2014-05-05T23:23:36.079Z,1399332216.079 [Supervisor](DEBUG): Initializing supervisor.
2014-05-05T23:23:36.081Z,1399332216.081 [SyncHandler](DEBUG): Created PCaller Thread at 4033C4E0
2014-05-05T23:23:36.082Z,1399332216.082 [SyncHandler](INFO): Protected caller Thread ID is 1101
2014-05-05T23:23:36.082Z,1399332216.082 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2014-05-05T23:23:36.083Z,1399332216.083 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036C4E0
2014-05-05T23:23:36.084Z,1399332216.084 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1102
2014-05-05T23:23:36.086Z,1399332216.086 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2014-05-05T23:23:36.098Z,1399332216.098 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2014-05-05T23:23:36.099Z,1399332216.099 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039C4E0
2014-05-05T23:23:36.099Z,1399332216.099 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1103
2014-05-05T23:23:36.100Z,1399332216.100 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2014-05-05T23:23:36.101Z,1399332216.101 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CC4E0
2014-05-05T23:23:36.101Z,1399332216.101 [logger ThreadHandler](INFO): Protected caller Thread ID is 1104
2014-05-05T23:23:36.103Z,1399332216.103 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2014-05-05T23:23:36.104Z,1399332216.104 [Supervisor](INFO): Looking for Config files in directory: Config/
2014-05-05T23:23:36.105Z,1399332216.105 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2014-05-05T23:23:36.457Z,1399332216.457 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2014-05-05T23:23:36.457Z,1399332216.457 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2014-05-05T23:23:36.738Z,1399332216.737 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2014-05-05T23:23:36.738Z,1399332216.738 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2014-05-05T23:23:36.824Z,1399332216.824 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2014-05-05T23:23:36.825Z,1399332216.825 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2014-05-05T23:23:37.023Z,1399332217.023 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2014-05-05T23:23:37.024Z,1399332217.024 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2014-05-05T23:23:37.183Z,1399332217.183 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2014-05-05T23:23:37.184Z,1399332217.184 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2014-05-05T23:23:37.482Z,1399332217.482 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2014-05-05T23:23:37.483Z,1399332217.483 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2014-05-05T23:23:37.665Z,1399332217.665 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2014-05-05T23:23:37.665Z,1399332217.665 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2014-05-05T23:23:38.023Z,1399332218.023 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2014-05-05T23:23:38.024Z,1399332218.024 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2014-05-05T23:23:38.153Z,1399332218.153 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2014-05-05T23:23:38.154Z,1399332218.154 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2014-05-05T23:23:38.652Z,1399332218.652 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2014-05-05T23:23:38.653Z,1399332218.653 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2014-05-05T23:23:38.763Z,1399332218.763 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2014-05-05T23:23:38.764Z,1399332218.764 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2014-05-05T23:23:38.852Z,1399332218.852 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2014-05-05T23:23:38.961Z,1399332218.961 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2014-05-05T23:23:38.962Z,1399332218.962 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2014-05-05T23:23:39.065Z,1399332219.065 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2014-05-05T23:23:39.066Z,1399332219.066 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2014-05-05T23:23:39.204Z,1399332219.204 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2014-05-05T23:23:39.206Z,1399332219.206 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2014-05-05T23:23:39.207Z,1399332219.207 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2014-05-05T23:23:39.313Z,1399332219.313 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2014-05-05T23:23:39.442Z,1399332219.442 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2014-05-05T23:23:39.539Z,1399332219.539 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2014-05-05T23:23:39.631Z,1399332219.631 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2014-05-05T23:23:39.784Z,1399332219.784 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2014-05-05T23:23:39.900Z,1399332219.900 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2014-05-05T23:23:39.986Z,1399332219.986 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2014-05-05T23:23:40.090Z,1399332220.090 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2014-05-05T23:23:40.190Z,1399332220.190 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2014-05-05T23:23:40.287Z,1399332220.287 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2014-05-05T23:23:40.376Z,1399332220.376 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Estimation.cfg
2014-05-05T23:23:40.473Z,1399332220.473 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2014-05-05T23:23:40.474Z,1399332220.474 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2014-05-05T23:23:40.804Z,1399332220.804 [AHRS_sp3003D] Loaded
2014-05-05T23:23:40.804Z,1399332220.804 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2014-05-05T23:23:41.120Z,1399332221.120 [Batt_Ocean_Server] Loaded
2014-05-05T23:23:41.120Z,1399332221.120 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2014-05-05T23:23:41.200Z,1399332221.200 [DataOverHttps] Loaded
2014-05-05T23:23:41.200Z,1399332221.200 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2014-05-05T23:23:41.213Z,1399332221.213 [Depth_Keller] Loaded
2014-05-05T23:23:41.213Z,1399332221.213 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2014-05-05T23:23:41.218Z,1399332221.218 [DropWeight] Loaded
2014-05-05T23:23:41.218Z,1399332221.218 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2014-05-05T23:23:41.322Z,1399332221.322 [NAL9602] Loaded
2014-05-05T23:23:41.322Z,1399332221.322 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2014-05-05T23:23:41.380Z,1399332221.380 [Onboard] Loaded
2014-05-05T23:23:41.380Z,1399332221.380 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2014-05-05T23:23:41.390Z,1399332221.390 [Radio_Freewave] Loaded
2014-05-05T23:23:41.390Z,1399332221.390 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2014-05-05T23:23:41.391Z,1399332221.391 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2014-05-05T23:23:41.392Z,1399332221.392 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2014-05-05T23:23:41.662Z,1399332221.662 [ExternalSim] Loaded
2014-05-05T23:23:41.662Z,1399332221.662 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2014-05-05T23:23:41.715Z,1399332221.715 [InternalSim] Loaded
2014-05-05T23:23:41.716Z,1399332221.716 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2014-05-05T23:23:41.716Z,1399332221.716 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2014-05-05T23:23:41.717Z,1399332221.717 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2014-05-05T23:23:41.945Z,1399332221.945 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2014-05-05T23:23:41.946Z,1399332221.946 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2014-05-05T23:23:41.952Z,1399332221.952 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2014-05-05T23:23:41.957Z,1399332221.957 [AsyncPiEstimator] Loaded
2014-05-05T23:23:41.957Z,1399332221.957 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2014-05-05T23:23:41.958Z,1399332221.958 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A34E0
2014-05-05T23:23:41.959Z,1399332221.959 [AsyncPiEstimator ThreadHandler](INFO): Protected caller Thread ID is 1186
2014-05-05T23:23:41.959Z,1399332221.959 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2014-05-05T23:23:41.960Z,1399332221.960 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2014-05-05T23:23:42.042Z,1399332222.042 [DeadReckonUsingMultipleVelocitySources] Loaded
2014-05-05T23:23:42.042Z,1399332222.042 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2014-05-05T23:23:42.058Z,1399332222.058 [NavChart] Loaded
2014-05-05T23:23:42.059Z,1399332222.059 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2014-05-05T23:23:42.063Z,1399332222.063 [UniversalFixResidualReporter] Loaded
2014-05-05T23:23:42.063Z,1399332222.063 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2014-05-05T23:23:42.063Z,1399332222.063 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2014-05-05T23:23:42.064Z,1399332222.064 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2014-05-05T23:23:42.111Z,1399332222.111 [VerticalControl](DEBUG): Construct VerticalControl.
2014-05-05T23:23:42.215Z,1399332222.215 [VerticalControl] Loaded
2014-05-05T23:23:42.215Z,1399332222.215 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2014-05-05T23:23:42.216Z,1399332222.216 [HorizontalControl](DEBUG): Construct HorizontalControl.
2014-05-05T23:23:42.283Z,1399332222.283 [HorizontalControl] Loaded
2014-05-05T23:23:42.283Z,1399332222.283 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2014-05-05T23:23:42.284Z,1399332222.284 [SpeedControl](DEBUG): Construct SpeedControl.
2014-05-05T23:23:42.286Z,1399332222.286 [SpeedControl] Loaded
2014-05-05T23:23:42.286Z,1399332222.286 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2014-05-05T23:23:42.287Z,1399332222.287 [LoopControl](DEBUG): Construct LoopControl.
2014-05-05T23:23:42.287Z,1399332222.287 [LoopControl] Loaded
2014-05-05T23:23:42.287Z,1399332222.287 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2014-05-05T23:23:42.288Z,1399332222.288 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2014-05-05T23:23:42.288Z,1399332222.288 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2014-05-05T23:23:42.307Z,1399332222.307 [DepthRateCalculator] Loaded
2014-05-05T23:23:42.307Z,1399332222.307 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2014-05-05T23:23:42.312Z,1399332222.312 [PitchRateCalculator] Loaded
