.661 [Reporter](INFO): HorizontalControl.headingCmd 4.815585 rad
2013-06-04T00:42:37.910Z,1370306557.910 [CommandLine](IMPORTANT): got command stop
2013-06-04T00:42:38.050Z,1370306558.050 [homing_pursuit] Stopped
2013-06-04T00:42:38.051Z,1370306558.050 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:42:38.051Z,1370306558.051 [homing_pursuit:A.Pitch] Stopped
2013-06-04T00:42:38.051Z,1370306558.051 [homing_pursuit:B.Buoyancy] Stopped
2013-06-04T00:42:38.051Z,1370306558.051 [homing_pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:42:38.051Z,1370306558.051 [homing_pursuit:C] Stopped
2013-06-04T00:42:38.051Z,1370306558.051 [homing_pursuit:D] Stopped
2013-06-04T00:42:38.051Z,1370306558.051 [homing_pursuit:E] Stopped
2013-06-04T00:42:38.051Z,1370306558.051 [homing_pursuit:InitialPursuit] Stopped
2013-06-04T00:42:38.052Z,1370306558.052 [homing_pursuit:InitialPursuit](INFO): Aggregate::uninitialize homing_pursuit:InitialPursuit
2013-06-04T00:42:38.052Z,1370306558.052 [homing_pursuit:InitialPursuit:A.SetSpeed] Stopped
2013-06-04T00:42:38.052Z,1370306558.052 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:42:38.052Z,1370306558.052 [homing_pursuit:InitialPursuit:B.Pitch] Stopped
2013-06-04T00:42:38.052Z,1370306558.053 [homing_pursuit:InitialPursuit:C.Point] Stopped
2013-06-04T00:42:38.052Z,1370306558.053 [homing_pursuit:InitialPursuit:D.Wait] Stopped
2013-06-04T00:42:38.053Z,1370306558.053 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:42:38.114Z,1370306558.114 [Reporter](INFO): HorizontalControl.headingCmd no_value
2013-06-04T00:42:38.333Z,1370306558.333 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:42:38.438Z,1370306558.438 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:42:38.438Z,1370306558.438 [Default] Running Loop=1
2013-06-04T00:42:38.438Z,1370306558.438 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:42:38.439Z,1370306558.439 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:42:38.439Z,1370306558.439 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:42:38.439Z,1370306558.439 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:42:38.439Z,1370306558.439 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:42:38.439Z,1370306558.439 [Default:Iridium] Running Loop=1
2013-06-04T00:42:38.439Z,1370306558.439 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:42:38.439Z,1370306558.439 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:42:38.439Z,1370306558.439 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:42:38.440Z,1370306558.440 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:42:38.440Z,1370306558.440 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:42:38.441Z,1370306558.441 [Default:CallIridium] Running Loop=1
2013-06-04T00:42:38.441Z,1370306558.441 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-04T00:42:38.441Z,1370306558.441 [Default:CallIridium:A] Running Loop=1
2013-06-04T00:42:38.442Z,1370306558.442 [Default:CallIridium:A] Stopped
2013-06-04T00:42:38.442Z,1370306558.442 [Default:CallIridium:B] Running Loop=1
2013-06-04T00:42:38.442Z,1370306558.442 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-04T00:42:38.443Z,1370306558.443 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:42:38.443Z,1370306558.443 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:42:38.443Z,1370306558.443 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:42:38.444Z,1370306558.444 [Default:GPS] Running Loop=1
2013-06-04T00:42:38.444Z,1370306558.444 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:42:38.444Z,1370306558.444 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:42:38.444Z,1370306558.444 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:42:38.444Z,1370306558.444 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:42:38.444Z,1370306558.444 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:42:38.445Z,1370306558.445 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:42:38.445Z,1370306558.445 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:42:38.445Z,1370306558.445 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:42:38.809Z,1370306558.809 [DAT](INFO): Powering down
2013-06-04T00:42:39.267Z,1370306559.267 [NAL9602](INFO): Powering up
2013-06-04T00:42:49.722Z,1370306569.722 [NAL9602](INFO): NAL9602 initialized
2013-06-04T00:42:55.864Z,1370306575.864 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:43:00.252Z,1370306580.252 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:43:04.556Z,1370306584.556 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:43:08.908Z,1370306588.908 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:43:12.893Z,1370306592.893 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:43:17.208Z,1370306597.208 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:43:21.604Z,1370306601.604 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:43:26.181Z,1370306606.181 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:43:30.952Z,1370306610.952 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:43:33.278Z,1370306613.279 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:43:33.279Z,1370306613.279 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:43:33.398Z,1370306613.398 [MissionManager](INFO): DefineArg homing_pursuit.Speed = 1.000000 m/s
2013-06-04T00:43:33.400Z,1370306613.401 [MissionManager](INFO): DefineArg homing_pursuit.MassDefault = -0.006000 n/a
2013-06-04T00:43:33.403Z,1370306613.403 [MissionManager](INFO): DefineArg homing_pursuit.BuoyancyNeutral = 0.000560 n/a
2013-06-04T00:43:33.405Z,1370306613.405 [MissionManager](INFO): DefineArg homing_pursuit.MinRange = 0.200000 m
2013-06-04T00:43:33.408Z,1370306613.408 [MissionManager](INFO): DefineArg homing_pursuit.OnewayRange = 40.000000 m
2013-06-04T00:43:33.410Z,1370306613.410 [MissionManager](INFO): DefineArg homing_pursuit.TimeoutDuration = 40.000000 min
2013-06-04T00:43:33.412Z,1370306613.412 [MissionManager](INFO): DefineArg homing_pursuit.PowerOnDATTimeoutDuration = 1.000000 min
2013-06-04T00:43:33.415Z,1370306613.415 [MissionManager](INFO): DefineArg homing_pursuit.ClosePursuitTimeout = 180.000000 s
2013-06-04T00:43:33.417Z,1370306613.417 [MissionManager](INFO): DefineArg homing_pursuit.RolloutTimeout = 7.000000 min
2013-06-04T00:43:33.420Z,1370306613.420 [MissionManager](INFO): DefineArg homing_pursuit.HomingDepth = 7.000000 m
2013-06-04T00:43:33.422Z,1370306613.422 [MissionManager](INFO): DefineArg homing_pursuit.MaxDepth = 45.000000 m
2013-06-04T00:43:33.424Z,1370306613.424 [MissionManager](INFO): DefineArg homing_pursuit.EnabledNeilBrown = 1.000000 n/a
2013-06-04T00:43:33.426Z,1370306613.426 [homing_pursuit:A.Pitch](DEBUG): Construct.
2013-06-04T00:43:33.430Z,1370306613.430 [homing_pursuit:B.Buoyancy](DEBUG): Construct Buoyancy.
2013-06-04T00:43:33.436Z,1370306613.436 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:43:33.439Z,1370306613.439 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Construct.
2013-06-04T00:43:33.442Z,1370306613.443 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:43:33.445Z,1370306613.445 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:43:33.448Z,1370306613.448 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:43:33.452Z,1370306613.452 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Construct.
2013-06-04T00:43:33.457Z,1370306613.457 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:43:33.461Z,1370306613.461 [homing_pursuit:ClosePursuit:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:43:33.464Z,1370306613.464 [homing_pursuit:ClosePursuit:B.Pitch](DEBUG): Construct.
2013-06-04T00:43:33.470Z,1370306613.470 [homing_pursuit:ClosePursuit:C.Point](DEBUG): Construct.
2013-06-04T00:43:33.477Z,1370306613.477 [homing_pursuit:ClosePursuit:D.Wait](DEBUG): Construct Wait.
2013-06-04T00:43:33.527Z,1370306613.527 [homing_pursuit:Rollout:A.SetSpeed](DEBUG): Construct.
2013-06-04T00:43:33.530Z,1370306613.530 [homing_pursuit:Rollout:B.Pitch](DEBUG): Construct.
2013-06-04T00:43:33.533Z,1370306613.533 [homing_pursuit:Rollout:C.Wait](DEBUG): Construct Wait.
2013-06-04T00:43:33.547Z,1370306613.547 [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">

