2012-05-31T05:09:31.489Z,1338440971.489 [Supervisor](DEBUG): Initializing supervisor.
2012-05-31T05:09:31.492Z,1338440971.492 [SyncHandler](DEBUG): Created PCaller Thread at 1077138656
2012-05-31T05:09:31.493Z,1338440971.493 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-05-31T05:09:31.494Z,1338440971.494 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 1077335264
2012-05-31T05:09:31.495Z,1338440971.494 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-05-31T05:09:31.505Z,1338440971.505 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-05-31T05:09:31.506Z,1338440971.506 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 1077531872
2012-05-31T05:09:31.507Z,1338440971.507 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-05-31T05:09:31.507Z,1338440971.507 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-05-31T05:09:31.508Z,1338440971.508 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-05-31T05:09:31.777Z,1338440971.777 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-05-31T05:09:31.777Z,1338440971.777 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-05-31T05:09:31.957Z,1338440971.957 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-05-31T05:09:31.958Z,1338440971.958 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-05-31T05:09:32.043Z,1338440972.043 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-05-31T05:09:32.044Z,1338440972.044 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-05-31T05:09:32.229Z,1338440972.229 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-05-31T05:09:32.230Z,1338440972.230 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-05-31T05:09:32.354Z,1338440972.354 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-05-31T05:09:32.355Z,1338440972.355 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-05-31T05:09:32.568Z,1338440972.568 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-05-31T05:09:32.569Z,1338440972.569 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-05-31T05:09:32.717Z,1338440972.717 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-05-31T05:09:32.717Z,1338440972.717 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-05-31T05:09:32.975Z,1338440972.975 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-05-31T05:09:32.976Z,1338440972.976 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-05-31T05:09:33.074Z,1338440973.074 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-05-31T05:09:33.074Z,1338440973.074 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-05-31T05:09:33.453Z,1338440973.453 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-05-31T05:09:33.454Z,1338440973.454 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-05-31T05:09:33.567Z,1338440973.567 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-05-31T05:09:33.568Z,1338440973.568 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-05-31T05:09:33.653Z,1338440973.653 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-05-31T05:09:33.655Z,1338440973.655 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-05-31T05:09:35.990Z,1338440975.990 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-05-31T05:09:36.122Z,1338440976.122 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-05-31T05:09:36.226Z,1338440976.226 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-05-31T05:09:36.324Z,1338440976.323 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-05-31T05:09:36.433Z,1338440976.433 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-05-31T05:09:36.522Z,1338440976.522 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-05-31T05:09:36.610Z,1338440976.610 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-05-31T05:09:36.702Z,1338440976.703 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-05-31T05:09:36.711Z,1338440976.711 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-05-31T05:09:36.738Z,1338440976.738 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-05-31T05:09:36.860Z,1338440976.860 [InternalSim] Loaded
2012-05-31T05:09:36.860Z,1338440976.860 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-05-31T05:09:36.861Z,1338440976.861 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-05-31T05:09:36.862Z,1338440976.862 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-05-31T05:09:36.903Z,1338440976.903 [SBIT](DEBUG): Construct Startup Built In Test.
2012-05-31T05:09:36.914Z,1338440976.914 [SBIT] Loaded
2012-05-31T05:09:36.915Z,1338440976.915 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-05-31T05:09:36.915Z,1338440976.915 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-05-31T05:09:36.939Z,1338440976.939 [IBIT] Loaded
2012-05-31T05:09:36.939Z,1338440976.939 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-05-31T05:09:36.946Z,1338440976.946 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-05-31T05:09:37.050Z,1338440977.050 [CBIT] Loaded
2012-05-31T05:09:37.050Z,1338440977.050 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-05-31T05:09:37.051Z,1338440977.051 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-05-31T05:09:37.051Z,1338440977.051 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-05-31T05:09:37.177Z,1338440977.177 [BuoyancyServo] Loaded
2012-05-31T05:09:37.177Z,1338440977.177 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-05-31T05:09:37.184Z,1338440977.184 [ElevatorServo] Loaded
