2012-01-10T21:57:22.69890Z,1326232642.6989 [Supervisor](DEBUG): Initializing supervisor.
2012-01-10T21:57:22.70140Z,1326232642.7014 [SyncHandler](DEBUG): Created PCaller Thread at 1077138656
2012-01-10T21:57:22.70220Z,1326232642.7022 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-01-10T21:57:22.70320Z,1326232642.7032 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 1077335264
2012-01-10T21:57:22.70420Z,1326232642.7042 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-01-10T21:57:22.71460Z,1326232642.7146 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-01-10T21:57:22.71570Z,1326232642.7157 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 1077531872
2012-01-10T21:57:22.71660Z,1326232642.7166 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-01-10T21:57:22.71710Z,1326232642.7171 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-01-10T21:57:22.71830Z,1326232642.7183 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-01-10T21:57:23.00020Z,1326232643.0002 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-01-10T21:57:23.00080Z,1326232643.0008 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-01-10T21:57:23.17260Z,1326232643.1726 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-01-10T21:57:23.17320Z,1326232643.1732 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-01-10T21:57:23.25820Z,1326232643.2582 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-01-10T21:57:23.25880Z,1326232643.2588 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-01-10T21:57:23.44600Z,1326232643.446 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-01-10T21:57:23.44660Z,1326232643.4466 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-01-10T21:57:23.57530Z,1326232643.5753 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-01-10T21:57:23.57600Z,1326232643.576 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-01-10T21:57:23.79470Z,1326232643.7947 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-01-10T21:57:23.79530Z,1326232643.7953 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-01-10T21:57:23.93690Z,1326232643.9369 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-01-10T21:57:23.93760Z,1326232643.9376 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-01-10T21:57:24.18450Z,1326232644.1845 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-01-10T21:57:24.18510Z,1326232644.1851 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-01-10T21:57:24.28270Z,1326232644.2827 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-01-10T21:57:24.28330Z,1326232644.2833 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-01-10T21:57:24.65290Z,1326232644.6529 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-01-10T21:57:24.65360Z,1326232644.6536 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-01-10T21:57:24.76160Z,1326232644.7616 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-01-10T21:57:24.76230Z,1326232644.7623 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-01-10T21:57:24.84920Z,1326232644.8492 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-tethys/
2012-01-10T21:57:24.85020Z,1326232644.8502 [Supervisor](INFO): Opening Config file at: Config/lrauv-tethys/vehicle.cfg
2012-01-10T21:57:24.95290Z,1326232644.9529 [Supervisor](INFO): Opening Config file at: Config/lrauv-tethys/Sensor.cfg
2012-01-10T21:57:25.07330Z,1326232645.0733 [Supervisor](INFO): Opening Config file at: Config/lrauv-tethys/BIT.cfg
2012-01-10T21:57:25.17020Z,1326232645.1702 [Supervisor](INFO): Opening Config file at: Config/lrauv-tethys/Servo.cfg
2012-01-10T21:57:25.26560Z,1326232645.2656 [Supervisor](INFO): Opening Config file at: Config/lrauv-tethys/Science.cfg
2012-01-10T21:57:25.35740Z,1326232645.3574 [Supervisor](INFO): Opening Config file at: Config/lrauv-tethys/workSite.cfg
2012-01-10T21:57:25.44440Z,1326232645.4444 [Supervisor](INFO): Opening Config file at: Config/lrauv-tethys/Simulator.cfg
2012-01-10T21:57:25.52890Z,1326232645.5289 [Supervisor](INFO): Opening Config file at: Config/lrauv-tethys/Derivation.cfg
2012-01-10T21:57:25.64260Z,1326232645.6426 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-01-10T21:57:25.72610Z,1326232645.7261 [InternalSim] Loaded
2012-01-10T21:57:25.72660Z,1326232645.7266 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-01-10T21:57:25.72750Z,1326232645.7275 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-01-10T21:57:25.72810Z,1326232645.7281 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-01-10T21:57:25.74150Z,1326232645.7415 [SBIT](DEBUG): Construct Startup Built In Test.
2012-01-10T21:57:25.76950Z,1326232645.7695 [SBIT] Loaded
2012-01-10T21:57:25.76980Z,1326232645.7698 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-01-10T21:57:25.77080Z,1326232645.7708 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-01-10T21:57:25.79390Z,1326232645.7939 [IBIT] Loaded
2012-01-10T21:57:25.79420Z,1326232645.7942 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-01-10T21:57:25.80120Z,1326232645.8012 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-01-10T21:57:25.90950Z,1326232645.9095 [CBIT] Loaded
2012-01-10T21:57:25.90980Z,1326232645.9098 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-01-10T21:57:25.91060Z,1326232645.9106 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-01-10T21:57:25.91110Z,1326232645.9111 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-01-10T21:57:26.00780Z,1326232646.0078 [BuoyancyServo] Loaded
2012-01-10T21:57:26.00800Z,1326232646.008 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-01-10T21:57:26.01500Z,1326232646.015 [ElevatorServo] Loaded
2012-01-10T21:57:26.01530Z,1326232646.0153 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-01-10T21:57:26.02210Z,1326232646.0221 [MassServo] Loaded
2012-01-10T21:57:26.02240Z,1326232646.0224 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-01-10T21:57:26.02920Z,1326232646.0292 [RudderServo] Loaded
2012-01-10T21:57:26.02950Z,1326232646.0295 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-01-10T21:57:26.03660Z,1326232646.0366 [ThrusterServo] Loaded
2012-01-10T21:57:26.03690Z,1326232646.0369 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-01-10T21:57:26.03730Z,1326232646.0373 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-01-10T21:57:26.03790Z,1326232646.0379 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-01-10T21:57:26.05230Z,1326232646.0523 [DepthRateCalculator] Loaded
2012-01-10T21:57:26.05260Z,1326232646.0526 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-01-10T21:57:26.06840Z,1326232646.0684 [NavChart] Loaded
2012-01-10T21:57:26.06860Z,1326232646.0686 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-01-10T21:57:26.07440Z,1326232646.0744 [PitchRateCalculator] Loaded
2012-01-10T21:57:26.07470Z,1326232646.0747 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-01-10T21:57:26.08040Z,1326232646.0804 [SpeedCalculator] Loaded
2012-01-10T21:57:26.08060Z,1326232646.0806 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-01-10T21:57:26.09510Z,1326232646.0951 [TempGradientCalculator] Loaded
2012-01-10T21:57:26.09540Z,1326232646.0954 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-01-10T21:57:26.10110Z,1326232646.1011 [YawRateCalculator] Loaded
2012-01-10T21:57:26.10140Z,1326232646.1014 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-01-10T21:57:26.13090Z,1326232646.1309 [Navigation] Loaded
2012-01-10T21:57:26.13120Z,1326232646.1312 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-01-10T21:57:26.13170Z,1326232646.1317 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-01-10T21:57:26.13220Z,1326232646.1322 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-01-10T21:57:26.18400Z,1326232646.184 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-01-10T21:57:26.18470Z,1326232646.1847 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-01-10T21:57:26.19390Z,1326232646.1939 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-01-10T21:57:26.19460Z,1326232646.1946 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-01-10T21:57:26.20680Z,1326232646.2068 [VerticalControl](DEBUG): Construct VerticalControl.
2012-01-10T21:57:26.41150Z,1326232646.4115 [VerticalControl] Loaded
2012-01-10T21:57:26.41180Z,1326232646.4118 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-01-10T21:57:26.41280Z,1326232646.4128 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-01-10T21:57:26.46670Z,1326232646.4667 [HorizontalControl] Loaded
2012-01-10T21:57:26.46700Z,1326232646.467 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-01-10T21:57:26.46800Z,1326232646.468 [SpeedControl](DEBUG): Construct SpeedControl.
2012-01-10T21:57:26.46970Z,1326232646.4697 [SpeedControl] Loaded
2012-01-10T21:57:26.47000Z,1326232646.47 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-01-10T21:57:26.47100Z,1326232646.471 [LoopControl](DEBUG): Construct LoopControl.
2012-01-10T21:57:26.47170Z,1326232646.4717 [LoopControl] Loaded
2012-01-10T21:57:26.47200Z,1326232646.472 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-01-10T21:57:26.47250Z,1326232646.4725 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-01-10T21:57:26.47300Z,1326232646.473 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-01-10T21:57:26.47820Z,1326232646.4782 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-01-10T21:57:26.48320Z,1326232646.4832 [AsyncPiEstimator] Loaded
2012-01-10T21:57:26.48350Z,1326232646.4835 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-01-10T21:57:26.48470Z,1326232646.4847 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 1078928608
2012-01-10T21:57:26.48540Z,1326232646.4854 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-01-10T21:57:26.48600Z,1326232646.486 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-01-10T21:57:26.57280Z,1326232646.5728 [AHRS_sp3003D] Loaded
2012-01-10T21:57:26.57310Z,1326232646.5731 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-01-10T21:57:26.61320Z,1326232646.6132 [AHRS_3DMGX3] Loaded
2012-01-10T21:57:26.61350Z,1326232646.6135 [ComponentRegistry](DEBUG): SyncComponent "AHRS_3DMGX3" handled in the control thread.
2012-01-10T21:57:26.86650Z,1326232646.8665 [Batt_Ocean_Server] Loaded
2012-01-10T21:57:26.86680Z,1326232646.8668 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-01-10T21:57:26.87900Z,1326232646.879 [Depth_Keller] Loaded
2012-01-10T21:57:26.87930Z,1326232646.8793 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-01-10T21:57:26.88470Z,1326232646.8847 [DropWeight] Loaded
2012-01-10T21:57:26.88500Z,1326232646.885 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-01-10T21:57:26.97910Z,1326232646.9791 [DVL_micro] Loaded
2012-01-10T21:57:26.97940Z,1326232646.9794 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2012-01-10T21:57:27.05940Z,1326232647.0594 [NAL9601] Loaded
2012-01-10T21:57:27.05970Z,1326232647.0597 [ComponentRegistry](DEBUG): SyncComponent "NAL9601" handled in the control thread.
2012-01-10T21:57:27.10950Z,1326232647.1095 [Onboard] Loaded
2012-01-10T21:57:27.10980Z,1326232647.1098 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-01-10T21:57:27.11600Z,1326232647.116 [Radio_Freewave] Loaded
2012-01-10T21:57:27.11630Z,1326232647.1163 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-01-10T21:57:27.13730Z,1326232647.1373 [DAT] Loaded
2012-01-10T21:57:27.13760Z,1326232647.1376 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2012-01-10T21:57:27.13810Z,1326232647.1381 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-01-10T21:57:27.13880Z,1326232647.1388 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-01-10T21:57:27.18280Z,1326232647.1828 [CTD_NeilBrown] Loaded
2012-01-10T21:57:27.18310Z,1326232647.1831 [ComponentRegistry](DEBUG): SyncComponent "CTD_NeilBrown" handled in the control thread.
2012-01-10T21:57:27.21270Z,1326232647.2127 [WetLabsBB2FL] Loaded
2012-01-10T21:57:27.21300Z,1326232647.213 [ComponentRegistry](DEBUG): SyncComponent "WetLabsBB2FL" handled in the control thread.
2012-01-10T21:57:27.21410Z,1326232647.2141 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-01-10T21:57:27.21650Z,1326232647.2165 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-01-10T21:57:27.21730Z,1326232647.2173 [ComponentRegistry](DEBUG): SyncComponent "Maintainer" handled in the control thread.
2012-01-10T21:57:27.21800Z,1326232647.218 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-01-10T21:57:27.22350Z,1326232647.2235 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-01-10T21:57:27.22460Z,1326232647.2246 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 1079497952
2012-01-10T21:57:27.22500Z,1326232647.225 [Supervisor](DEBUG): Running supervisor.
2012-01-10T21:57:27.22820Z,1326232647.2282 [controlThread](DEBUG): Initializing ControlThread
2012-01-10T21:57:27.22910Z,1326232647.2291 [InternalSim](DEBUG):  InternalSim initializing...
2012-01-10T21:57:27.26310Z,1326232647.2631 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-01-10T21:57:27.27200Z,1326232647.272 [SBIT](INFO): Initialize SBIT Component.
2012-01-10T21:57:27.27360Z,1326232647.2736 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9470 $
2012-01-10T21:57:27.27420Z,1326232647.2742 [IBIT](INFO): Initialize IBIT Component.
2012-01-10T21:57:27.27760Z,1326232647.2776 [CBIT](DEBUG): Initialize CBIT Component.
2012-01-10T21:57:27.27790Z,1326232647.2779 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-01-10T21:57:27.30780Z,1326232647.3078 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-01-10T21:57:27.30820Z,1326232647.3082 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-01-10T21:57:27.30850Z,1326232647.3085 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-01-10T21:57:27.30890Z,1326232647.3089 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-01-10T21:57:27.30950Z,1326232647.3095 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-01-10T21:57:27.31090Z,1326232647.3109 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-01-10T21:57:27.31130Z,1326232647.3113 [Navigation](DEBUG): Initializing Navigation.
2012-01-10T21:57:27.31170Z,1326232647.3117 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-01-10T21:57:27.32580Z,1326232647.3258 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-01-10T21:57:27.33880Z,1326232647.3388 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-01-10T21:57:27.33960Z,1326232647.3396 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-01-10T21:57:29.28750Z,1326232649.2875 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-01-10T21:57:29.29220Z,1326232649.2922 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-01-10T21:57:29.30200Z,1326232649.302 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-01-10T21:57:29.31170Z,1326232649.3117 [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>