<!-- Define mission arguments -->

    <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>0.2</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>40.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>40</Value></DefineArg>

    <DefineArg Name="PowerOnDATTimeoutDuration"><Description>
        Wait this long after turning on DAT before starting any behaviors that require DAT output.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ClosePursuitTimeout"><Description>
        Run in OneWayMode for this long.
    </Description><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within minimum range.
    </Description><Units:minute/><Value>7</Value></DefineArg>

    <DefineArg Name="HomingDepth"><Description>
        Depth for initial approach.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

<!-- TODO any other science sensors that should be active? -->

<!-- Begin the mission. -->

    <Timeout Duration="TimeoutDuration"/>

<!-- Safety nets and surfacing behaviors -->
<!-- TODO re-enable
    <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>

-->

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

<!-- Set default mass and pump positions -->

    <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>

<!-- Request desired engineering data -->

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

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

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

<!-- Start actual engineering mission sequence. -->

    <Aggregate Id="PowerOnDAT">
	
        <Description>
            Give the DAT some time to start up before you ask for ranges from it.
        </Description>

        <Timeout Duration="PowerOnDATTimeoutDuration"/>

        <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">

	<Description>
            Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate.
        </Description>

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

        <!-- <Timeout Duration="InitialPursuitTimeout"/> -->

        <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">

	<Description>
            Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.)

            Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate.
        </Description>

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

        <Timeout Duration="ClosePursuitTimeout"/>

<!--        <Assign RunIn="Parallel"><Sensor:DAT.onewayRequestedCmd/><Units:bool/><Value>1</Value></Assign> -->

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

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

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

        <Guidance:Wait RunIn="Sequence"/> 

    </Aggregate>

    <Aggregate Id="Rollout">

	<Description>
            Move away from the target at the last commanded heading until *RolloutTimeout* has passed.

            (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)
        </Description>

        <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>

 <!--   <Call Id="PhoneHome" RefId="SurfaceComms"/> -->

</Mission>


2013-06-04T00:43:33.548Z,1370306613.548 [CommandLine](IMPORTANT): Running ./Missions/Engineering/Homing_pursuit.xml
2013-06-04T00:43:33.709Z,1370306613.709 [Default] Stopped
2013-06-04T00:43:33.710Z,1370306613.710 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:43:33.710Z,1370306613.710 [Default:GPS] Stopped
2013-06-04T00:43:33.710Z,1370306613.710 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:43:33.710Z,1370306613.710 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:43:33.710Z,1370306613.710 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:43:33.710Z,1370306613.710 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:43:33.710Z,1370306613.710 [Default:Iridium] Stopped
2013-06-04T00:43:33.711Z,1370306613.711 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:43:33.711Z,1370306613.711 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:43:33.711Z,1370306613.711 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:43:33.711Z,1370306613.711 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:43:33.711Z,1370306613.711 [Default:CallIridium] Stopped
2013-06-04T00:43:33.711Z,1370306613.711 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-04T00:43:33.711Z,1370306613.711 [Default:CallIridium:B] Stopped
2013-06-04T00:43:33.711Z,1370306613.711 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-04T00:43:33.711Z,1370306613.711 [Default:D.SetSpeed] Stopped
2013-06-04T00:43:33.711Z,1370306613.711 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:43:33.711Z,1370306613.711 [Default:E.GoToSurface] Stopped
2013-06-04T00:43:33.712Z,1370306613.712 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:43:33.712Z,1370306613.712 [MissionManager](IMPORTANT): Started mission homing_pursuit
2013-06-04T00:43:33.712Z,1370306613.712 [homing_pursuit] Running Loop=1
2013-06-04T00:43:33.712Z,1370306613.712 [homing_pursuit](INFO): Aggregate::initialize homing_pursuit
2013-06-04T00:43:33.712Z,1370306613.712 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:43:33.712Z,1370306613.712 [homing_pursuit:A.Pitch](DEBUG): Initialize.
2013-06-04T00:43:33.712Z,1370306613.713 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:43:33.712Z,1370306613.713 [homing_pursuit:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2013-06-04T00:43:33.713Z,1370306613.713 [homing_pursuit:C] Running Loop=1
2013-06-04T00:43:33.713Z,1370306613.713 [homing_pursuit:D] Running Loop=1
2013-06-04T00:43:33.713Z,1370306613.713 [homing_pursuit:E] Running Loop=1
2013-06-04T00:43:33.713Z,1370306613.713 [homing_pursuit:PowerOnDAT] Running Loop=1
2013-06-04T00:43:33.713Z,1370306613.713 [homing_pursuit:PowerOnDAT](INFO): Aggregate::initialize homing_pursuit:PowerOnDAT
2013-06-04T00:43:33.713Z,1370306613.713 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:43:33.713Z,1370306613.713 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:43:33.714Z,1370306613.714 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:43:33.714Z,1370306613.714 [homing_pursuit:PowerOnDAT:B.Pitch](DEBUG): Initialize.
2013-06-04T00:43:33.714Z,1370306613.714 [homing_pursuit:PowerOnDAT:C.Wait] Running Loop=1
2013-06-04T00:43:33.714Z,1370306613.714 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:43:33.715Z,1370306613.715 [homing_pursuit:PowerOnDAT:B.Pitch] Running Loop=1
2013-06-04T00:43:33.716Z,1370306613.716 [homing_pursuit:PowerOnDAT:A.SetSpeed] Running Loop=1