2014-05-05T23:23:42.313Z,1399332222.313 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2014-05-05T23:23:42.320Z,1399332222.320 [SpeedCalculator] Loaded
2014-05-05T23:23:42.320Z,1399332222.320 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2014-05-05T23:23:42.336Z,1399332222.336 [TempGradientCalculator] Loaded
2014-05-05T23:23:42.336Z,1399332222.336 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2014-05-05T23:23:42.341Z,1399332222.341 [YawRateCalculator] Loaded
2014-05-05T23:23:42.342Z,1399332222.342 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2014-05-05T23:23:42.342Z,1399332222.342 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2014-05-05T23:23:42.343Z,1399332222.343 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2014-05-05T23:23:42.442Z,1399332222.442 [CTD_NeilBrown] Loaded
2014-05-05T23:23:42.443Z,1399332222.443 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2014-05-05T23:23:42.444Z,1399332222.444 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407454E0
2014-05-05T23:23:42.444Z,1399332222.444 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 1187
2014-05-05T23:23:42.457Z,1399332222.457 [ISUS] Loaded
2014-05-05T23:23:42.457Z,1399332222.457 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2014-05-05T23:23:42.472Z,1399332222.472 [PAR_Licor] Loaded
2014-05-05T23:23:42.472Z,1399332222.472 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2014-05-05T23:23:42.507Z,1399332222.507 [WetLabsBB2FL] Loaded
2014-05-05T23:23:42.507Z,1399332222.507 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2014-05-05T23:23:42.508Z,1399332222.508 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407754E0
2014-05-05T23:23:42.509Z,1399332222.509 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1188
2014-05-05T23:23:42.509Z,1399332222.509 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2014-05-05T23:23:42.510Z,1399332222.510 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2014-05-05T23:23:42.598Z,1399332222.598 [SBIT](DEBUG): Construct Startup Built In Test.
2014-05-05T23:23:42.609Z,1399332222.609 [SBIT] Loaded
2014-05-05T23:23:42.610Z,1399332222.610 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2014-05-05T23:23:42.610Z,1399332222.610 [IBIT](DEBUG): Construct Initiated Built In Test.
2014-05-05T23:23:42.622Z,1399332222.622 [IBIT] Loaded
2014-05-05T23:23:42.622Z,1399332222.622 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2014-05-05T23:23:42.624Z,1399332222.624 [CBIT](DEBUG): Construct CBIT Built In Test.
2014-05-05T23:23:42.694Z,1399332222.694 [CBIT] Loaded
2014-05-05T23:23:42.695Z,1399332222.695 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2014-05-05T23:23:42.695Z,1399332222.695 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2014-05-05T23:23:42.696Z,1399332222.696 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2014-05-05T23:23:42.739Z,1399332222.739 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2014-05-05T23:23:42.740Z,1399332222.740 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2014-05-05T23:23:42.832Z,1399332222.832 [BuoyancyServo] Loaded
2014-05-05T23:23:42.832Z,1399332222.832 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2014-05-05T23:23:42.840Z,1399332222.840 [ElevatorServo] Loaded
2014-05-05T23:23:42.840Z,1399332222.840 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2014-05-05T23:23:42.848Z,1399332222.848 [MassServo] Loaded
2014-05-05T23:23:42.848Z,1399332222.848 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2014-05-05T23:23:42.856Z,1399332222.856 [RudderServo] Loaded
2014-05-05T23:23:42.856Z,1399332222.856 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2014-05-05T23:23:42.864Z,1399332222.864 [ThrusterServo] Loaded
2014-05-05T23:23:42.864Z,1399332222.864 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2014-05-05T23:23:42.864Z,1399332222.864 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2014-05-05T23:23:42.865Z,1399332222.865 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2014-05-05T23:23:42.887Z,1399332222.887 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2014-05-05T23:23:42.889Z,1399332222.889 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2014-05-05T23:23:42.890Z,1399332222.890 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2014-05-05T23:23:42.896Z,1399332222.896 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2014-05-05T23:23:42.897Z,1399332222.897 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408444E0
2014-05-05T23:23:42.898Z,1399332222.898 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1189
2014-05-05T23:23:42.902Z,1399332222.902 [Supervisor](INFO): Main Thread ID is 1100
2014-05-05T23:23:42.903Z,1399332222.903 [Supervisor](DEBUG): Running supervisor.
2014-05-05T23:23:42.903Z,1399332222.903 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1190
2014-05-05T23:23:42.906Z,1399332222.906 [controlThread ThreadHandler](INFO): Handler Thread ID is 1191
2014-05-05T23:23:42.907Z,1399332222.907 [controlThread](DEBUG): Initializing ControlThread
2014-05-05T23:23:42.912Z,1399332222.912 [logger ThreadHandler](INFO): Handler Thread ID is 1192
2014-05-05T23:23:42.930Z,1399332222.930 [AsyncPiEstimator ThreadHandler](INFO): Handler Thread ID is 1193
2014-05-05T23:23:42.931Z,1399332222.931 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2014-05-05T23:23:42.947Z,1399332222.947 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 1194
2014-05-05T23:23:42.947Z,1399332222.947 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2014-05-05T23:23:42.970Z,1399332222.970 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1195
2014-05-05T23:23:42.978Z,1399332222.978 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1196
2014-05-05T23:23:42.981Z,1399332222.981 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2014-05-05T23:23:42.982Z,1399332222.982 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2014-05-05T23:23:42.982Z,1399332222.982 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2014-05-05T23:23:42.983Z,1399332222.983 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2014-05-05T23:23:42.983Z,1399332222.983 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2014-05-05T23:23:42.983Z,1399332222.983 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2014-05-05T23:23:42.983Z,1399332222.983 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2014-05-05T23:23:42.984Z,1399332222.984 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2014-05-05T23:23:42.984Z,1399332222.984 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2014-05-05T23:23:43.355Z,1399332223.355 [CTD_NeilBrown](ERROR): Salinity reading out of range: 0.000000 psu
2014-05-05T23:23:44.681Z,1399332224.681 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2014-05-05T23:23:44.708Z,1399332224.708 [ExternalSim](INFO): ExternalSim initializing...
2014-05-05T23:23:44.914Z,1399332224.914 [ExternalSim](DEBUG): beaconLat = 36.81340
2014-05-05T23:23:44.915Z,1399332224.915 [ExternalSim](DEBUG): beaconLon = -121.82240
2014-05-05T23:23:44.915Z,1399332224.915 [ExternalSim](DEBUG): beaconDepth = 25.00
2014-05-05T23:23:44.925Z,1399332224.925 [ExternalSim](DEBUG): Simulator initialized
2014-05-05T23:23:44.935Z,1399332224.935 [InternalSim](DEBUG):  InternalSim initializing...
2014-05-05T23:23:45.033Z,1399332225.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-05-05T23:23:45.034Z,1399332225.034 [NavChart](DEBUG): Initialize NavChart Navigation.
2014-05-05T23:23:45.034Z,1399332225.034 [UniversalFixResidualReporter](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-05-05T23:23:45.034Z,1399332225.034 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2014-05-05T23:23:45.036Z,1399332225.036 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2014-05-05T23:23:45.037Z,1399332225.037 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2014-05-05T23:23:45.045Z,1399332225.045 [LoopControl](DEBUG): Initialize LoopControlComponent.
2014-05-05T23:23:45.046Z,1399332225.046 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-05-05T23:23:45.046Z,1399332225.046 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2014-05-05T23:23:45.046Z,1399332225.046 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2014-05-05T23:23:45.047Z,1399332225.047 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2014-05-05T23:23:45.047Z,1399332225.047 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2014-05-05T23:23:45.048Z,1399332225.048 [SBIT](INFO): Initialize SBIT Component.
2014-05-05T23:23:45.049Z,1399332225.049 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:11264
2014-05-05T23:23:45.049Z,1399332225.049 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2014-05-05T23:23:45.049Z,1399332225.049 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2014-05-05T23:23:45.058Z,1399332225.058 [IBIT](INFO): Initialize IBIT Component.
2014-05-05T23:23:45.059Z,1399332225.059 [CBIT](DEBUG): Initialize CBIT Component.
2014-05-05T23:23:45.059Z,1399332225.059 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2014-05-05T23:23:45.087Z,1399332225.087 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2014-05-05T23:23:45.097Z,1399332225.097 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-05-05T23:23:45.117Z,1399332225.117 [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>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2014-05-05T23:23:45.137Z,1399332225.137 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2014-05-05T23:23:45.203Z,1399332225.203 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2014-05-05T23:23:45.205Z,1399332225.205 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2014-05-05T23:23:45.216Z,1399332225.216 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-05-05T23:23:45.240Z,1399332225.240 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2014-05-05T23:23:45.244Z,1399332225.244 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-05-05T23:23:45.274Z,1399332225.274 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2014-05-05T23:23:45.308Z,1399332225.308 [Default:WaitAtTheSurface:RunAtLowSpeed.SetSpeed](DEBUG): Construct.
2014-05-05T23:23:45.311Z,1399332225.311 [Default:WaitAtTheSurface:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-05-05T23:23:45.327Z,1399332225.327 [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>
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface>
            <Sequence/>
        </Guidance:GoToSurface>