2012-01-10T21:57:29.31250Z,1326232649.3125 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-01-10T21:57:30.44910Z,1326232650.4491 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-01-10T21:57:30.45270Z,1326232650.4527 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-01-10T21:57:30.45900Z,1326232650.459 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-01-10T21:57:30.46230Z,1326232650.4623 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-01-10T21:57:30.46880Z,1326232650.4688 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-01-10T21:57:30.48180Z,1326232650.4818 [Default:E.SetSpeed](DEBUG): Construct.
2012-01-10T21:57:30.48510Z,1326232650.4851 [Default:F.GoToSurface](DEBUG): Construct GoToSurface.
2012-01-10T21:57:30.48980Z,1326232650.4898 [Default:G.Wait](DEBUG): Construct Wait.
2012-01-10T21:57:30.49410Z,1326232650.4941 [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">

    <Aggregate Id="GPS" >

<!--    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>

    </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 on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped drop weight due to communications timeout</Syslog>
            </Timeout><Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

    <Aggregate Id="CallGPS" >

        <When>
            <Elapsed><Universal:time_fix/></Elapsed>
            <Gt><Units:hour/><Value>1.0</Value></Gt>
            <Or>
            <Elapsed><Universal:platform_communications/></Elapsed><Gt><Units:minute/><Value>5.0</Value></Gt><And><Universal:platform_conversation/><Eq><True/></Eq></And></Or>
            <Or>
            <Elapsed><Universal:platform_communications/></Elapsed><Gt><Units:hour/><Value>1.0</Value></Gt></Or>
        </When>