2013-06-04T00:43:33.717Z,1370306613.717 [homing_pursuit:E] Running Loop=1
2013-06-04T00:43:33.718Z,1370306613.718 [homing_pursuit:E](DEBUG): Initialize ReadDataComponent to sense homing_target_range
2013-06-04T00:43:33.719Z,1370306613.719 [homing_pursuit:D] Running Loop=1
2013-06-04T00:43:33.720Z,1370306613.720 [homing_pursuit:D](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2013-06-04T00:43:33.720Z,1370306613.720 [homing_pursuit:C] Running Loop=1
2013-06-04T00:43:33.721Z,1370306613.721 [homing_pursuit:C](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2013-06-04T00:43:33.722Z,1370306613.722 [homing_pursuit:B.Buoyancy] Running Loop=1
2013-06-04T00:43:33.723Z,1370306613.723 [homing_pursuit:A.Pitch] Running Loop=1
2013-06-04T00:43:34.094Z,1370306614.094 [DAT](INFO): Powering up
2013-06-04T00:43:34.111Z,1370306614.111 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:43:34.111Z,1370306614.111 [DVL_micro](INFO): resume:Powering up
2013-06-04T00:43:34.162Z,1370306614.162 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T00:43:35.293Z,1370306615.293 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:43:36.170Z,1370306616.170 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T00:43:36.171Z,1370306616.171 [DVL_micro](INFO): Querying output modes
2013-06-04T00:43:36.171Z,1370306616.171 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T00:43:36.182Z,1370306616.182 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T00:43:36.182Z,1370306616.182 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T00:43:36.182Z,1370306616.182 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T00:43:36.206Z,1370306616.206 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T00:43:38.702Z,1370306618.702 [DVL_micro](DEBUG): NQ1
2013-06-04T00:43:40.851Z,1370306620.852 [NAL9602](INFO): Powering down
2013-06-04T00:43:41.246Z,1370306621.246 [DVL_micro](DEBUG): NQ1
2013-06-04T00:43:43.798Z,1370306623.798 [DVL_micro](DEBUG): NQ1
2013-06-04T00:43:46.353Z,1370306626.353 [DVL_micro](DEBUG): NQ1
2013-06-04T00:43:48.910Z,1370306628.910 [DVL_micro](DEBUG): NQ1
2013-06-04T00:43:51.450Z,1370306631.450 [DVL_micro](DEBUG): NQ1
2013-06-04T00:43:54.050Z,1370306634.050 [DVL_micro](DEBUG): NQ1
2013-06-04T00:43:56.598Z,1370306636.598 [DVL_micro](DEBUG): NQ1
2013-06-04T00:43:58.634Z,1370306638.634 [Reporter](INFO): homing_target_range 282.799988 m
2013-06-04T00:43:58.634Z,1370306638.634 [Reporter](INFO): homing_target_azimuth 274.996175 arcdeg
2013-06-04T00:43:59.162Z,1370306639.162 [DVL_micro](DEBUG): NQ1
2013-06-04T00:43:59.403Z,1370306639.403 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:43:59.404Z,1370306639.404 [Reporter](INFO): homing_target_azimuth 277.867450 arcdeg
2013-06-04T00:43:59.799Z,1370306639.799 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:43:59.799Z,1370306639.799 [Reporter](INFO): homing_target_azimuth 278.337394 arcdeg
2013-06-04T00:44:00.263Z,1370306640.263 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:00.264Z,1370306640.264 [Reporter](INFO): homing_target_azimuth 276.526847 arcdeg
2013-06-04T00:44:00.630Z,1370306640.630 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:00.630Z,1370306640.630 [Reporter](INFO): homing_target_azimuth 279.218243 arcdeg
2013-06-04T00:44:01.510Z,1370306641.510 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:01.511Z,1370306641.511 [Reporter](INFO): homing_target_azimuth 277.299806 arcdeg
2013-06-04T00:44:01.686Z,1370306641.686 [DVL_micro](DEBUG): NQ1
2013-06-04T00:44:01.831Z,1370306641.831 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:01.831Z,1370306641.832 [Reporter](INFO): homing_target_azimuth 276.846309 arcdeg
2013-06-04T00:44:02.202Z,1370306642.202 [Reporter](INFO): homing_target_range 282.500000 m
2013-06-04T00:44:02.202Z,1370306642.202 [Reporter](INFO): homing_target_azimuth 279.123631 arcdeg
2013-06-04T00:44:02.602Z,1370306642.602 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:02.603Z,1370306642.602 [Reporter](INFO): homing_target_azimuth 277.732458 arcdeg
2013-06-04T00:44:03.026Z,1370306643.026 [Reporter](INFO): homing_target_range 282.500000 m
2013-06-04T00:44:03.026Z,1370306643.026 [Reporter](INFO): homing_target_azimuth 277.229811 arcdeg
2013-06-04T00:44:03.740Z,1370306643.740 [homing_pursuit:PowerOnDAT:C.Wait](INFO): Done Waiting.
2013-06-04T00:44:03.740Z,1370306643.740 [homing_pursuit:PowerOnDAT:C.Wait] Stopped
