Retry for 18 June.  Swells moderate.

Imaging Vehicle IP addresses:

 32.106 - mvc stack
 32.127 - Imagenex 4040
 32.42  - xPort   10001  Camera trigger and camera+strobe power, 
	  strobe enable.  Serial port that feeds the camera gps input for
	  the xif data.
 32.51  - uBox Camera usb port; what Brett uses to transfer photos and camera
	  settings. 
 32.132 - mvc wifi radio  Mac: 7A
 32.131 - ship wifi radio on the mast     Mac: 76

173.00 10:13, Sq1CynLawn.cfg.  Hans changed the ascent/descent to rudder
       fixed, and the abort altitude to 1.5

173.01 10:15. Imagenex not responding; commented out of devices.cfg.  Changed
       nSamplePeriods .0 to 8.

173.02 dtw was negative, so the doubling-back waypoints fell through
       immediately. Added a regular non-homing waypoint 100 m West of the
       beacon to get the vehicle turned around before restarting homing.

173.03 Apparently worked.  But the accrued navigation error is confusing on
       the navplot.

navigation.log.gz:                                     712.44 kB   47.38 kB/s
parosci.log.gz:                                        188.07 kB   41.14 kB/s
rdiDVL_specs.cfg.gz:                                   375.00 B     2.02 kB/s
resonSeabat8101_specs.cfg.gz:                          161.00 B     1.29 kB/s
sonardyne.cfg.gz:                                      490.00 B     2.39 kB/s
sonardyne.log.gz:                                       43.15 kB   59.10 kB/s
syslog.gz:                                              67.17 kB   53.61 kB/s
tailCone.log.gz:                                        90.31 kB   49.84 kB/s
terrainAid.cfg.gz:                                     270.00 B     1.34 kB/s
vehicle.cfg.gz:                                          1.57 kB    9.58 kB/s
workSite.cfg.gz:                                         0.99 kB    5.26 kB/s

173.04 12:13 Bumped the xtrkoffsets by 4 m.

DropWeight.log.gz:                                      12.55 kB   40.48 kB/s
Env.log.gz:                                             18.97 kB   45.93 kB/s
SqlCynLawn3.cfg.pp.gz:                                 792.00 B     4.96 kB/s
TerrainAid.log.gz:                                      27.16 kB   39.19 kB/s
abortMplan.cfg.gz:                                     303.00 B     1.43 kB/s
camera.log.gz:                                           1.71 kB    8.34 kB/s
devices.cfg.gz:                                          1.20 kB    7.86 kB/s
dvl.cfg.gz:                                              1.61 kB    8.59 kB/s
dvl.log.gz:                                            173.45 kB   51.27 kB/s
dynamicControl.log.gz:                                 949.29 kB   46.16 kB/s
events.log.gz:                                          31.00 B   119.69 B/s
gps.log.gz:                                              9.26 kB   52.04 kB/s
m3dmgx1.log.gz:                                        748.70 kB   47.33 kB/s
mappingAUV_specs.cfg.gz:                               146.00 B   780.75 B/s
navigation.log.gz:                                     739.01 kB   49.37 kB/s
parosci.log.gz:                                        196.30 kB   53.41 kB/s
rdiDVL_specs.cfg.gz:                                   375.00 B     2.30 kB/s
resonSeabat8101_specs.cfg.gz:                          161.00 B   987.73 B/s
sonardyne.cfg.gz:                                      490.00 B     2.29 kB/s
sonardyne.log.gz:                                       39.92 kB   58.63 kB/s
syslog.gz:                                              69.10 kB   42.82 kB/s
tailCone.log.gz:                                        93.22 kB   56.74 kB/s
terrainAid.cfg.gz:                                     270.00 B     1.04 kB/s
vehicle.cfg.gz:                                          1.57 kB    7.90 kB/s
workSite.cfg.gz:                                         0.99 kB    7.49 kB/s

Strong current to the south east.  Mission timed out early; didn't get second
leg.  


 - "Bounce" dive to 50 m to test camera settings
 - Aborted

173.07 - Dive to 400 m.