        <Call RefId="GPS"/>

    </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>

        <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>


2012-01-10T21:57:30.49970Z,1326232650.4997 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,AHRS_3DMGX3,Batt_Ocean_Server,Depth_Keller,DropWeight,DVL_micro,NAL9601,Onboard,Radio_Freewave,DAT,CTD_NeilBrown,WetLabsBB2FL,Depth_Keller,DepthRateCalculator,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintainer,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-01-10T21:57:30.51770Z,1326232650.5177 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-01-10T21:57:30.52460Z,1326232650.5246 [AHRS_3DMGX3](DEBUG): Initializing AHRS_3DMGX3.
2012-01-10T21:57:30.63370Z,1326232650.6337 [DVL_micro](DEBUG): Initializing DVL_micro.
2012-01-10T21:57:30.65880Z,1326232650.6588 [DAT](INFO): Powering up
2012-01-10T21:57:30.65910Z,1326232650.6591 [DAT](DEBUG): Initializing DAT.
2012-01-10T21:57:30.66470Z,1326232650.6647 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-01-10T21:57:30.67760Z,1326232650.6776 [WetLabsBB2FL](INFO): Powering down
2012-01-10T21:57:30.74670Z,1326232650.7467 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-01-10T21:57:30.74770Z,1326232650.7477 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-01-10T21:57:30.75670Z,1326232650.7567 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-01-10T21:57:30.75760Z,1326232650.7576 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-01-10T21:57:30.76560Z,1326232650.7656 [MassServo](DEBUG): Initializing EZServoServo.
2012-01-10T21:57:30.76710Z,1326232650.7671 [MassServo](DEBUG): Initializing MassServo.
2012-01-10T21:57:30.77440Z,1326232650.7744 [RudderServo](DEBUG): Initializing EZServoServo.
2012-01-10T21:57:30.77530Z,1326232650.7753 [RudderServo](DEBUG): Initializing RudderServo.
2012-01-10T21:57:30.78310Z,1326232650.7831 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-01-10T21:57:30.78410Z,1326232650.7841 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-01-10T21:57:31.47440Z,1326232651.4744 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-01-10T21:57:31.58760Z,1326232651.5876 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-01-10T21:57:31.59150Z,1326232651.5915 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-01-10T21:57:31.59540Z,1326232651.5954 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-01-10T21:57:31.60160Z,1326232651.6016 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-01-10T21:57:31.60240Z,1326232651.6024 [NavChartDb](INFO): Creating index for Soundings
2012-01-10T21:57:31.60550Z,1326232651.6055 [NavChartDb](INFO): Creating index for Contour 0p0
2012-01-10T21:57:31.60720Z,1326232651.6072 [NavChartDb](INFO): Creating index for Contour 1p8
2012-01-10T21:57:31.60900Z,1326232651.609 [NavChartDb](INFO): Creating index for Contour 3p6
2012-01-10T21:57:31.61080Z,1326232651.6108 [NavChartDb](INFO): Creating index for Contour 5p4
2012-01-10T21:57:31.61240Z,1326232651.6124 [NavChartDb](INFO): Creating index for Contour 9p1
2012-01-10T21:57:31.61400Z,1326232651.614 [NavChartDb](INFO): Creating index for Contour 10p9
2012-01-10T21:57:31.62690Z,1326232651.6269 [NavChartDb](INFO): Creating index for Contour 18p2
2012-01-10T21:57:31.62870Z,1326232651.6287 [NavChartDb](INFO): Creating index for Contour 36p5
2012-01-10T21:57:31.63070Z,1326232651.6307 [NavChartDb](INFO): Creating index for Contour 54p8
2012-01-10T21:57:31.63240Z,1326232651.6324 [NavChartDb](INFO): Creating index for Contour 73p1
2012-01-10T21:57:31.63420Z,1326232651.6342 [NavChartDb](INFO): Creating index for Contour 91p4
2012-01-10T21:57:31.63590Z,1326232651.6359 [NavChartDb](INFO): Creating index for Contour 182p8
2012-01-10T21:57:31.63760Z,1326232651.6376 [NavChartDb](INFO): Creating index for Contour 365p7
2012-01-10T21:57:31.64280Z,1326232651.6428 [NavChartDb](INFO): Creating index for Contour 548p6
2012-01-10T21:57:31.64460Z,1326232651.6446 [NavChartDb](INFO): Creating index for Contour 731p5
2012-01-10T21:57:31.64640Z,1326232651.6464 [NavChartDb](INFO): Creating index for Contour 914p4
2012-01-10T21:57:31.65880Z,1326232651.6588 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-01-10T21:57:31.66070Z,1326232651.6607 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-01-10T21:57:31.66250Z,1326232651.6625 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-01-10T21:57:31.66430Z,1326232651.6643 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-01-10T21:57:31.66610Z,1326232651.6661 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-01-10T21:57:31.66780Z,1326232651.6678 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-01-10T21:57:31.66950Z,1326232651.6695 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-01-10T21:57:31.67880Z,1326232651.6788 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-01-10T21:57:31.68060Z,1326232651.6806 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-01-10T21:57:31.68230Z,1326232651.6823 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-01-10T21:57:31.68400Z,1326232651.684 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-01-10T21:57:31.68570Z,1326232651.6857 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-01-10T21:57:31.69970Z,1326232651.6997 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-01-10T21:57:31.70150Z,1326232651.7015 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-01-10T21:57:31.70320Z,1326232651.7032 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-01-10T21:57:33.41720Z,1326232653.4172 [NAL9601](INFO): Powering up NAL9601
2012-01-10T21:57:33.78050Z,1326232653.7805 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.1292800009 psu
2012-01-10T21:57:43.03610Z,1326232663.0361 [SBIT](IMPORTANT): Beginning Startup BIT
2012-01-10T21:57:43.03850Z,1326232663.0385 [CBIT](IMPORTANT): Beginning GF scan
2012-01-10T21:57:45.75270Z,1326232665.7527 [DAT](INFO): Powering down
2012-01-10T21:57:47.79580Z,1326232667.7958 [Radio_Freewave](INFO): Powering up
2012-01-10T21:58:09.21420Z,1326232689.2142 [CBIT](IMPORTANT): No ground fault detected
2012-01-10T21:58:25.10020Z,1326232705.1002 [SBIT](IMPORTANT): SBIT PASSED
2012-01-10T21:58:25.49080Z,1326232705.4908 [MissionManager](IMPORTANT): Started mission Startup
2012-01-10T21:58:25.49090Z,1326232705.4909 [Startup] Running Loop=1
2012-01-10T21:58:25.49110Z,1326232705.4911 [Startup](INFO): Aggregate::initialize Startup
2012-01-10T21:58:25.49120Z,1326232705.4912 [Startup:A.GoToSurface] Running Loop=1
2012-01-10T21:58:25.49120Z,1326232705.4912 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-01-10T21:58:25.49690Z,1326232705.4969 [Startup:StartupSatComms] Running Loop=1
2012-01-10T21:58:25.49700Z,1326232705.497 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-01-10T21:58:25.49720Z,1326232705.4972 [Startup:StartupSatComms:A] Running Loop=1
2012-01-10T21:58:25.89610Z,1326232705.8961 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-01-10T21:58:38.92690Z,1326232718.9269 [NAL9601](INFO): NAL9601 initialized
2012-01-10T21:58:40.09640Z,1326232720.0964 [NAL9601](IMPORTANT): GPS fix at: 1326232841
2012-01-10T21:58:40.10890Z,1326232720.1089 [Startup:StartupSatComms:A] Stopped
2012-01-10T21:58:40.10910Z,1326232720.1091 [Startup:StartupSatComms:B] Running Loop=1
2012-01-10T21:58:40.50810Z,1326232720.5081 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-01-10T21:58:58.02550Z,1326232738.0255 [NAL9601](IMPORTANT): SBD MO Status=1, MOMSN=41465, MT Status=1, MTMSN=3432
2012-01-10T21:58:58.18700Z,1326232738.187 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T212627/shore0003.lzma
2012-01-10T21:58:58.18730Z,1326232738.1873 [NAL9601](INFO): Packets left to send: 5
2012-01-10T21:58:58.18850Z,1326232738.1885 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000000
2012-01-10T21:58:58.65650Z,1326232738.6565 [NAL9601](INFO): Received command:load Engineering/Homing_altitude.xml;set homing_altitude.Altitude 9 meter;set homing_altitude.finalApproach 0.01 meter;run 
2012-01-10T21:58:58.68770Z,1326232738.6877 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/Homing_altitude.xml
2012-01-10T21:58:58.68810Z,1326232738.6881 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/Homing_altitude.xml
2012-01-10T21:58:58.77790Z,1326232738.7779 [MissionManager](INFO): DefineArg homing_altitude.Wpt1Lat = 36.823 arcdeg
2012-01-10T21:58:58.79320Z,1326232738.7932 [MissionManager](INFO): DefineArg homing_altitude.Wpt1Lon = -121.83 arcdeg
2012-01-10T21:58:58.79620Z,1326232738.7962 [MissionManager](INFO): DefineArg homing_altitude.Altitude = 10 m
2012-01-10T21:58:58.79920Z,1326232738.7992 [MissionManager](INFO): DefineArg homing_altitude.Speed = 1 m/s
2012-01-10T21:58:58.81460Z,1326232738.8146 [MissionManager](INFO): DefineArg homing_altitude.MassDefault = 0.006 n/a
2012-01-10T21:58:58.81800Z,1326232738.818 [MissionManager](INFO): DefineArg homing_altitude.BuoyancyNeutral = 0.000325 n/a
2012-01-10T21:58:58.82100Z,1326232738.821 [MissionManager](INFO): DefineArg homing_altitude.dockBearing = 10 arcdeg
2012-01-10T21:58:58.82400Z,1326232738.824 [MissionManager](INFO): DefineArg homing_altitude.inTrkOffset = 0 m
2012-01-10T21:58:58.83970Z,1326232738.8397 [MissionManager](INFO): DefineArg homing_altitude.xTrkOffset = 0 m
2012-01-10T21:58:58.84280Z,1326232738.8428 [MissionManager](INFO): DefineArg homing_altitude.finalApproach = 200 m
2012-01-10T21:58:58.84580Z,1326232738.8458 [MissionManager](INFO): DefineArg homing_altitude.clusterRadius = 20 m
2012-01-10T21:58:58.84890Z,1326232738.8489 [MissionManager](INFO): DefineArg homing_altitude.TimeoutDuration = 40 min
2012-01-10T21:58:58.86410Z,1326232738.8641 [MissionManager](INFO): DefineArg homing_altitude.kpAltitude = -0.08 n/a
2012-01-10T21:58:58.86710Z,1326232738.8671 [MissionManager](INFO): DefineArg homing_altitude.kiAltitude = 0 n/a
2012-01-10T21:58:58.87010Z,1326232738.8701 [MissionManager](INFO): DefineArg homing_altitude.kdAltitude = 0 n/a
2012-01-10T21:58:58.87200Z,1326232738.872 [homing_altitude:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-01-10T21:58:58.89170Z,1326232738.8917 [homing_altitude:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-01-10T21:58:58.91180Z,1326232738.9118 [homing_altitude:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2012-01-10T21:58:58.92060Z,1326232738.9206 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2012-01-10T21:58:58.96050Z,1326232738.9605 [MissionManager](INFO): DefineArg homing_altitude:SURFACECOMMS.SurfaceDepthRate = nan m/s
2012-01-10T21:58:58.96350Z,1326232738.9635 [MissionManager](INFO): DefineArg homing_altitude:SURFACECOMMS.SurfacePitch = nan arcdeg
2012-01-10T21:58:58.97850Z,1326232738.9785 [MissionManager](INFO): DefineArg homing_altitude:SURFACECOMMS.SurfaceSpeed = 0.5 m/s
2012-01-10T21:58:58.98150Z,1326232738.9815 [MissionManager](INFO): DefineArg homing_altitude:SURFACECOMMS.IridiumTimeout = 30 min
2012-01-10T21:58:58.99080Z,1326232738.9908 [homing_altitude:SURFACECOMMS:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-01-10T21:58:59.01930Z,1326232739.0193 [homing_altitude:WaypointOne:A.Pitch](DEBUG): Construct.
2012-01-10T21:58:59.02750Z,1326232739.0275 [homing_altitude:WaypointOne:B.Buoyancy](DEBUG): Construct Buoyancy.
2012-01-10T21:58:59.03110Z,1326232739.0311 [homing_altitude:WaypointOne:C.SetSpeed](DEBUG): Construct.
2012-01-10T21:58:59.04290Z,1326232739.0429 [homing_altitude:WaypointOne:D.PitchServo](DEBUG): Construct.
2012-01-10T21:58:59.05050Z,1326232739.0505 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Construct Waypoint.
2012-01-10T21:58:59.07070Z,1326232739.0707 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Construct Homing.
2012-01-10T21:58:59.11750Z,1326232739.1175 [homing_altitude:H.Execute](DEBUG): Construct Execute.
2012-01-10T21:58:59.13450Z,1326232739.1345 [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="homing_altitude">

