   Serial.write(cmd_output);
   Serial.write(out);
   Serial.write(";");    // command delimiter
+  Serial.println();     // newline
 }
+
+// Output elapsed time
+void elapsed_time_output(unsigned long sTime){
+ #define SEC_PER_MIN 60
+ #define SEC_PER_HOUR 3600
+ unsigned long elapsedTime = (millis() - sTime)/1000;
+ Serial.print("Elapsed time is ");
+ Serial.print(elapsedTime/SEC_PER_HOUR);
+ Serial.print(":");
+ Serial.print((elapsedTime/SEC_PER_MIN) % SEC_PER_MIN);
+ Serial.print(":");  
+ Serial.println(elapsedTime % SEC_PER_MIN);
+}

  // Write commands to OpenROV
  // ========================================================================================
  // ========================================================================================
  
  // TODO: make these actually do something, just testing for now
  // once every 1,300 counts
  if (count % 1300 == 0){
    rov_analog_output(1, "float");
  }
  // once every 10,000 counts
  if (count == 10000){
    rov_analog_output(0, "salinity");
    count = 0;  // reset counter (this should be done by the longest "running" counter
  }
  count++;
}

// Actually create and send command


int speed_offset = 31, l = 0, MIDPOINT = 128, 
    p = MIDPOINT, v = MIDPOINT, s = MIDPOINT, t = MIDPOINT;

unsigned long startTime = millis();  //  time based on hardware register - Timer #0
unsigned long interval1 = 1000; // one second interval
int interval2 = 10; // multiple of interval1
long count = 0; // counter for interval2
unsigned long lastTime = 0;  // use for holding time of last interval

int pin_read = 0; //  holds value of analog read
float voltage = 0;  //  holds scaled value of voltage - adjusted for voltage divider
float scale = 15.0/1023.0;  // scale factor for 3 to 1 voltage divider - 15V reduced to 5V

// Note - this will not be neede for ROV pc board
// led on pin 19 of ATmega328 breadboard to indicate if program is running - connected to pin 13 on Arduino boards
int led = 13;
int blink = 0;  // toggle to blink on/off - period = interval

void setup(){
  
  Serial.begin(9600);
  
  Serial.println();
  Serial.println("Begin");

  // Output elapsed time  
  elapsed_time_output(startTime);
   
  tilt.attach(5);
  light.attach(6);
  port.attach(9);
  vertical.attach(10);
  starbord.attach(11);

  
  // initialize the digital pin as an output for led blink
  pinMode(led, OUTPUT);     

}

void loop(){
  
  
  // ========================================================================================
  // ========================================================================================
  // Get commands from OpenROV
  // ========================================================================================
  // ========================================================================================
    
  
  if (Serial.available()) {
    delay(30); // number of characters to be read?  buffer delay (TODO:  affects timing of sensors... fix this?)