2013-06-04T00:44:03.741Z,1370306643.741 [homing_pursuit:PowerOnDAT:C.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:44:03.742Z,1370306643.742 [homing_pursuit:PowerOnDAT](INFO): Completed homing_pursuit:PowerOnDAT
2013-06-04T00:44:03.743Z,1370306643.743 [homing_pursuit:PowerOnDAT] Stopped
2013-06-04T00:44:03.743Z,1370306643.743 [homing_pursuit:PowerOnDAT](INFO): Aggregate::uninitialize homing_pursuit:PowerOnDAT
2013-06-04T00:44:03.743Z,1370306643.743 [homing_pursuit:PowerOnDAT:A.SetSpeed] Stopped
2013-06-04T00:44:03.743Z,1370306643.743 [homing_pursuit:PowerOnDAT:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:44:03.743Z,1370306643.743 [homing_pursuit:PowerOnDAT:B.Pitch] Stopped
2013-06-04T00:44:03.743Z,1370306643.743 [homing_pursuit:InitialPursuit] Running Loop=1
2013-06-04T00:44:03.743Z,1370306643.743 [homing_pursuit:InitialPursuit](INFO): Aggregate::initialize homing_pursuit:InitialPursuit
2013-06-04T00:44:03.743Z,1370306643.743 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:44:03.743Z,1370306643.743 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:44:03.744Z,1370306643.744 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:44:03.744Z,1370306643.744 [homing_pursuit:InitialPursuit:B.Pitch](DEBUG): Initialize.
2013-06-04T00:44:03.744Z,1370306643.744 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:44:03.744Z,1370306643.744 [homing_pursuit:InitialPursuit:C.Point](DEBUG): Initialize.
2013-06-04T00:44:03.744Z,1370306643.744 [homing_pursuit:InitialPursuit:D.Wait] Running Loop=1
2013-06-04T00:44:03.745Z,1370306643.745 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Initialize Wait Component.
2013-06-04T00:44:03.808Z,1370306643.808 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:03.809Z,1370306643.809 [Reporter](INFO): homing_target_azimuth 275.758533 arcdeg
2013-06-04T00:44:04.166Z,1370306644.166 [homing_pursuit:InitialPursuit:C.Point] Running Loop=1
2013-06-04T00:44:04.167Z,1370306644.167 [homing_pursuit:InitialPursuit:B.Pitch] Running Loop=1
2013-06-04T00:44:04.168Z,1370306644.168 [homing_pursuit:InitialPursuit:A.SetSpeed] Running Loop=1
2013-06-04T00:44:04.235Z,1370306644.235 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:04.236Z,1370306644.236 [Reporter](INFO): homing_target_azimuth 277.341662 arcdeg
2013-06-04T00:44:04.236Z,1370306644.236 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:04.238Z,1370306644.238 [DVL_micro](DEBUG): NQ1
2013-06-04T00:44:04.646Z,1370306644.646 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:04.646Z,1370306644.647 [Reporter](INFO): homing_target_azimuth 277.049521 arcdeg
2013-06-04T00:44:04.647Z,1370306644.647 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:05.006Z,1370306645.006 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:05.006Z,1370306645.006 [Reporter](INFO): homing_target_azimuth 275.524394 arcdeg
2013-06-04T00:44:05.007Z,1370306645.007 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:05.470Z,1370306645.470 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:05.907Z,1370306645.907 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:05.908Z,1370306645.908 [Reporter](INFO): homing_target_azimuth 278.367174 arcdeg
2013-06-04T00:44:05.908Z,1370306645.908 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:06.259Z,1370306646.259 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:06.260Z,1370306646.260 [Reporter](INFO): homing_target_azimuth 277.477883 arcdeg
2013-06-04T00:44:06.261Z,1370306646.261 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:06.798Z,1370306646.798 [DVL_micro](DEBUG): NQ1
2013-06-04T00:44:06.839Z,1370306646.839 [Reporter](INFO): homing_target_range 282.799988 m
2013-06-04T00:44:06.840Z,1370306646.840 [Reporter](INFO): homing_target_azimuth 276.146870 arcdeg
2013-06-04T00:44:06.841Z,1370306646.841 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:07.154Z,1370306647.154 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:07.155Z,1370306647.155 [Reporter](INFO): homing_target_azimuth 277.648528 arcdeg
2013-06-04T00:44:07.155Z,1370306647.155 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:07.622Z,1370306647.622 [Reporter](INFO): homing_target_range 282.799988 m
2013-06-04T00:44:07.622Z,1370306647.622 [Reporter](INFO): homing_target_azimuth 276.585751 arcdeg