<!-- Wpt1 d=74m; Wpt2 d=75m; Wpt3 d=77m -->

    <DefineArg Name="Wpt1Lat"><Units:degree/><Value>36.823</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Units:degree/><Value>-121.83</Value></DefineArg>

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

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

    <DefineArg Name="MassDefault"><CustomUri Uri="Config/Control.massDefault"/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><CustomUri Uri="Config/Control.buoyancyNeutral"/></DefineArg>

    <DefineArg Name="dockBearing"><Units:degree/><Value>10</Value></DefineArg>

    <DefineArg Name="inTrkOffset"><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="xTrkOffset"><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="finalApproach"><Units:meter/><Value>200</Value></DefineArg>

    <DefineArg Name="clusterRadius"><Units:meter/><Value>20</Value></DefineArg>

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

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

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

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

    <Timeout Duration="TimeoutDuration"/>

    <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/><Units:meter/><Value>37</Value></Setting>
    </Guidance:DepthEnvelope>

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

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

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

    <Aggregate Id="WaypointOne">

<!-- Home to Wpt1  -->

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

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

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1</Value></Setting>
        </Guidance:SetSpeed>

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

        <Guidance:Homing Id="WaypointW1" RunIn="Sequence">
            <Setting><Guidance:Homing.dockBearing/><Arg Name="dockBearing"/></Setting>
            <Setting><Guidance:Homing.inTrkOffset/><Arg Name="inTrkOffset"/></Setting>
            <Setting><Guidance:Homing.xTrkOffset/><Arg Name="xTrkOffset"/></Setting>
            <Setting><Guidance:Homing.finalApproach/><Arg Name="finalApproach"/></Setting>
            <Setting><Guidance:Homing.clusterRadius/><Arg Name="clusterRadius"/></Setting>
            <Setting><Guidance:Homing.latitude/><Arg Name="Wpt1Lat"/></Setting>
            <Setting><Guidance:Homing.longitude/><Arg Name="Wpt1Lon"/></Setting>
        </Guidance:Homing>