<!-- Get GPS fix -->

        <ReadDatum Id="Read_GPS">
            <Universal:latitude_fix/>
        </ReadDatum>

        <Assign><Sequence/><Arg Name="NeedGPS"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="Iridium">

        <Sequence/>

<!-- Run at high speed -->

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface>
            <Sequence/>
        </Guidance:GoToSurface>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <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><Sequence/><Arg Name="NeedGPS"/><True/></Assign>

        <Call RefId="Iridium"/>

    </Aggregate>

    <Aggregate Id="WaitAtTheSurface">

        <Sequence/>

        <Guidance:SetSpeed Id="RunAtLowSpeed">
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
        </Guidance:SetSpeed>

        <Guidance:GoToSurface>
            <Parallel/>
        </Guidance:GoToSurface>

    </Aggregate>

</Mission>


2014-05-05T23:23:45.338Z,1399332225.338 [controlThread](DEBUG): Component order: CycleStarter,ExternalSim,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,DataOverHttps,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,ISUS,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2014-05-05T23:23:45.784Z,1399332225.784 [Radio_Freewave](INFO): Powering up
2014-05-05T23:23:46.016Z,1399332226.016 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2014-05-05T23:23:46.023Z,1399332226.023 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2014-05-05T23:23:46.045Z,1399332226.045 [ElevatorServo](DEBUG): Initializing EZServoServo.
2014-05-05T23:23:46.051Z,1399332226.051 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2014-05-05T23:23:46.057Z,1399332226.057 [MassServo](DEBUG): Initializing EZServoServo.
2014-05-05T23:23:46.063Z,1399332226.063 [MassServo](DEBUG): Initializing MassServo.
2014-05-05T23:23:46.085Z,1399332226.085 [RudderServo](DEBUG): Initializing EZServoServo.
2014-05-05T23:23:46.091Z,1399332226.091 [RudderServo](DEBUG): Initializing RudderServo.
2014-05-05T23:23:46.109Z,1399332226.109 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-05-05T23:23:48.213Z,1399332228.213 [Radio_Freewave](IMPORTANT): Starting PPPD with command:/sbin/pppd nocrtscts /dev/ttyS1 noauth 115200 10.1.1.2:10.1.1.1 persist maxfail 0
2014-05-05T23:23:49.455Z,1399332229.455 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003606
2014-05-05T23:23:52.061Z,1399332232.061 [NAL9602](IMPORTANT): GPS fix at: 1399332232.00
2014-05-05T23:23:53.288Z,1399332233.288 [NAL9602](INFO): No messages in MT queue
2014-05-05T23:23:58.874Z,1399332238.874 [NAL9602](INFO): Powering down
2014-05-05T23:24:00.556Z,1399332240.556 [SBIT](IMPORTANT): Beginning Startup BIT
2014-05-05T23:24:00.590Z,1399332240.590 [CBIT](IMPORTANT): Beginning GF scan
2014-05-05T23:24:26.995Z,1399332266.995 [CBIT](IMPORTANT): No ground fault detected
2014-05-05T23:24:47.965Z,1399332287.965 [DataOverHttps](IMPORTANT): SBD MTMSN=20140505T232447
2014-05-05T23:24:49.763Z,1399332289.763 [DataOverHttps](INFO): Received command:! top -b -d 5 -H > /mnt/mmc/LRAUV/Logs/latest/toplog &
2014-05-05T23:24:49.862Z,1399332289.862 [CommandLine](IMPORTANT): got command ! top -b -d 5 -H > /mnt/mmc/LRAUV/Logs/latest/toplog &
2014-05-05T23:24:50.541Z,1399332290.541 [DataOverHttps](IMPORTANT): SBD MTMSN=20140505T232449
2014-05-05T23:24:52.354Z,1399332292.354 [DataOverHttps](INFO): Received command:! grep "Thread ID" /mnt/mmc/LRAUV/Logs/latest/syslog | tee /mnt/mmc/LRAUV/Logs/latest/threads
2014-05-05T23:24:52.365Z,1399332292.365 [CommandLine](IMPORTANT): got command ! grep "Thread ID" /mnt/mmc/LRAUV/Logs/latest/syslog | tee /mnt/mmc/LRAUV/Logs/latest/threads
2014-05-05T23:24:52.571Z,1399332292.571 [CommandLine](IMPORTANT): 2014-05-05T23:23:36.082Z,1399332216.082 [SyncHandler](INFO): Protected caller Thread ID is 1101
2014-05-05T23:23:36.084Z,1399332216.084 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1102
2014-05-05T23:23:36.099Z,1399332216.099 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1103
2014-05-05T23:23:36.101Z,1399332216.101 [logger ThreadHandler](INFO): Protected caller Thread ID is 1104
2014-05-05T23:23:41.959Z,1399332221.959 [AsyncPiEstimator ThreadHandler](INFO): Protected caller Thread ID is 1186
2014-05-05T23:23:42.444Z,1399332222.444 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 1187
2014-05-05T23:23:42.509Z,1399332222.509 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1188
2014-05-05T23:23:42.898Z,1399332222.898 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1189
2014-05-05T23:23:42.902Z,1399332222.902 [Supervisor](INFO): Main Thread ID is 1100
2014-05-05T23:23:42.903Z,1399332222.903 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1190
2014-05-05T23:23:42.906Z,1399332222.906 [controlThread ThreadHandler](INFO): Handler Thread ID is 1191
2014-05-05T23:23:42.912Z,1399332222.912 [logger ThreadHandler](INFO): Handler Thread ID is 1192
2014-05-05T23:23:42.930Z,1399332222.930 [AsyncPiEstimator ThreadHandler](INFO): Handler Thread ID is 1193
2014-05-05T23:23:42.947Z,1399332222.947 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 1194
2014-05-05T23:23:42.970Z,1399332222.970 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1195
2014-05-05T23:23:42.978Z,1399332222.978 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1196