2013-06-04T00:44:07.623Z,1370306647.623 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:07.950Z,1370306647.950 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:08.458Z,1370306648.457 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:08.458Z,1370306648.458 [Reporter](INFO): homing_target_azimuth 279.043554 arcdeg
2013-06-04T00:44:08.459Z,1370306648.459 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:08.762Z,1370306648.763 [Reporter](INFO): homing_target_range 282.799988 m
2013-06-04T00:44:08.763Z,1370306648.763 [Reporter](INFO): homing_target_azimuth 277.418351 arcdeg
2013-06-04T00:44:08.764Z,1370306648.764 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:09.178Z,1370306649.178 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:09.178Z,1370306649.178 [Reporter](INFO): homing_target_azimuth 277.891109 arcdeg
2013-06-04T00:44:09.179Z,1370306649.179 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:09.346Z,1370306649.346 [DVL_micro](DEBUG): NQ1
2013-06-04T00:44:09.581Z,1370306649.582 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:09.590Z,1370306649.591 [Reporter](INFO): homing_target_azimuth 277.035615 arcdeg
2013-06-04T00:44:09.591Z,1370306649.591 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:09.941Z,1370306649.941 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:10.392Z,1370306650.392 [Reporter](INFO): homing_target_range 282.500000 m
2013-06-04T00:44:10.393Z,1370306650.393 [Reporter](INFO): homing_target_azimuth 278.131095 arcdeg
2013-06-04T00:44:10.393Z,1370306650.393 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:10.754Z,1370306650.754 [CommandLine](IMPORTANT): got command stop
2013-06-04T00:44:10.863Z,1370306650.863 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:10.864Z,1370306650.864 [Reporter](INFO): homing_target_azimuth 275.740365 arcdeg
2013-06-04T00:44:10.865Z,1370306650.865 [Reporter](INFO): HorizontalControl.headingCmd 4.812894 rad
2013-06-04T00:44:11.110Z,1370306651.110 [homing_pursuit] Stopped
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit](INFO): Aggregate::uninitialize homing_pursuit
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:A.Pitch] Stopped
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:B.Buoyancy] Stopped
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:C] Stopped
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:D] Stopped
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:E] Stopped
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:InitialPursuit] Stopped
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:InitialPursuit](INFO): Aggregate::uninitialize homing_pursuit:InitialPursuit
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:InitialPursuit:A.SetSpeed] Stopped
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:InitialPursuit:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:InitialPursuit:B.Pitch] Stopped
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:InitialPursuit:C.Point] Stopped
2013-06-04T00:44:11.111Z,1370306651.111 [homing_pursuit:InitialPursuit:D.Wait] Stopped
2013-06-04T00:44:11.112Z,1370306651.112 [homing_pursuit:InitialPursuit:D.Wait](DEBUG): Uninitialize Wait Component.
2013-06-04T00:44:11.259Z,1370306651.259 [Reporter](INFO): homing_target_range 282.700012 m
2013-06-04T00:44:11.260Z,1370306651.260 [Reporter](INFO): homing_target_azimuth 277.986596 arcdeg
2013-06-04T00:44:11.261Z,1370306651.260 [Reporter](INFO): HorizontalControl.headingCmd no_value
2013-06-04T00:44:11.487Z,1370306651.487 [DVL_micro](INFO): pause:Powering down
2013-06-04T00:44:11.563Z,1370306651.563 [MissionManager](IMPORTANT): Started mission Default
2013-06-04T00:44:11.563Z,1370306651.563 [Default] Running Loop=1
2013-06-04T00:44:11.563Z,1370306651.563 [Default](INFO): Aggregate::initialize Default
2013-06-04T00:44:11.563Z,1370306651.563 [Default:D.SetSpeed] Running Loop=1
2013-06-04T00:44:11.563Z,1370306651.563 [Default:D.SetSpeed](DEBUG): Initialize.
2013-06-04T00:44:11.563Z,1370306651.563 [Default:E.GoToSurface] Running Loop=1
2013-06-04T00:44:11.563Z,1370306651.563 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:44:11.564Z,1370306651.564 [Default:Iridium] Running Loop=1