    </Aggregate>

    <Call Id="PHONEHOMEWPT1" RefId="SURFACECOMMS"/>

    <Guidance:Execute RunIn="Sequence">
        <Setting>
        <Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2012-01-10T21:58:59.13500Z,1326232739.135 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/Homing_altitude.xml
2012-01-10T21:58:59.32880Z,1326232739.3288 [CommandLine](IMPORTANT): got command set homing_altitude.Altitude 9 meter
2012-01-10T21:58:59.55040Z,1326232739.5504 [CommandLine](IMPORTANT): got command set homing_altitude.finalApproach 0.009999999776 meter
2012-01-10T21:58:59.55180Z,1326232739.5518 [CommandLine](IMPORTANT): got command run 
2012-01-10T21:58:59.55200Z,1326232739.552 [CommandLine](IMPORTANT): Running 
2012-01-10T21:59:18.88940Z,1326232758.8894 [NAL9601](INFO): SBD MO Status=1, MOMSN=41466, MT Status=0, MTMSN=0
2012-01-10T21:59:19.05500Z,1326232759.055 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T212627/shore0003.lzma
2012-01-10T21:59:19.05520Z,1326232759.0552 [NAL9601](INFO): Packets left to send: 4
2012-01-10T21:59:19.05630Z,1326232759.0563 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000001
2012-01-10T21:59:31.94540Z,1326232771.9454 [NAL9601](INFO): SBD MO Status=1, MOMSN=41467, MT Status=0, MTMSN=0
2012-01-10T21:59:32.13500Z,1326232772.135 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T212627/shore0003.lzma
2012-01-10T21:59:32.13520Z,1326232772.1352 [NAL9601](INFO): Packets left to send: 3
2012-01-10T21:59:32.13620Z,1326232772.1362 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000002
2012-01-10T21:59:40.46450Z,1326232780.4645 [Startup:StartupSatComms:B](INFO): Timed out from 2012-01-10T21:58:40.Z
2012-01-10T21:59:40.46470Z,1326232780.4647 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-01-10T21:59:40.46480Z,1326232780.4648 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-01-10T21:59:40.46510Z,1326232780.4651 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-01-10T21:59:40.46510Z,1326232780.4651 [Startup:StartupSatComms:B] Stopped
2012-01-10T21:59:40.46530Z,1326232780.4653 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-01-10T21:59:40.46540Z,1326232780.4654 [Startup:StartupSatComms] Stopped
2012-01-10T21:59:40.46550Z,1326232780.4655 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-01-10T21:59:40.46600Z,1326232780.466 [Startup](INFO): Completed Startup
2012-01-10T21:59:40.46610Z,1326232780.4661 [Startup] Stopped
2012-01-10T21:59:40.46620Z,1326232780.4662 [Startup](INFO): Aggregate::uninitialize Startup
2012-01-10T21:59:40.47050Z,1326232780.4705 [Startup:A.GoToSurface] Stopped
2012-01-10T21:59:40.47060Z,1326232780.4706 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-01-10T21:59:40.94330Z,1326232780.9433 [MissionManager](IMPORTANT): Started mission homing_altitude
2012-01-10T21:59:40.94350Z,1326232780.9435 [homing_altitude] Running Loop=1
2012-01-10T21:59:40.94360Z,1326232780.9436 [homing_altitude](INFO): Aggregate::initialize homing_altitude
2012-01-10T21:59:40.94370Z,1326232780.9437 [homing_altitude:A.AltitudeEnvelope] Running Loop=1
2012-01-10T21:59:40.94380Z,1326232780.9438 [homing_altitude:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2012-01-10T21:59:40.94410Z,1326232780.9441 [homing_altitude:B.DepthEnvelope] Running Loop=1
2012-01-10T21:59:40.94410Z,1326232780.9441 [homing_altitude:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-01-10T21:59:40.94550Z,1326232780.9455 [homing_altitude:C.OffshoreEnvelope] Running Loop=1
2012-01-10T21:59:40.94560Z,1326232780.9456 [homing_altitude:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2012-01-10T21:59:40.94570Z,1326232780.9457 [homing_altitude:D] Running Loop=1
2012-01-10T21:59:40.94590Z,1326232780.9459 [homing_altitude:SURFACECOMMS] Running Loop=1
2012-01-10T21:59:40.94600Z,1326232780.946 [homing_altitude:SURFACECOMMS](INFO): Aggregate::initialize homing_altitude:SURFACECOMMS
2012-01-10T21:59:40.94610Z,1326232780.9461 [homing_altitude:SURFACECOMMS:A.GoToSurface] Running Loop=1
2012-01-10T21:59:40.94620Z,1326232780.9462 [homing_altitude:SURFACECOMMS:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-01-10T21:59:40.95150Z,1326232780.9515 [homing_altitude:SURFACECOMMS:B] Running Loop=1
2012-01-10T21:59:40.95170Z,1326232780.9517 [homing_altitude:SURFACECOMMS:B](INFO): Aggregate::initialize homing_altitude:SURFACECOMMS:B
2012-01-10T21:59:40.95190Z,1326232780.9519 [homing_altitude:SURFACECOMMS:B:A] Running Loop=1
2012-01-10T21:59:40.95200Z,1326232780.952 [homing_altitude:D] Running Loop=1
2012-01-10T21:59:40.95260Z,1326232780.9526 [homing_altitude:D](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2012-01-10T21:59:40.95390Z,1326232780.9539 [homing_altitude:C.OffshoreEnvelope] Running Loop=1
2012-01-10T21:59:40.97120Z,1326232780.9712 [homing_altitude:B.DepthEnvelope] Running Loop=1
2012-01-10T21:59:40.97610Z,1326232780.9761 [homing_altitude:A.AltitudeEnvelope] Running Loop=1
2012-01-10T21:59:41.23390Z,1326232781.2339 [homing_altitude:SURFACECOMMS:B:A](DEBUG): Initialize ReadDataComponent to sense time_fix
2012-01-10T21:59:44.00930Z,1326232784.0093 [NAL9601](INFO): SBD MO Status=1, MOMSN=41468, MT Status=0, MTMSN=0
2012-01-10T21:59:44.21490Z,1326232784.2149 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T212627/shore0003.lzma
2012-01-10T21:59:44.21520Z,1326232784.2152 [NAL9601](INFO): Packets left to send: 2
2012-01-10T21:59:44.21640Z,1326232784.2164 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000003
2012-01-10T21:59:58.72270Z,1326232798.7227 [NAL9601](INFO): SBD MO Status=1, MOMSN=41469, MT Status=0, MTMSN=0
2012-01-10T21:59:58.89490Z,1326232798.8949 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T212627/shore0003.lzma
2012-01-10T21:59:58.89520Z,1326232798.8952 [NAL9601](INFO): Packets left to send: 1
2012-01-10T21:59:58.89620Z,1326232798.8962 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000004
2012-01-10T22:00:07.25330Z,1326232807.2533 [NAL9601](INFO): SBD MO Status=1, MOMSN=41470, MT Status=0, MTMSN=0
2012-01-10T22:00:07.37890Z,1326232807.3789 [NAL9601](INFO): Sent 7 bytes from file Logs/20120110T212627/shore0003.lzma
2012-01-10T22:00:07.37910Z,1326232807.3791 [NAL9601](INFO): Packets left to send: 0
2012-01-10T22:00:07.38020Z,1326232807.3802 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000005
2012-01-10T22:00:18.96540Z,1326232818.9654 [NAL9601](INFO): SBD MO Status=1, MOMSN=41471, MT Status=0, MTMSN=0
2012-01-10T22:00:19.16290Z,1326232819.1629 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T212627/shore0004.lzma
2012-01-10T22:00:19.16320Z,1326232819.1632 [NAL9601](INFO): Packets left to send: 1
2012-01-10T22:00:19.16420Z,1326232819.1642 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000006
2012-01-10T22:00:30.32000Z,1326232830.32 [NAL9601](INFO): SBD MO Status=1, MOMSN=41472, MT Status=0, MTMSN=0
2012-01-10T22:00:30.44290Z,1326232830.4429 [NAL9601](INFO): Sent 61 bytes from file Logs/20120110T212627/shore0004.lzma
2012-01-10T22:00:30.44320Z,1326232830.4432 [NAL9601](INFO): Packets left to send: 0
2012-01-10T22:00:30.44420Z,1326232830.4442 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000007
2012-01-10T22:00:41.24130Z,1326232841.2413 [NAL9601](INFO): SBD MO Status=1, MOMSN=41473, MT Status=0, MTMSN=0
2012-01-10T22:00:41.42700Z,1326232841.427 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0000.lzma
2012-01-10T22:00:41.42720Z,1326232841.4272 [NAL9601](INFO): Packets left to send: 3
2012-01-10T22:00:41.42840Z,1326232841.4284 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000008
2012-01-10T22:01:08.55990Z,1326232868.5599 [NAL9601](INFO): SBD MO Status=2, MOMSN=41474, MT Status=0, MTMSN=0
2012-01-10T22:01:08.56020Z,1326232868.5602 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-01-10T22:01:09.78820Z,1326232869.7882 [NAL9601](IMPORTANT): GPS fix at: 1326232991
2012-01-10T22:01:09.84900Z,1326232869.849 [homing_altitude:SURFACECOMMS:B:A] Stopped
2012-01-10T22:01:09.84920Z,1326232869.8492 [homing_altitude:SURFACECOMMS:B:B] Running Loop=1
2012-01-10T22:01:10.17280Z,1326232870.1728 [homing_altitude:SURFACECOMMS:B:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-01-10T22:01:37.81150Z,1326232897.8115 [NAL9601](INFO): SBD MO Status=2, MOMSN=41474, MT Status=2, MTMSN=0