2014-05-05T23:24:53.085Z,1399332293.085 [DataOverHttps](IMPORTANT): SBD MTMSN=20140505T232452
2014-05-05T23:24:54.806Z,1399332294.806 [SBIT](IMPORTANT): SBIT PASSED
2014-05-05T23:24:54.870Z,1399332294.870 [DataOverHttps](INFO): Received command:load Science/EcoHAB_box.xml;set EcoHAB_box.NeedCommsTime 30 minute;set EcoHAB_box.MissionTimeout 65 hour;set EcoHAB_box.LapTimeout 12 hour;run 
2014-05-05T23:24:54.906Z,1399332294.906 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2014-05-05T23:24:54.907Z,1399332294.907 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2014-05-05T23:24:55.103Z,1399332295.103 [MissionManager](INFO): DefineArg EcoHAB_box.NeedCommsTime = 36.000000 h
2014-05-05T23:24:55.107Z,1399332295.107 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2014-05-05T23:24:55.111Z,1399332295.111 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2014-05-05T23:24:55.114Z,1399332295.114 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2014-05-05T23:24:55.118Z,1399332295.118 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2014-05-05T23:24:55.121Z,1399332295.121 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 9.000000 h
2014-05-05T23:24:55.125Z,1399332295.125 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = 0.000000 n/a
2014-05-05T23:24:55.129Z,1399332295.129 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000300 n/a
2014-05-05T23:24:55.132Z,1399332295.132 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.607614 arcdeg
2014-05-05T23:24:55.136Z,1399332295.136 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.018798 arcdeg
2014-05-05T23:24:55.140Z,1399332295.140 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.585471 arcdeg
2014-05-05T23:24:55.143Z,1399332295.143 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.037372 arcdeg
2014-05-05T23:24:55.147Z,1399332295.147 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586554 arcdeg
2014-05-05T23:24:55.208Z,1399332295.208 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.979903 arcdeg
2014-05-05T23:24:55.222Z,1399332295.222 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.563841 arcdeg
2014-05-05T23:24:55.225Z,1399332295.225 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.997449 arcdeg
2014-05-05T23:24:55.229Z,1399332295.229 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.606518 arcdeg
2014-05-05T23:24:55.257Z,1399332295.257 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.076276 arcdeg
2014-05-05T23:24:55.261Z,1399332295.261 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.628662 arcdeg
2014-05-05T23:24:55.285Z,1399332295.285 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.057712 arcdeg
2014-05-05T23:24:55.296Z,1399332295.296 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2014-05-05T23:24:55.308Z,1399332295.308 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2014-05-05T23:24:55.312Z,1399332295.312 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 20.000000 min
2014-05-05T23:24:55.327Z,1399332295.327 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2014-05-05T23:24:55.335Z,1399332295.335 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2014-05-05T23:24:55.359Z,1399332295.359 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2014-05-05T23:24:55.371Z,1399332295.371 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 2.000000 h
2014-05-05T23:24:55.374Z,1399332295.374 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2014-05-05T23:24:55.378Z,1399332295.378 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 3.000000 h
2014-05-05T23:24:55.408Z,1399332295.408 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2014-05-05T23:24:55.416Z,1399332295.416 [MissionManager](INFO): DefineArg EcoHAB_box.SCPITimeout = 420.000000 s
2014-05-05T23:24:55.432Z,1399332295.432 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2014-05-05T23:24:55.435Z,1399332295.435 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2014-05-05T23:24:55.459Z,1399332295.459 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2014-05-05T23:24:55.463Z,1399332295.463 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2014-05-05T23:24:55.481Z,1399332295.481 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2014-05-05T23:24:55.482Z,1399332295.482 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2014-05-05T23:24:55.519Z,1399332295.519 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2014-05-05T23:24:55.542Z,1399332295.542 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2014-05-05T23:24:55.577Z,1399332295.577 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2014-05-05T23:24:55.668Z,1399332295.668 [MissionManager](INFO): DefineArg EcoHAB_box:NeedComms.CommsTimeout = 30.000000 min
2014-05-05T23:24:55.672Z,1399332295.672 [MissionManager](INFO): DefineArg EcoHAB_box:NeedComms.DiveInterval = 3.000000 h
2014-05-05T23:24:55.691Z,1399332295.691 [MissionManager](INFO): DefineArg EcoHAB_box:NeedComms.WaitForPitchUp = 10.000000 min
2014-05-05T23:24:55.705Z,1399332295.705 [MissionManager](INFO): DefineArg EcoHAB_box:NeedComms.SurfacePitch = 20.000000 arcdeg
2014-05-05T23:24:55.713Z,1399332295.713 [MissionManager](INFO): DefineArg EcoHAB_box:NeedComms.SurfaceSpeed = 1.000000 m/s
2014-05-05T23:24:55.721Z,1399332295.721 [EcoHAB_box:NeedComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-05-05T23:24:55.770Z,1399332295.770 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2014-05-05T23:24:55.885Z,1399332295.885 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2014-05-05T23:24:55.889Z,1399332295.889 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2014-05-05T23:24:55.893Z,1399332295.893 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2014-05-05T23:24:55.929Z,1399332295.929 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2014-05-05T23:24:55.951Z,1399332295.951 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2014-05-05T23:24:55.952Z,1399332295.952 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-05-05T23:24:55.000Z,1399332296.000 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2014-05-05T23:24:56.033Z,1399332296.033 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2014-05-05T23:24:56.053Z,1399332296.053 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2014-05-05T23:24:56.054Z,1399332296.054 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2014-05-05T23:24:56.102Z,1399332296.102 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2014-05-05T23:24:56.122Z,1399332296.122 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2014-05-05T23:24:56.126Z,1399332296.126 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2014-05-05T23:24:56.129Z,1399332296.129 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2014-05-05T23:24:56.145Z,1399332296.145 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2014-05-05T23:24:56.146Z,1399332296.146 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-05-05T23:24:56.181Z,1399332296.181 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2014-05-05T23:24:56.183Z,1399332296.183 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2014-05-05T23:24:56.217Z,1399332296.217 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = value:1 bool
2014-05-05T23:24:56.218Z,1399332296.218 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2014-05-05T23:24:56.285Z,1399332296.285 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2014-05-05T23:24:56.289Z,1399332296.289 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2014-05-05T23:24:56.293Z,1399332296.293 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2014-05-05T23:24:56.306Z,1399332296.306 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2014-05-05T23:24:56.308Z,1399332296.308 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-05-05T23:24:56.356Z,1399332296.356 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2014-05-05T23:24:56.399Z,1399332296.399 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.HalfTimeout = 30.000000 s
2014-05-05T23:24:56.403Z,1399332296.403 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2014-05-05T23:24:56.423Z,1399332296.423 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2014-05-05T23:24:56.424Z,1399332296.424 [EcoHAB_box:SurfaceGPS:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-05-05T23:24:56.455Z,1399332296.455 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2014-05-05T23:24:56.514Z,1399332296.514 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 11.000000 h
2014-05-05T23:24:56.515Z,1399332296.515 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2014-05-05T23:24:56.597Z,1399332296.597 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2014-05-05T23:24:56.603Z,1399332296.603 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2014-05-05T23:24:56.607Z,1399332296.607 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2014-05-05T23:24:56.611Z,1399332296.611 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2014-05-05T23:24:56.648Z,1399332296.648 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2014-05-05T23:24:56.649Z,1399332296.649 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-05-05T23:24:56.683Z,1399332296.683 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2014-05-05T23:24:56.686Z,1399332296.686 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2014-05-05T23:24:56.687Z,1399332296.687 [EcoHAB_box:L.Pitch](DEBUG): Construct.
2014-05-05T23:24:56.718Z,1399332296.718 [EcoHAB_box:M.Buoyancy](DEBUG): Construct Buoyancy.