2013-06-04T00:44:11.564Z,1370306651.564 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-06-04T00:44:11.564Z,1370306651.564 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-06-04T00:44:11.564Z,1370306651.564 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:44:11.564Z,1370306651.564 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-06-04T00:44:11.564Z,1370306651.564 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:44:11.566Z,1370306651.566 [Default:CallIridium] Running Loop=1
2013-06-04T00:44:11.566Z,1370306651.566 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-06-04T00:44:11.566Z,1370306651.566 [Default:CallIridium:A] Running Loop=1
2013-06-04T00:44:11.567Z,1370306651.566 [Default:CallIridium:A] Stopped
2013-06-04T00:44:11.567Z,1370306651.567 [Default:CallIridium:B] Running Loop=1
2013-06-04T00:44:11.567Z,1370306651.567 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-06-04T00:44:11.567Z,1370306651.568 [Default:Iridium:B.GoToSurface] Stopped
2013-06-04T00:44:11.568Z,1370306651.568 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:44:11.568Z,1370306651.568 [Default:Iridium:Read_Iridium] Running Loop=1
2013-06-04T00:44:11.568Z,1370306651.568 [Default:GPS] Running Loop=1
2013-06-04T00:44:11.568Z,1370306651.568 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-06-04T00:44:11.568Z,1370306651.568 [Default:GPS:A.SetSpeed] Running Loop=1
2013-06-04T00:44:11.568Z,1370306651.569 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-06-04T00:44:11.569Z,1370306651.569 [Default:GPS:B.GoToSurface] Running Loop=1
2013-06-04T00:44:11.569Z,1370306651.569 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T00:44:11.570Z,1370306651.569 [Default:GPS:B.GoToSurface] Stopped
2013-06-04T00:44:11.570Z,1370306651.570 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:44:11.570Z,1370306651.570 [Default:GPS:Read_GPS] Running Loop=1
2013-06-04T00:44:11.938Z,1370306651.938 [DAT](INFO): Powering down
2013-06-04T00:44:12.443Z,1370306652.443 [NAL9602](INFO): Powering up
2013-06-04T00:44:23.275Z,1370306663.274 [NAL9602](INFO): NAL9602 initialized
2013-06-04T00:44:26.864Z,1370306666.864 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:44:31.232Z,1370306671.232 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:44:34.815Z,1370306674.815 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:44:39.146Z,1370306679.145 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:44:43.168Z,1370306683.168 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:44:47.624Z,1370306687.625 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:44:51.892Z,1370306691.892 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:44:56.272Z,1370306696.272 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:45:01.019Z,1370306701.019 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:45:05.404Z,1370306705.404 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:45:09.772Z,1370306709.772 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:45:14.172Z,1370306714.172 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:45:17.748Z,1370306717.748 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:45:22.108Z,1370306722.108 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:45:26.093Z,1370306726.093 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:45:30.423Z,1370306730.423 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:45:34.820Z,1370306734.820 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:45:39.241Z,1370306739.241 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:45:42.749Z,1370306742.749 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-06-04T00:45:43.927Z,1370306743.927 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-06-04T00:45:43.927Z,1370306743.927 [NAL9602] Data Fault, FailCount= 2
2013-06-04T00:45:43.927Z,1370306743.927 [NAL9602](ERROR): Data Fault
2013-06-04T00:45:43.994Z,1370306743.994 [CBIT](ERROR): Data Fault in component: NAL9602
2013-06-04T00:45:43.995Z,1370306743.995 [CBIT](CRITICAL): Data Fault in component: NAL9602
2013-06-04T00:45:44.327Z,1370306744.328 [NAL9602](INFO): Powering down
2013-06-04T00:46:52.870Z,1370306812.870 [CommandLine](IMPORTANT): got command quit
2013-06-04T00:46:53.970Z,1370306813.970 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-06-04T00:46:53.970Z,1370306813.970 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-06-04T00:46:54.346Z,1370306814.346 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-06-04T00:46:54.706Z,1370306814.706 [WetLabsBB2FL](INFO): Powering down