2012-01-10T22:01:37.81170Z,1326232897.8117 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-01-10T22:01:57.79130Z,1326232917.7913 [NAL9601](INFO): SBD MO Status=1, MOMSN=41474, MT Status=0, MTMSN=0
2012-01-10T22:01:58.00690Z,1326232918.0069 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0000.lzma
2012-01-10T22:01:58.00720Z,1326232918.0072 [NAL9601](INFO): Packets left to send: 2
2012-01-10T22:01:58.00820Z,1326232918.0082 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000009
2012-01-10T22:02:06.25660Z,1326232926.2566 [NAL9601](INFO): SBD MO Status=1, MOMSN=41475, MT Status=0, MTMSN=0
2012-01-10T22:02:06.39480Z,1326232926.3948 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0000.lzma
2012-01-10T22:02:06.39510Z,1326232926.3951 [NAL9601](INFO): Packets left to send: 1
2012-01-10T22:02:06.39610Z,1326232926.3961 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000010
2012-01-10T22:02:13.98040Z,1326232933.9804 [NAL9601](INFO): SBD MO Status=1, MOMSN=41476, MT Status=0, MTMSN=0
2012-01-10T22:02:14.18280Z,1326232934.1828 [NAL9601](INFO): Sent 226 bytes from file Logs/20120110T215722/shore0000.lzma
2012-01-10T22:02:14.18310Z,1326232934.1831 [NAL9601](INFO): Packets left to send: 0
2012-01-10T22:02:14.18410Z,1326232934.1841 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000011
2012-01-10T22:02:21.56930Z,1326232941.5693 [NAL9601](INFO): SBD MO Status=0, MOMSN=41477, MT Status=0, MTMSN=0
2012-01-10T22:02:33.84780Z,1326232953.8478 [NAL9601](INFO): SBD MO Status=1, MOMSN=41478, MT Status=0, MTMSN=0
2012-01-10T22:02:34.05490Z,1326232954.0549 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0001.lzma
2012-01-10T22:02:34.05510Z,1326232954.0551 [NAL9601](INFO): Packets left to send: 5
2012-01-10T22:02:34.05620Z,1326232954.0562 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000012
2012-01-10T22:02:43.18540Z,1326232963.1854 [NAL9601](INFO): SBD MO Status=1, MOMSN=41479, MT Status=0, MTMSN=0
2012-01-10T22:02:43.33890Z,1326232963.3389 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0001.lzma
2012-01-10T22:02:43.33920Z,1326232963.3392 [NAL9601](INFO): Packets left to send: 4
2012-01-10T22:02:43.34030Z,1326232963.3403 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000013
2012-01-10T22:02:51.71350Z,1326232971.7135 [NAL9601](INFO): SBD MO Status=1, MOMSN=41480, MT Status=0, MTMSN=0
2012-01-10T22:02:51.92280Z,1326232971.9228 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0001.lzma
2012-01-10T22:02:51.92310Z,1326232971.9231 [NAL9601](INFO): Packets left to send: 3
2012-01-10T22:02:51.92410Z,1326232971.9241 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000014
2012-01-10T22:03:03.82790Z,1326232983.8279 [NAL9601](INFO): SBD MO Status=1, MOMSN=41481, MT Status=0, MTMSN=0
2012-01-10T22:03:04.00680Z,1326232984.0068 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0001.lzma
2012-01-10T22:03:04.00710Z,1326232984.0071 [NAL9601](INFO): Packets left to send: 2
2012-01-10T22:03:04.00810Z,1326232984.0081 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000015
2012-01-10T22:03:11.51750Z,1326232991.5175 [NAL9601](INFO): SBD MO Status=1, MOMSN=41482, MT Status=0, MTMSN=0
2012-01-10T22:03:11.69480Z,1326232991.6948 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0001.lzma
2012-01-10T22:03:11.69510Z,1326232991.6951 [NAL9601](INFO): Packets left to send: 1
2012-01-10T22:03:11.69940Z,1326232991.6994 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000016
2012-01-10T22:03:18.82530Z,1326232998.8253 [NAL9601](INFO): SBD MO Status=1, MOMSN=41483, MT Status=0, MTMSN=0
2012-01-10T22:03:18.98290Z,1326232998.9829 [NAL9601](INFO): Sent 254 bytes from file Logs/20120110T215722/shore0001.lzma
2012-01-10T22:03:18.98320Z,1326232998.9832 [NAL9601](INFO): Packets left to send: 0
2012-01-10T22:03:18.98430Z,1326232998.9843 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000017
2012-01-10T22:03:23.62930Z,1326233003.6293 [NAL9601](INFO): SBD MO Status=0, MOMSN=41484, MT Status=0, MTMSN=0
2012-01-10T22:03:23.80480Z,1326233003.8048 [homing_altitude:SURFACECOMMS:B:B] Stopped
2012-01-10T22:03:23.80500Z,1326233003.805 [homing_altitude:SURFACECOMMS:B:C] Running Loop=1
2012-01-10T22:03:24.04660Z,1326233004.0466 [homing_altitude:SURFACECOMMS:B:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2012-01-10T22:03:26.02560Z,1326233006.0256 [NAL9601](IMPORTANT): GPS fix at: 1326233128
2012-01-10T22:03:26.03900Z,1326233006.039 [homing_altitude:SURFACECOMMS:B:C] Stopped
2012-01-10T22:03:26.03920Z,1326233006.0392 [homing_altitude:SURFACECOMMS:B](INFO): Completed homing_altitude:SURFACECOMMS:B
2012-01-10T22:03:26.03930Z,1326233006.0393 [homing_altitude:SURFACECOMMS:B] Stopped
2012-01-10T22:03:26.03950Z,1326233006.0395 [homing_altitude:SURFACECOMMS:B](INFO): Aggregate::uninitialize homing_altitude:SURFACECOMMS:B
2012-01-10T22:03:26.04000Z,1326233006.04 [homing_altitude:SURFACECOMMS](INFO): Completed homing_altitude:SURFACECOMMS
2012-01-10T22:03:26.04010Z,1326233006.0401 [homing_altitude:SURFACECOMMS] Stopped
2012-01-10T22:03:26.04020Z,1326233006.0402 [homing_altitude:SURFACECOMMS](INFO): Aggregate::uninitialize homing_altitude:SURFACECOMMS
2012-01-10T22:03:26.04030Z,1326233006.0403 [homing_altitude:SURFACECOMMS:A.GoToSurface] Stopped
2012-01-10T22:03:26.04040Z,1326233006.0404 [homing_altitude:SURFACECOMMS:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-01-10T22:03:26.04050Z,1326233006.0405 [homing_altitude:WaypointOne] Running Loop=1
2012-01-10T22:03:26.04060Z,1326233006.0406 [homing_altitude:WaypointOne](INFO): Aggregate::initialize homing_altitude:WaypointOne
2012-01-10T22:03:26.04070Z,1326233006.0407 [homing_altitude:WaypointOne:A.Pitch] Running Loop=1
2012-01-10T22:03:26.04080Z,1326233006.0408 [homing_altitude:WaypointOne:A.Pitch](DEBUG): Initialize.
2012-01-10T22:03:26.04100Z,1326233006.041 [homing_altitude:WaypointOne:B.Buoyancy] Running Loop=1
2012-01-10T22:03:26.04100Z,1326233006.041 [homing_altitude:WaypointOne:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2012-01-10T22:03:26.04150Z,1326233006.0415 [homing_altitude:WaypointOne:C.SetSpeed] Running Loop=1
2012-01-10T22:03:26.04160Z,1326233006.0416 [homing_altitude:WaypointOne:C.SetSpeed](DEBUG): Initialize.
2012-01-10T22:03:26.04170Z,1326233006.0417 [homing_altitude:WaypointOne:D.PitchServo] Running Loop=1
2012-01-10T22:03:26.04180Z,1326233006.0418 [homing_altitude:WaypointOne:D.PitchServo](DEBUG): Initialize.
2012-01-10T22:03:26.04210Z,1326233006.0421 [homing_altitude:WaypointOne:D.PitchServo](INFO): Initialize with holdValue=height_above_sea_floor
2012-01-10T22:03:26.04310Z,1326233006.0431 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint] Running Loop=1
2012-01-10T22:03:26.04320Z,1326233006.0432 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Initialize HomingComponent.
2012-01-10T22:03:26.04330Z,1326233006.0433 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Initialize WaypointComponent.
2012-01-10T22:03:26.45630Z,1326233006.4563 [homing_altitude:WaypointOne:D.PitchServo] Running Loop=1
2012-01-10T22:03:26.46070Z,1326233006.4607 [homing_altitude:WaypointOne:C.SetSpeed] Running Loop=1
2012-01-10T22:03:26.46510Z,1326233006.4651 [homing_altitude:WaypointOne:B.Buoyancy] Running Loop=1
2012-01-10T22:03:26.46960Z,1326233006.4696 [homing_altitude:WaypointOne:A.Pitch] Running Loop=1
2012-01-10T22:03:32.42330Z,1326233012.4233 [NAL9601](INFO): Powering down
2012-01-10T22:03:40.05800Z,1326233020.058 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Homing:: Beacon is in the DAT FOV with dtw = 708.01. Turning DAT on.
2012-01-10T22:03:40.43330Z,1326233020.4333 [DAT](INFO): Powering up
2012-01-10T22:04:04.94530Z,1326233044.9453 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Homing:: The Usbl has 1 transponder hits.
2012-01-10T22:04:09.74850Z,1326233049.7485 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Homing:: The Usbl has 2 transponder hits.
2012-01-10T22:04:14.56320Z,1326233054.5632 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Homing:: The Usbl has 3 transponder hits.