2014-05-05T23:24:56.721Z,1399332296.721 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2014-05-05T23:24:56.833Z,1399332296.833 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2014-05-05T23:24:56.836Z,1399332296.836 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2014-05-05T23:24:56.869Z,1399332296.869 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2014-05-05T23:24:56.872Z,1399332296.872 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2014-05-05T23:24:56.876Z,1399332296.876 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2014-05-05T23:24:56.903Z,1399332296.903 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2014-05-05T23:24:56.907Z,1399332296.907 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2014-05-05T23:24:56.928Z,1399332296.928 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2014-05-05T23:24:56.938Z,1399332296.938 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2014-05-05T23:24:56.962Z,1399332296.962 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2014-05-05T23:24:56.966Z,1399332296.966 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2014-05-05T23:24:56.970Z,1399332296.970 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2014-05-05T23:24:56.990Z,1399332296.990 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2014-05-05T23:24:57.028Z,1399332297.028 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-05-05T23:24:57.157Z,1399332297.157 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2014-05-05T23:24:57.164Z,1399332297.164 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2014-05-05T23:24:57.192Z,1399332297.192 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2014-05-05T23:24:57.199Z,1399332297.199 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2014-05-05T23:24:57.275Z,1399332297.275 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2014-05-05T23:24:57.282Z,1399332297.282 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2014-05-05T23:24:57.321Z,1399332297.321 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2014-05-05T23:24:57.338Z,1399332297.338 [EcoHAB_box:Approach:B.Pitch](DEBUG): Construct.
2014-05-05T23:24:57.343Z,1399332297.343 [EcoHAB_box:Approach:C.SetSpeed](DEBUG): Construct.
2014-05-05T23:24:57.372Z,1399332297.372 [EcoHAB_box:Approach:WpApproach.Waypoint](DEBUG): Construct Waypoint.
2014-05-05T23:24:57.379Z,1399332297.379 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2014-05-05T23:24:57.610Z,1399332297.610 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2014-05-05T23:24:57.623Z,1399332297.623 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2014-05-05T23:24:57.634Z,1399332297.634 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2014-05-05T23:24:57.637Z,1399332297.637 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2014-05-05T23:24:57.644Z,1399332297.644 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2014-05-05T23:24:57.647Z,1399332297.647 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2014-05-05T23:24:57.651Z,1399332297.651 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2014-05-05T23:24:57.662Z,1399332297.662 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2014-05-05T23:24:57.674Z,1399332297.674 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2014-05-05T23:24:57.690Z,1399332297.690 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 0.000000 n/a
2014-05-05T23:24:57.698Z,1399332297.698 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 1.000000 n/a
2014-05-05T23:24:57.709Z,1399332297.709 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2014-05-05T23:24:57.713Z,1399332297.713 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2014-05-05T23:24:57.717Z,1399332297.717 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 0.000000 n/a
2014-05-05T23:24:57.733Z,1399332297.733 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2014-05-05T23:24:57.736Z,1399332297.736 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2014-05-05T23:24:57.740Z,1399332297.740 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2014-05-05T23:24:57.756Z,1399332297.756 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2014-05-05T23:24:57.760Z,1399332297.760 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2014-05-05T23:24:57.783Z,1399332297.783 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2014-05-05T23:24:57.787Z,1399332297.787 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2014-05-05T23:24:57.791Z,1399332297.791 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2014-05-05T23:24:57.806Z,1399332297.806 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2014-05-05T23:24:57.828Z,1399332297.828 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2014-05-05T23:24:57.850Z,1399332297.850 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2014-05-05T23:24:57.879Z,1399332297.879 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = value:1 bool
2014-05-05T23:24:57.881Z,1399332297.881 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = value:1 bool
2014-05-05T23:24:57.883Z,1399332297.883 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = value:30.000000 arcdeg
2014-05-05T23:24:57.886Z,1399332297.886 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = value:10.000000 arcdeg
2014-05-05T23:24:57.888Z,1399332297.888 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = value:0 bool
2014-05-05T23:24:57.902Z,1399332297.902 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = value:0 bool
2014-05-05T23:24:57.902Z,1399332297.902 [MissionManager](INFO): Inserting Stack: Missions/Insert/VerticalTemperatureHomogeneityIndex.xml
2014-05-05T23:24:58.184Z,1399332298.184 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthShallow = 5.000000 m
2014-05-05T23:24:58.187Z,1399332298.187 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthMidShallow = 10.000000 m
2014-05-05T23:24:58.230Z,1399332298.230 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthMidDeep = 15.000000 m
2014-05-05T23:24:58.234Z,1399332298.234 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthDeep = 20.000000 m
2014-05-05T23:24:58.237Z,1399332298.237 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.Verbosity = 1.000000 count
2014-05-05T23:24:58.251Z,1399332298.251 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.TemperatureShallow = 0.000000 K
2014-05-05T23:24:58.254Z,1399332298.254 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.TemperatureMidShallow = 0.000000 K
2014-05-05T23:24:58.258Z,1399332298.258 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.TemperatureMidDeep = 0.000000 K
2014-05-05T23:24:58.289Z,1399332298.289 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.TemperatureDeep = 0.000000 K
2014-05-05T23:24:58.293Z,1399332298.293 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DTShallow = 0.000000 K
2014-05-05T23:24:58.327Z,1399332298.327 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DTMidShallow = 0.000000 K
2014-05-05T23:24:58.330Z,1399332298.330 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DTMidDeep = 0.000000 K
2014-05-05T23:24:58.334Z,1399332298.334 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DTDeep = 0.000000 K
2014-05-05T23:24:58.351Z,1399332298.351 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.Zero = 0.000000 count
2014-05-05T23:24:58.355Z,1399332298.355 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.One = 1.000000 count
2014-05-05T23:24:58.388Z,1399332298.388 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.Two = 2.000000 count
2014-05-05T23:24:58.393Z,1399332298.393 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:VTHIdx.TemperatureMean = 0.000000 K
2014-05-05T23:24:58.397Z,1399332298.397 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:VTHIdx.TemperatureDelta = 0.000000 K
2014-05-05T23:24:58.400Z,1399332298.400 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:VTHIdx.DetectLatitude = nan arcdeg
2014-05-05T23:24:58.429Z,1399332298.429 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:VTHIdx.DetectLongitude = nan arcdeg
2014-05-05T23:24:58.433Z,1399332298.433 [EcoHAB_box:ScienceOps:VTHIdx:GetTemperatures:DetectShallow.ValueDetect](DEBUG): Construct ValueDetect.
2014-05-05T23:24:58.464Z,1399332298.464 [EcoHAB_box:ScienceOps:VTHIdx:GetTemperatures:DetectMidShallow.ValueDetect](DEBUG): Construct ValueDetect.
2014-05-05T23:24:58.470Z,1399332298.470 [EcoHAB_box:ScienceOps:VTHIdx:GetTemperatures:DetectMidDeep.ValueDetect](DEBUG): Construct ValueDetect.
2014-05-05T23:24:58.497Z,1399332298.497 [EcoHAB_box:ScienceOps:VTHIdx:GetTemperatures:DetectDeep.ValueDetect](DEBUG): Construct ValueDetect.
2014-05-05T23:24:58.610Z,1399332298.610 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthShallow = value:5.000000 m
2014-05-05T23:24:58.637Z,1399332298.637 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthMidShallow = value:10.000000 m
2014-05-05T23:24:58.640Z,1399332298.640 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthMidDeep = value:20.000000 m
2014-05-05T23:24:58.642Z,1399332298.642 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthDeep = value:25.000000 m
2014-05-05T23:24:58.650Z,1399332298.650 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:VTHIdx.Verbosity = value:1.000000 count
2014-05-05T23:24:58.664Z,1399332298.664 [EcoHAB_box:ScienceOps:D.SetSpeed](DEBUG): Construct.
2014-05-05T23:24:58.676Z,1399332298.676 [EcoHAB_box:ScienceOps:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2014-05-05T23:24:58.686Z,1399332298.686 [EcoHAB_box:ScienceOps:F.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2014-05-05T23:24:58.717Z,1399332298.717 [EcoHAB_box:ScienceOps:G.YoYo](DEBUG): Construct YoYo.
2014-05-05T23:24:58.890Z,1399332298.890 [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:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="EcoHAB_box">