2013-06-04T00:46:54.718Z,1370306814.718 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-06-04T00:46:55.002Z,1370306815.002 [CTD_NeilBrown](INFO): Powering down
2013-06-04T00:46:55.019Z,1370306815.019 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-06-04T00:46:55.290Z,1370306815.290 [DVL_micro](INFO): uninitialize:Powering down
2013-06-04T00:46:55.302Z,1370306815.302 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-06-04T00:46:55.478Z,1370306815.478 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-06-04T00:46:55.499Z,1370306815.499 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-06-04T00:46:55.599Z,1370306815.599 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-06-04T00:46:55.600Z,1370306815.600 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-06-04T00:46:55.742Z,1370306815.742 [controlThread](DEBUG): Uninitializing ControlThread
2013-06-04T00:46:55.743Z,1370306815.743 [AHRS_sp3003D](INFO): Powering down
2013-06-04T00:46:55.831Z,1370306815.831 [NAL9602](INFO): Powering down
2013-06-04T00:46:55.832Z,1370306815.832 [DAT](INFO): Powering down
2013-06-04T00:46:55.834Z,1370306815.834 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-04T00:46:55.834Z,1370306815.834 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-06-04T00:46:55.835Z,1370306815.835 [Default] Stopped
2013-06-04T00:46:55.836Z,1370306815.836 [Default](INFO): Aggregate::uninitialize Default
2013-06-04T00:46:55.836Z,1370306815.836 [Default:GPS] Stopped
2013-06-04T00:46:55.836Z,1370306815.836 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-06-04T00:46:55.836Z,1370306815.836 [Default:GPS:A.SetSpeed] Stopped
2013-06-04T00:46:55.836Z,1370306815.836 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:46:55.836Z,1370306815.836 [Default:GPS:Read_GPS] Stopped
2013-06-04T00:46:55.836Z,1370306815.836 [Default:Iridium] Stopped
2013-06-04T00:46:55.836Z,1370306815.836 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-06-04T00:46:55.836Z,1370306815.836 [Default:Iridium:A.SetSpeed] Stopped
2013-06-04T00:46:55.836Z,1370306815.836 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:46:55.837Z,1370306815.837 [Default:Iridium:Read_Iridium] Stopped
2013-06-04T00:46:55.837Z,1370306815.837 [Default:CallIridium] Stopped
2013-06-04T00:46:55.837Z,1370306815.837 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-06-04T00:46:55.837Z,1370306815.837 [Default:CallIridium:B] Stopped
2013-06-04T00:46:55.837Z,1370306815.837 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-06-04T00:46:55.837Z,1370306815.837 [Default:D.SetSpeed] Stopped
2013-06-04T00:46:55.837Z,1370306815.837 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-06-04T00:46:55.837Z,1370306815.837 [Default:E.GoToSurface] Stopped
2013-06-04T00:46:55.837Z,1370306815.837 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T00:46:55.841Z,1370306815.842 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-06-04T00:46:55.842Z,1370306815.842 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-06-04T00:46:55.842Z,1370306815.842 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-06-04T00:46:55.843Z,1370306815.843 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-06-04T00:46:55.843Z,1370306815.843 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-06-04T00:46:55.843Z,1370306815.843 [BuoyancyServo](INFO): Powering down
2013-06-04T00:46:55.858Z,1370306815.858 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-06-04T00:46:55.858Z,1370306815.858 [ElevatorServo](INFO): Powering down
2013-06-04T00:46:55.859Z,1370306815.859 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-06-04T00:46:55.859Z,1370306815.859 [MassServo](INFO): Powering down
2013-06-04T00:46:55.860Z,1370306815.860 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-06-04T00:46:55.860Z,1370306815.860 [RudderServo](INFO): Powering down
2013-06-04T00:46:55.861Z,1370306815.861 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-04T00:46:55.861Z,1370306815.861 [ThrusterServo](INFO): Powering down
2013-06-04T00:46:55.862Z,1370306815.862 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-06-04T00:46:55.863Z,1370306815.862 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-06-04T00:46:55.863Z,1370306815.863 [CBIT](DEBUG): Uninitialize CBIT Component.