2012-01-10T22:04:19.33620Z,1326233059.3362 [Radio_Freewave](INFO): Powering down
2012-01-10T22:04:19.34810Z,1326233059.3481 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Homing:: The Usbl has 4 transponder hits.
2012-01-10T22:04:24.19720Z,1326233064.1972 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Homing:: The Usbl has 5 transponder hits; the filter is now engaged.
2012-01-10T22:04:24.19750Z,1326233064.1975 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Homing::  The vehicle lat,lon is (36.8174, -121.8267) with dtw = 643.2
2012-01-10T22:04:24.19900Z,1326233064.199 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Homing:: Pure pursuit active. dtw = 643.0 m.
2012-01-10T22:06:30.52240Z,1326233190.5224 [DAT](ERROR): No response from remote modem
2012-01-10T22:17:35.11820Z,1326233855.1182 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Homing:: Beacon has exited the DAT FOV with dtw = 1.46.  Turning DAT off.
2012-01-10T22:17:35.11890Z,1326233855.1189 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Homing:: Cross-track control active. dtw = 1.6 m.
2012-01-10T22:17:35.98620Z,1326233855.9862 [DAT](INFO): Powering down
2012-01-10T22:17:44.38590Z,1326233864.3859 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Homing:: Beacon is in the DAT FOV with dtw = 4.48. Turning DAT on.
2012-01-10T22:17:44.38680Z,1326233864.3868 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Homing:: Pure pursuit active. dtw = 4.4 m.
2012-01-10T22:17:44.78230Z,1326233864.7823 [DAT](INFO): Powering up
2012-01-10T22:17:55.98480Z,1326233875.9848 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](IMPORTANT): Homing:: Terminating now. dtw = -0.2 m, DATRange = nan m.
2012-01-10T22:17:55.98540Z,1326233875.9854 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](INFO): Homing::Reached Waypoint 36.82267698,-121.8286287
2012-01-10T22:17:55.98570Z,1326233875.9857 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint] Stopped
2012-01-10T22:17:55.98580Z,1326233875.9858 [homing_altitude:WaypointOne:WaypointW1.HomingWaypoint](DEBUG): Uninitialize HomingComponent.
2012-01-10T22:17:55.98730Z,1326233875.9873 [homing_altitude:WaypointOne](INFO): Completed homing_altitude:WaypointOne
2012-01-10T22:17:55.98740Z,1326233875.9874 [homing_altitude:WaypointOne] Stopped
2012-01-10T22:17:55.98750Z,1326233875.9875 [homing_altitude:WaypointOne](INFO): Aggregate::uninitialize homing_altitude:WaypointOne
2012-01-10T22:17:55.98760Z,1326233875.9876 [homing_altitude:WaypointOne:A.Pitch] Stopped
2012-01-10T22:17:55.98760Z,1326233875.9876 [homing_altitude:WaypointOne:B.Buoyancy] Stopped
2012-01-10T22:17:55.98770Z,1326233875.9877 [homing_altitude:WaypointOne:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2012-01-10T22:17:55.98780Z,1326233875.9878 [homing_altitude:WaypointOne:C.SetSpeed] Stopped
2012-01-10T22:17:55.98790Z,1326233875.9879 [homing_altitude:WaypointOne:C.SetSpeed](DEBUG): Uninitialize.
2012-01-10T22:17:55.98790Z,1326233875.9879 [homing_altitude:WaypointOne:D.PitchServo] Stopped
2012-01-10T22:17:55.98800Z,1326233875.988 [homing_altitude:WaypointOne:D.PitchServo](DEBUG): Uninitialize.
2012-01-10T22:17:55.98810Z,1326233875.9881 [homing_altitude:PHONEHOMEWPT1] Running Loop=1
2012-01-10T22:17:55.98830Z,1326233875.9883 [homing_altitude:PHONEHOMEWPT1](INFO): Aggregate::initialize homing_altitude:PHONEHOMEWPT1
2012-01-10T22:17:56.42320Z,1326233876.4232 [homing_altitude:SURFACECOMMS] Running Loop=1
2012-01-10T22:17:56.42340Z,1326233876.4234 [homing_altitude:SURFACECOMMS](INFO): Aggregate::initialize homing_altitude:SURFACECOMMS
2012-01-10T22:17:56.42350Z,1326233876.4235 [homing_altitude:SURFACECOMMS:A.GoToSurface] Running Loop=1
2012-01-10T22:17:56.42360Z,1326233876.4236 [homing_altitude:SURFACECOMMS:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-01-10T22:18:00.40140Z,1326233880.4014 [DAT](INFO): Powering down
2012-01-10T22:18:24.51800Z,1326233904.518 [Batt_Ocean_Server](INFO): Over Temperature Alarm! Battery Bank #5 STATUS: 5911
2012-01-10T22:18:24.51840Z,1326233904.5184 [Batt_Ocean_Server](INFO): Not Initialized - Battery Bank #5 STATUS: 5911
2012-01-10T22:18:38.16150Z,1326233918.1615 [Batt_Ocean_Server](INFO): Over Temperature Alarm! Battery Bank #4 STATUS: 5911
2012-01-10T22:18:38.16180Z,1326233918.1618 [Batt_Ocean_Server](INFO): Not Initialized - Battery Bank #4 STATUS: 5911
2012-01-10T22:23:00.31650Z,1326234180.3165 [Radio_Freewave](INFO): Powering up
2012-01-10T22:23:00.32560Z,1326234180.3256 [homing_altitude:SURFACECOMMS:B] Running Loop=1
2012-01-10T22:23:00.32580Z,1326234180.3258 [homing_altitude:SURFACECOMMS:B](INFO): Aggregate::initialize homing_altitude:SURFACECOMMS:B
2012-01-10T22:23:00.32590Z,1326234180.3259 [homing_altitude:SURFACECOMMS:B:A] Running Loop=1
2012-01-10T22:23:01.09600Z,1326234181.096 [NAL9601](INFO): Powering up
2012-01-10T22:24:06.80700Z,1326234246.807 [NAL9601](INFO): NAL9601 initialized
2012-01-10T22:24:07.92460Z,1326234247.9246 [NAL9601](IMPORTANT): GPS fix at: 1326234372
2012-01-10T22:24:07.94030Z,1326234247.9403 [homing_altitude:SURFACECOMMS:B:A] Stopped
2012-01-10T22:24:07.94060Z,1326234247.9406 [homing_altitude:SURFACECOMMS:B:B] Running Loop=1
2012-01-10T22:24:29.03730Z,1326234269.0373 [NAL9601](INFO): SBD MO Status=2, MOMSN=41485, MT Status=2, MTMSN=0
2012-01-10T22:24:29.03760Z,1326234269.0376 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-01-10T22:25:19.66930Z,1326234319.6693 [NAL9601](INFO): SBD MO Status=1, MOMSN=41485, MT Status=0, MTMSN=0
2012-01-10T22:25:19.88290Z,1326234319.8829 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:25:19.88310Z,1326234319.8831 [NAL9601](INFO): Packets left to send: 19
2012-01-10T22:25:19.88440Z,1326234319.8844 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000018
2012-01-10T22:25:32.67850Z,1326234332.6785 [NAL9601](INFO): SBD MO Status=1, MOMSN=41486, MT Status=0, MTMSN=0
2012-01-10T22:25:32.86290Z,1326234332.8629 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:25:32.86310Z,1326234332.8631 [NAL9601](INFO): Packets left to send: 18
2012-01-10T22:25:32.86420Z,1326234332.8642 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000019
2012-01-10T22:25:44.35450Z,1326234344.3545 [NAL9601](INFO): SBD MO Status=1, MOMSN=41487, MT Status=0, MTMSN=0
2012-01-10T22:25:44.54680Z,1326234344.5468 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:25:44.54710Z,1326234344.5471 [NAL9601](INFO): Packets left to send: 17
2012-01-10T22:25:44.54820Z,1326234344.5482 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000020
2012-01-10T22:25:52.87200Z,1326234352.872 [NAL9601](INFO): SBD MO Status=1, MOMSN=41488, MT Status=0, MTMSN=0
2012-01-10T22:25:53.03090Z,1326234353.0309 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:25:53.03110Z,1326234353.0311 [NAL9601](INFO): Packets left to send: 16
2012-01-10T22:25:53.04340Z,1326234353.0434 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000021
2012-01-10T22:26:01.30420Z,1326234361.3042 [NAL9601](INFO): SBD MO Status=1, MOMSN=41489, MT Status=0, MTMSN=0
2012-01-10T22:26:01.51890Z,1326234361.5189 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:26:01.51910Z,1326234361.5191 [NAL9601](INFO): Packets left to send: 15
2012-01-10T22:26:01.70070Z,1326234361.7007 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000022
2012-01-10T22:26:09.92490Z,1326234369.9249 [NAL9601](INFO): SBD MO Status=1, MOMSN=41490, MT Status=0, MTMSN=0
2012-01-10T22:26:10.10680Z,1326234370.1068 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:26:10.10710Z,1326234370.1071 [NAL9601](INFO): Packets left to send: 14
2012-01-10T22:26:10.56320Z,1326234370.5632 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000023
2012-01-10T22:26:18.12650Z,1326234378.1265 [NAL9601](INFO): SBD MO Status=1, MOMSN=41491, MT Status=0, MTMSN=0
2012-01-10T22:26:18.31500Z,1326234378.315 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:26:18.31530Z,1326234378.3153 [NAL9601](INFO): Packets left to send: 13
2012-01-10T22:26:18.31640Z,1326234378.3164 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000024
2012-01-10T22:26:25.85860Z,1326234385.8586 [NAL9601](INFO): SBD MO Status=1, MOMSN=41492, MT Status=0, MTMSN=0