    <Description>
        This mission runs yoyos counterclockwise around a box. Two sides of the
        box pass through the planned locations for both Environmental Sample
        Processor (ESP) buoys during the Spring 2014 EcoHAB deployment.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="NeedCommsTime"><Description>
        High-level NeedComms directive intended to assist debugging in the
        field. Elapsed time after previous surface fix when vehicle will begin
        to ascend for additional surface fix, if the vehicle has a positive
        pitch. If the vehicle has a negative pitch, it will wait up to 10
        minutes more to begin ascent. The timing operates based on
        Universal:time_fix to avoid repeated attempts after the Iridium timeout.
    </Description><Units:hour/><Value>36</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>4</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>85</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>9</Value></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Defaults to massDefault
        setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.massDefault/></DefineArg>

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

<!-- Waypoint list -->

    <DefineArg Name="WpESPInshoreLat"><Description>
        Latitude of inshore ESP buoy.
    </Description><Units:degree/><Value>33.607614</Value></DefineArg>

    <DefineArg Name="WpESPInshoreLon"><Description>
        Longitude of offshore ESP buoy.
    </Description><Units:degree/><Value>-118.018798</Value></DefineArg>

    <DefineArg Name="WpESPOffshoreLat"><Description>
        Latitude of offshore ESP buoy.
    </Description><Units:degree/><Value>33.585471</Value></DefineArg>

    <DefineArg Name="WpESPOffshoreLon"><Description>
        Longitude of offshore ESP buoy.
    </Description><Units:degree/><Value>-118.037372</Value></DefineArg>

<!--
ESP Buoys are separated by 3000 m                                          
at bearing 35.06,                                              
or bearing -144.93

In[36]: from pyproj import Geod

In[37]: g = Geod(ellps='WGS84')

In [38]: g.inv(WpESPInshoreLon,WpESPInshoreLat,WpESPOffshoreLon,WpESPOffshoreLat)
Out[38]: (-144.92923671982575, 35.06048579554712, 3000.758382977905)
-->

<!--
az0 = 122.892896z0 = 122.892896
WpCorner1Lon, WpCorner1Lat, a = g.fwd(WpESPInshoreLon, WpESPInshoreLat, az0, 4300)
WpCorner2Lon, WpCorner2Lat, a = g.fwd(WpCorner1Lon, WpCorner1Lat, az00+90, 3000)
WpCorner3Lon, WpCorner3Lat, a = g.fwd(WpESPOffshoreLon, WpESPOffshoreLat, az00+180, 4300)
WpCorner4Lon, WpCorner4Lat, a = g.fwd(WpESPInshoreLon, WpESPInshoreLat, az00-180, 4300)

-->

    <DefineArg Name="WpCorner1Lat"><Description>
        Latitude of waypoint for first corner of box.
    </Description><Units:degree/><Value>33.586554427309956</Value></DefineArg>

    <DefineArg Name="WpCorner1Lon"><Description>
        Longitude of waypoint for first corner of box.
    </Description><Units:degree/><Value>-117.97990263671926</Value></DefineArg>

    <DefineArg Name="WpCorner2Lat"><Description>
        Latitude of waypoint for second corner of box.
    </Description><Units:degree/><Value>33.563841488839024</Value></DefineArg>

    <DefineArg Name="WpCorner2Lon"><Description>
        Longitude of waypoint for second corner of box.
    </Description><Units:degree/><Value>-117.99744852771295</Value></DefineArg>

    <DefineArg Name="WpCorner3Lat"><Description>
        Latitude of waypoint for third corner of box.
    </Description><Units:degree/><Value>33.60651834669941</Value></DefineArg>

    <DefineArg Name="WpCorner3Lon"><Description>
        Longitude of waypoint for third corner of box.
    </Description><Units:degree/><Value>-118.076275825578</Value></DefineArg>

    <DefineArg Name="WpCorner4Lat"><Description>
        Latitude of waypoint for fourth corner of box.
    </Description><Units:degree/><Value>33.628662266112016</Value></DefineArg>

    <DefineArg Name="WpCorner4Lon"><Description>
        Longitude of waypoint for fourth corner of box.
    </Description><Units:degree/><Value>-118.05771227683994</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="ApproachDepth"><Description>
        Depth for initial approach to WpCorner1.
    </Description><Units:meter/><Value>10.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="ApproachNeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications. Only active
        during the approach.
    </Description><Units:minute/><Value>20</Value></DefineArg>

<!-- Science loop settings -->

    <DefineArg Name="Repeat"><Description>
        Number of times to repeat the science loop
    </Description><Units:count/><Value>13</Value></DefineArg>

    <DefineArg Name="CircleRadius"><Description>
        Radius of circle around Inshore ESP during wait time
    </Description><Units:meter/><Value>500</Value></DefineArg>

    <DefineArg Name="CircleRepeat"><Description>
        Maximum number of times to circle the wayopint at the start of each lap.
    </Description><Units:count/><Value>13</Value></DefineArg>

    <DefineArg Name="CircleDivisor"><Description>
        UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for
        reports at 0000, 0800, 1600 UTC)
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="CircleModulus"><Description>
        Current time modulo CircleDivisor (internal variable).
    </Description><Units:hour/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CircleTimeout"><Description>
        Timeout for circling buoy at start of each lap (internal variable).
    </Description><Units:hour/><Value>3</Value></DefineArg>

    <DefineArg Name="LapTimeout"><Description>
        Maximum duration of lap around box.
    </Description><Units:hour/><Value>8</Value></DefineArg>

    <DefineArg Name="SCPITimeout"><Description>
        Request data from the SCPI for this long.
    </Description><Units:second/><Value>420</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth during yo-yo's.
    </Description><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth during yo-yo's.
    </Description><Units:meter/><Value>78.0</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Min altitude while in yo-yo mode.
    </Description><Units:meter/><Value>6.0</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Pitch when yo-yo's are ascending.
    </Description><Units:degree/><Value>20.0</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Pitch when yo-yo's are descending.
    </Description><Units:degree/><Value>-20.0</Value></DefineArg>

<!-- Variables used internally during the mission -->

<!-- The mission -->

    <Timeout Duration="MissionTimeout"/>

<!-- High-priority directives that should always be near the top -->

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
    </Guidance:OffshoreEnvelope>

<!-- High-level NeedComms helpful for field debugging. -->

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

<!-- NOTE: The <Assign> clauses below will not take effect until you actually run the mission. RedefineArg will not work in this case if you use a "set" after loading the mission. -->

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:SurfaceSpeed"/><Arg Name="Speed"/></Assign>

<!-- Surfacing behaviors -->

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

    <Insert Filename="Insert/SurfaceCommsSplit.xml" Id="SurfaceCommsSplit"/>

    <Insert Filename="Insert/SurfaceCommsShort.xml" Id="SurfaceCommsShort"/>

    <Insert Filename="Insert/SurfaceGPS.xml" Id="SurfaceGPS"/>

    <Insert Filename="Insert/SurfaceSafety.xml" Id="SurfaceSafety"/>

<!-- TODO put all of these together into a master Surface insert file -->

<!-- mass and buoyancy defaults are lower priority than surfacing, but higher than everything else -->

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

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

<!-- Begin callable aggregates used in this mission. 
     (Note priority still matters, so these are done _below_ important safety 
     directives like OffshoreEnvelope.) 
     -->

    <Insert Filename="Insert/CircleWaypointRepeatedly.xml"/>

    <Aggregate Id="UpdateCircleTimeout">

        <Description>
            Calculate (current time) mod (CircleDivisor) and determine when to
            stop circling the start-of-lap waypoint.
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Sequence/><Arg Name="CircleModulus"/><Universal:time/><Mod><Arg Name="CircleDivisor"/>
        </Mod></Assign>

<!-- TODO 
            Might need to add an offset in somewhere to handle specific 
            surfacing times (e.g., 2am, 10pm)
             
            It would be even more useful to have a general method for 
            TimeUntil(arg).
        -->

        <Syslog Severity="Important">CircleModulus calculated as: <Arg Name="CircleModulus"/><Units:hour/></Syslog>

        <Assign><Sequence/><Arg Name="CircleTimeout"/><Arg Name="CircleDivisor"/><Sub><Arg Name="CircleModulus"/></Sub></Assign>

        <Syslog Severity="Important">CircleTimeout updated to: <Arg Name="CircleTimeout"/><Units:hour/></Syslog>

    </Aggregate>

    <Aggregate Id="CircleInshoreESPBuoy">

        <Description>
            Circle a waypoint at the nominal location of the Inshore ESP buoy
            until timeout specified by CircleDivisor and current time.
        </Description>

        <When>
            <Called/>
        </When>

        <Call RefId="UpdateCircleTimeout"/>

        <Aggregate Id="TellMeHowLong">

            <Description>
                Convenience aggregate to notify operator of estimated circling
                time _before_ starting to circle the waypoint. May be commented
                out, since the Timeout in CircleWaypointRepeatedly will still
                achieve the desired behavior.
            </Description>

            <Sequence/>

            <Syslog Severity="Important">CircleInshoreESPBuoy should complete in <Arg Name="CircleTimeout"/><Units:minute/>, due to timeout in CircleWaypointRepeatedly aggregate.</Syslog>

            <Call RefId="SurfaceCommsShort"/>

        </Aggregate>

        <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:Timeout"/><Arg Name="CircleTimeout"/></Assign>

        <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:Radius"/><Arg Name="CircleRadius"/></Assign>

        <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:CenterLat"/><Arg Name="WpESPInshoreLat"/></Assign>

        <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:CenterLon"/><Arg Name="WpESPInshoreLon"/></Assign>

<!-- Use default values for: Timeout, MaxError, TurnToPort, KwpHeading -->

        <Call RefId="CircleWaypointRepeatedly"/>

        <Syslog Severity="Important">**** Finished circling. ****</Syslog>

        <Call RefId="SurfaceCommsSplit"/>

    </Aggregate>

    <Aggregate Id="Lap">

        <Description>
            Run around the box.
        </Description>

        <When>
            <Called/>
        </When>

        <Timeout Duration="LapTimeout"/>

        <Guidance:Waypoint Id="WpESPInshore">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPInshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPInshoreLon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner1">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner1Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner1Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner2">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner2Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner2Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpESPOffshore">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPOffshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPOffshoreLon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Aggregate Id="CircleOffshoreESPBuoy">

            <Sequence/>

            <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:MaxLaps"/><Units:count/><Value>2.0</Value></Assign>

            <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:Timeout"/><Arg Name="CircleTimeout"/></Assign>

            <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:Radius"/><Arg Name="CircleRadius"/></Assign>

            <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:CenterLat"/><Arg Name="WpESPOffshoreLat"/></Assign>

            <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:CenterLon"/><Arg Name="WpESPOffshoreLon"/></Assign>

<!-- Use default values for: Timeout, MaxError, TurnToPort, KwpHeading -->

            <Call RefId="CircleWaypointRepeatedly"/>

            <Syslog Severity="Important">**** Finished circling. ****</Syslog>

            <Call RefId="SurfaceCommsShort"/>

        </Aggregate>

        <Guidance:Waypoint Id="WpCorner3">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner3Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner3Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner4">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner4Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner4Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpESPInshore">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPInshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPInshoreLon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