2012-01-10T22:26:25.97890Z,1326234385.9789 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:26:25.97910Z,1326234385.9791 [NAL9601](INFO): Packets left to send: 12
2012-01-10T22:26:25.98020Z,1326234385.9802 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000025
2012-01-10T22:26:37.95630Z,1326234397.9563 [NAL9601](INFO): SBD MO Status=1, MOMSN=41493, MT Status=0, MTMSN=0
2012-01-10T22:26:38.16280Z,1326234398.1628 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:26:38.16300Z,1326234398.163 [NAL9601](INFO): Packets left to send: 11
2012-01-10T22:26:38.16420Z,1326234398.1642 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000026
2012-01-10T22:26:49.65730Z,1326234409.6573 [NAL9601](INFO): SBD MO Status=1, MOMSN=41494, MT Status=0, MTMSN=0
2012-01-10T22:26:49.84290Z,1326234409.8429 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:26:49.84310Z,1326234409.8431 [NAL9601](INFO): Packets left to send: 10
2012-01-10T22:26:49.84420Z,1326234409.8442 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000027
2012-01-10T22:26:58.15730Z,1326234418.1573 [NAL9601](INFO): SBD MO Status=1, MOMSN=41495, MT Status=0, MTMSN=0
2012-01-10T22:26:58.33090Z,1326234418.3309 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:26:58.33110Z,1326234418.3311 [NAL9601](INFO): Packets left to send: 9
2012-01-10T22:26:58.33240Z,1326234418.3324 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000028
2012-01-10T22:27:06.26860Z,1326234426.2686 [NAL9601](INFO): SBD MO Status=1, MOMSN=41496, MT Status=0, MTMSN=0
2012-01-10T22:27:06.41890Z,1326234426.4189 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:27:06.41910Z,1326234426.4191 [NAL9601](INFO): Packets left to send: 8
2012-01-10T22:27:06.42030Z,1326234426.4203 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000029
2012-01-10T22:27:18.37720Z,1326234438.3772 [NAL9601](INFO): SBD MO Status=1, MOMSN=41497, MT Status=0, MTMSN=0
2012-01-10T22:27:18.49880Z,1326234438.4988 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:27:18.49910Z,1326234438.4991 [NAL9601](INFO): Packets left to send: 7
2012-01-10T22:27:18.50020Z,1326234438.5002 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000030
2012-01-10T22:27:26.87720Z,1326234446.8772 [NAL9601](INFO): SBD MO Status=1, MOMSN=41498, MT Status=0, MTMSN=0
2012-01-10T22:27:27.08290Z,1326234447.0829 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:27:27.08310Z,1326234447.0831 [NAL9601](INFO): Packets left to send: 6
2012-01-10T22:27:27.83080Z,1326234447.8308 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000031
2012-01-10T22:27:35.65480Z,1326234455.6548 [NAL9601](INFO): SBD MO Status=1, MOMSN=41499, MT Status=0, MTMSN=0
2012-01-10T22:27:35.87090Z,1326234455.8709 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:27:35.87110Z,1326234455.8711 [NAL9601](INFO): Packets left to send: 5
2012-01-10T22:27:35.87220Z,1326234455.8722 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000032
2012-01-10T22:27:43.37600Z,1326234463.376 [NAL9601](INFO): SBD MO Status=1, MOMSN=41500, MT Status=0, MTMSN=0
2012-01-10T22:27:43.55890Z,1326234463.5589 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:27:43.55920Z,1326234463.5592 [NAL9601](INFO): Packets left to send: 4
2012-01-10T22:27:43.56030Z,1326234463.5603 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000033
2012-01-10T22:27:52.74620Z,1326234472.7462 [NAL9601](INFO): SBD MO Status=1, MOMSN=41501, MT Status=0, MTMSN=0
2012-01-10T22:27:52.94690Z,1326234472.9469 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:27:52.94710Z,1326234472.9471 [NAL9601](INFO): Packets left to send: 3
2012-01-10T22:27:52.94820Z,1326234472.9482 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000034
2012-01-10T22:28:05.28530Z,1326234485.2853 [NAL9601](INFO): SBD MO Status=1, MOMSN=41502, MT Status=0, MTMSN=0
2012-01-10T22:28:05.42690Z,1326234485.4269 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:28:05.42720Z,1326234485.4272 [NAL9601](INFO): Packets left to send: 2
2012-01-10T22:28:05.42830Z,1326234485.4283 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000035
2012-01-10T22:28:16.66450Z,1326234496.6645 [NAL9601](INFO): SBD MO Status=1, MOMSN=41503, MT Status=0, MTMSN=0
2012-01-10T22:28:16.80680Z,1326234496.8068 [NAL9601](INFO): Sent 332 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:28:16.80710Z,1326234496.8071 [NAL9601](INFO): Packets left to send: 1
2012-01-10T22:28:16.80830Z,1326234496.8083 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000036
2012-01-10T22:28:28.83330Z,1326234508.8333 [NAL9601](INFO): SBD MO Status=1, MOMSN=41504, MT Status=0, MTMSN=0
2012-01-10T22:28:28.98690Z,1326234508.9869 [NAL9601](INFO): Sent 43 bytes from file Logs/20120110T215722/shore0002.lzma
2012-01-10T22:28:28.98710Z,1326234508.9871 [NAL9601](INFO): Packets left to send: 0
2012-01-10T22:28:28.98830Z,1326234508.9883 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000037
2012-01-10T22:29:03.35610Z,1326234543.3561 [NAL9601](INFO): SBD MO Status=2, MOMSN=41505, MT Status=2, MTMSN=0
2012-01-10T22:29:03.35640Z,1326234543.3564 [NAL9601](ERROR): Failed to initiate SBD session. Error code: 2
2012-01-10T22:29:10.67730Z,1326234550.6773 [NAL9601](INFO): SBD MO Status=0, MOMSN=41505, MT Status=0, MTMSN=0
2012-01-10T22:29:10.83620Z,1326234550.8362 [homing_altitude:SURFACECOMMS:B:B] Stopped
2012-01-10T22:29:10.83640Z,1326234550.8364 [homing_altitude:SURFACECOMMS:B:C] Running Loop=1
2012-01-10T22:29:13.07350Z,1326234553.0735 [NAL9601](IMPORTANT): GPS fix at: 1326234677
2012-01-10T22:29:13.08710Z,1326234553.0871 [homing_altitude:SURFACECOMMS:B:C] Stopped
2012-01-10T22:29:13.08730Z,1326234553.0873 [homing_altitude:SURFACECOMMS:B](INFO): Completed homing_altitude:SURFACECOMMS:B
2012-01-10T22:29:13.08740Z,1326234553.0874 [homing_altitude:SURFACECOMMS:B] Stopped
2012-01-10T22:29:13.08750Z,1326234553.0875 [homing_altitude:SURFACECOMMS:B](INFO): Aggregate::uninitialize homing_altitude:SURFACECOMMS:B
2012-01-10T22:29:13.08800Z,1326234553.088 [homing_altitude:SURFACECOMMS](INFO): Completed homing_altitude:SURFACECOMMS
2012-01-10T22:29:13.08810Z,1326234553.0881 [homing_altitude:SURFACECOMMS] Stopped
2012-01-10T22:29:13.08820Z,1326234553.0882 [homing_altitude:SURFACECOMMS](INFO): Aggregate::uninitialize homing_altitude:SURFACECOMMS
2012-01-10T22:29:13.08830Z,1326234553.0883 [homing_altitude:SURFACECOMMS:A.GoToSurface] Stopped
2012-01-10T22:29:13.08830Z,1326234553.0883 [homing_altitude:SURFACECOMMS:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-01-10T22:29:13.48360Z,1326234553.4836 [homing_altitude:PHONEHOMEWPT1](INFO): Completed homing_altitude:PHONEHOMEWPT1
2012-01-10T22:29:13.48370Z,1326234553.4837 [homing_altitude:PHONEHOMEWPT1] Stopped
2012-01-10T22:29:13.48390Z,1326234553.4839 [homing_altitude:PHONEHOMEWPT1](INFO): Aggregate::uninitialize homing_altitude:PHONEHOMEWPT1
2012-01-10T22:29:13.48400Z,1326234553.484 [homing_altitude:H.Execute] Running Loop=1
2012-01-10T22:29:13.91310Z,1326234553.9131 [homing_altitude:H.Execute](INFO): Executing command restart logs
2012-01-10T22:29:13.91830Z,1326234553.9183 [homing_altitude:H.Execute] Stopped
2012-01-10T22:29:13.91940Z,1326234553.9194 [homing_altitude](INFO): Completed homing_altitude
2012-01-10T22:29:13.91950Z,1326234553.9195 [homing_altitude] Stopped
2012-01-10T22:29:13.91960Z,1326234553.9196 [homing_altitude](INFO): Aggregate::uninitialize homing_altitude
2012-01-10T22:29:13.91970Z,1326234553.9197 [homing_altitude:A.AltitudeEnvelope] Stopped
2012-01-10T22:29:13.91980Z,1326234553.9198 [homing_altitude:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2012-01-10T22:29:13.91990Z,1326234553.9199 [homing_altitude:B.DepthEnvelope] Stopped
2012-01-10T22:29:13.91990Z,1326234553.9199 [homing_altitude:B.DepthEnvelope](DEBUG): Uninitialize.
2012-01-10T22:29:13.92000Z,1326234553.92 [homing_altitude:C.OffshoreEnvelope] Stopped
2012-01-10T22:29:13.92010Z,1326234553.9201 [homing_altitude:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2012-01-10T22:29:13.92010Z,1326234553.9201 [homing_altitude:D] Stopped
2012-01-10T22:29:13.94680Z,1326234553.9468 [CommandLine](IMPORTANT): got command restart logs