    </Aggregate>

<!-- End callable aggregates used in this mission. -->

    <Aggregate Id="Approach">

        <Description>
            Get to start point.
        </Description>

        <Sequence/>

        <Timeout Duration="ApproachTimeout"/>

        <Aggregate>

            <Description>
                Check in periodically, but do not split logs
            </Description>

            <When>
                <Elapsed><Universal:platform_communications/></Elapsed>
                <Gt><Arg Name="ApproachNeedCommsTime"/></Gt>
            </When>

            <Call RefId="SurfaceCommsShort"/>

        </Aggregate>

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

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

        <Guidance:Waypoint Id="WpApproach">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPInshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPInshoreLon"/></Setting>
        </Guidance:Waypoint>

<!-- Consider removing the SurfaceComms call at the end of the approach. -->

        <Call RefId="SurfaceComms"/>

    </Aggregate>

    <Aggregate Id="ScienceOps">

        <Description>
            Circle then lap many times, collecting science data.
        </Description>

        <Sequence Repeat="Repeat"/>

        <Insert Filename="Insert/Science.xml" Id="Science">
            <Description>
                Get science data, including PeakDetectChl
            </Description>
            <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
            <RedefineArg Name="SampleISUS"><True/></RedefineArg>
            <RedefineArg Name="SampleISUSmaxPitch"><Units:degree/><Value>30.0</Value></RedefineArg>
            <RedefineArg Name="SampleISUSminPitch"><Units:degree/><Value>10.0</Value></RedefineArg>
            <RedefineArg Name="ComputeWaterCurrent"><False/></RedefineArg>
            <RedefineArg Name="UpwardDerivativeOfTemperatureActive"><False/></RedefineArg>
        </Insert>

<!-- compute Vertical Temperature Homogeneity Index -->

        <Insert Filename="Insert/VerticalTemperatureHomogeneityIndex.xml" Id="VTHIdx">
            <RedefineArg Name="DepthShallow"><Units:meter/><Value>5</Value></RedefineArg>
            <RedefineArg Name="DepthMidShallow"><Units:meter/><Value>10</Value></RedefineArg>
            <RedefineArg Name="DepthMidDeep"><Units:meter/><Value>20</Value></RedefineArg>
            <RedefineArg Name="DepthDeep"><Units:meter/><Value>25</Value></RedefineArg>
            <RedefineArg Name="Verbosity"><Units:count/><Value>1</Value></RedefineArg>
        </Insert>

<!-- SCPI activation -->

        <Aggregate Id="RollSCPI">

            <Description>
                Turn on the SCPI camera. (SCPI.sampleTime is set in Sensor.cfg)
            </Description>

            <When>
                <Universal:depth/>
                <Lt><Units:meter/><Value>40</Value></Lt>
                <And><CustomUri Uri="SCPI.loadAtStartup"/></And>
            </When>

            <Timeout Duration="SCPITimeout"/>

            <ReadData Strategy="MinError">
                <Sensor:SCPI.sampleSCPI/>
            </ReadData>

<!--            <Syslog Severity="Important">rolling SCPI</Syslog> -->

        </Aggregate>

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

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
            <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:DepthEnvelope>

        <Guidance:AltitudeEnvelope>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

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

<!-- Call the behavior aggregates that we defined above. -->

        <Call RefId="CircleInshoreESPBuoy"/>

        <Call RefId="Lap"/>

    </Aggregate>

</Mission>


2014-05-05T23:24:58.891Z,1399332298.891 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2014-05-05T23:25:02.250Z,1399332302.250 [CommandLine](IMPORTANT): got command set EcoHAB_box.NeedCommsTime 30.000000 minute
2014-05-05T23:25:02.251Z,1399332302.251 [CommandLine](IMPORTANT): got command set EcoHAB_box.MissionTimeout 65.000000 hour
2014-05-05T23:25:02.252Z,1399332302.252 [CommandLine](IMPORTANT): got command set EcoHAB_box.LapTimeout 12.000000 hour
2014-05-05T23:25:02.252Z,1399332302.252 [CommandLine](IMPORTANT): got command run 
2014-05-05T23:25:02.256Z,1399332302.256 [CommandLine](IMPORTANT): Running 
2014-05-05T23:25:02.341Z,1399332302.341 [MissionManager](IMPORTANT): Started mission Startup
2014-05-05T23:25:02.341Z,1399332302.341 [Startup] Running Loop=1
2014-05-05T23:25:02.341Z,1399332302.341 [Startup](INFO): Aggregate::initialize Startup
2014-05-05T23:25:02.342Z,1399332302.342 [Startup:A.GoToSurface] Running Loop=1
2014-05-05T23:25:02.342Z,1399332302.342 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2014-05-05T23:25:02.348Z,1399332302.348 [Startup:StartupSatComms] Running Loop=1
2014-05-05T23:25:02.348Z,1399332302.348 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2014-05-05T23:25:02.348Z,1399332302.348 [Startup:StartupSatComms:A] Running Loop=1
2014-05-05T23:25:02.773Z,1399332302.773 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2014-05-05T23:25:02.853Z,1399332302.853 [NAL9602](INFO): Powering up
2014-05-05T23:25:08.051Z,1399332308.051 [NAL9602](IMPORTANT): GPS fix at: 1399332308.00
2014-05-05T23:25:08.066Z,1399332308.066 [Startup:StartupSatComms:A] Stopped
2014-05-05T23:25:08.066Z,1399332308.066 [Startup:StartupSatComms:B] Running Loop=1
2014-05-05T23:25:08.466Z,1399332308.466 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2014-05-05T23:25:09.253Z,1399332309.253 [NAL9602](INFO): No messages in MT queue
2014-05-05T23:25:10.837Z,1399332310.837 [DataOverHttps](INFO): Sending 206 bytes from file Logs/20140505T232138/Courier0000.lzma
2014-05-05T23:25:11.702Z,1399332311.702 [DataOverHttps](INFO): Moved sent file to Logs/20140505T232138/Courier0000.lzma.bak
2014-05-05T23:25:11.702Z,1399332311.702 [DataOverHttps](INFO): SBD MOMSN=809555
2014-05-05T23:25:16.266Z,1399332316.266 [NAL9602](INFO): Powering down
2014-05-05T23:25:16.376Z,1399332316.376 [DataOverHttps](INFO): Sending 295 bytes from file Logs/20140505T232336/Courier0000.lzma
2014-05-05T23:25:17.174Z,1399332317.174 [DataOverHttps](INFO): Moved sent file to Logs/20140505T232336/Courier0000.lzma.bak
2014-05-05T23:25:17.174Z,1399332317.174 [DataOverHttps](INFO): SBD MOMSN=809558
2014-05-05T23:25:21.814Z,1399332321.814 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20140505T232336/Courier0004.lzma
2014-05-05T23:25:22.493Z,1399332322.493 [DataOverHttps](INFO): Moved sent file to Logs/20140505T232336/Courier0004.lzma.bak
2014-05-05T23:25:22.493Z,1399332322.493 [DataOverHttps](INFO): SBD MOMSN=809561
2014-05-05T23:25:26.905Z,1399332326.905 [DataOverHttps](INFO): Sending 720 bytes from file Logs/20140505T232138/Express0001.lzma
2014-05-05T23:25:28.827Z,1399332328.827 [DataOverHttps](INFO): Moved sent file to Logs/20140505T232138/Express0001.lzma.bak