2012-05-31T05:09:37.184Z,1338440977.184 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-05-31T05:09:37.191Z,1338440977.191 [MassServo] Loaded
2012-05-31T05:09:37.191Z,1338440977.191 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-05-31T05:09:37.197Z,1338440977.197 [RudderServo] Loaded
2012-05-31T05:09:37.198Z,1338440977.198 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-05-31T05:09:37.204Z,1338440977.204 [ThrusterServo] Loaded
2012-05-31T05:09:37.205Z,1338440977.204 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-05-31T05:09:37.205Z,1338440977.205 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-05-31T05:09:37.205Z,1338440977.205 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-05-31T05:09:37.221Z,1338440977.220 [DepthRateCalculator] Loaded
2012-05-31T05:09:37.221Z,1338440977.221 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-05-31T05:09:37.237Z,1338440977.237 [NavChart] Loaded
2012-05-31T05:09:37.237Z,1338440977.237 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-05-31T05:09:37.243Z,1338440977.243 [PitchRateCalculator] Loaded
2012-05-31T05:09:37.243Z,1338440977.243 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-05-31T05:09:37.249Z,1338440977.249 [SpeedCalculator] Loaded
2012-05-31T05:09:37.249Z,1338440977.249 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-05-31T05:09:37.263Z,1338440977.263 [TempGradientCalculator] Loaded
2012-05-31T05:09:37.264Z,1338440977.263 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-05-31T05:09:37.269Z,1338440977.269 [YawRateCalculator] Loaded
2012-05-31T05:09:37.269Z,1338440977.269 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-05-31T05:09:37.299Z,1338440977.299 [Navigation] Loaded
2012-05-31T05:09:37.299Z,1338440977.299 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-05-31T05:09:37.299Z,1338440977.299 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-05-31T05:09:37.300Z,1338440977.300 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-05-31T05:09:37.503Z,1338440977.503 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-05-31T05:09:37.504Z,1338440977.504 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-05-31T05:09:37.525Z,1338440977.525 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-05-31T05:09:37.525Z,1338440977.526 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-05-31T05:09:37.563Z,1338440977.563 [VerticalControl](DEBUG): Construct VerticalControl.
2012-05-31T05:09:37.606Z,1338440977.606 [VerticalControl] Loaded
2012-05-31T05:09:37.606Z,1338440977.606 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-05-31T05:09:37.607Z,1338440977.607 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-05-31T05:09:37.626Z,1338440977.626 [HorizontalControl] Loaded
2012-05-31T05:09:37.626Z,1338440977.626 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-05-31T05:09:37.627Z,1338440977.627 [SpeedControl](DEBUG): Construct SpeedControl.
2012-05-31T05:09:37.629Z,1338440977.629 [SpeedControl] Loaded
2012-05-31T05:09:37.629Z,1338440977.629 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-05-31T05:09:37.630Z,1338440977.630 [LoopControl](DEBUG): Construct LoopControl.
2012-05-31T05:09:37.631Z,1338440977.631 [LoopControl] Loaded
2012-05-31T05:09:37.631Z,1338440977.631 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-05-31T05:09:37.631Z,1338440977.631 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-05-31T05:09:37.632Z,1338440977.632 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-05-31T05:09:37.637Z,1338440977.637 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-05-31T05:09:37.642Z,1338440977.642 [AsyncPiEstimator] Loaded
2012-05-31T05:09:37.642Z,1338440977.642 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-05-31T05:09:37.643Z,1338440977.643 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 1078998240
2012-05-31T05:09:37.644Z,1338440977.644 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-05-31T05:09:37.644Z,1338440977.644 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-05-31T05:09:37.734Z,1338440977.734 [AHRS_sp3003D] Loaded
2012-05-31T05:09:37.735Z,1338440977.735 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-05-31T05:09:37.978Z,1338440977.978 [Batt_Ocean_Server] Loaded
2012-05-31T05:09:37.978Z,1338440977.978 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-05-31T05:09:37.990Z,1338440977.990 [Depth_Keller] Loaded
2012-05-31T05:09:37.990Z,1338440977.990 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-05-31T05:09:37.995Z,1338440977.995 [DropWeight] Loaded
2012-05-31T05:09:37.996Z,1338440977.996 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-05-31T05:09:38.086Z,1338440978.086 [DVL_micro] Loaded
2012-05-31T05:09:38.086Z,1338440978.086 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2012-05-31T05:09:38.162Z,1338440978.162 [NAL9601] Loaded
2012-05-31T05:09:38.162Z,1338440978.162 [ComponentRegistry](DEBUG): SyncComponent "NAL9601" handled in the control thread.
2012-05-31T05:09:38.209Z,1338440978.209 [Onboard] Loaded
2012-05-31T05:09:38.209Z,1338440978.209 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-05-31T05:09:38.215Z,1338440978.215 [Radio_Freewave] Loaded
2012-05-31T05:09:38.216Z,1338440978.216 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-05-31T05:09:38.216Z,1338440978.216 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-05-31T05:09:38.217Z,1338440978.217 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-05-31T05:09:38.247Z,1338440978.247 [Aanderaa_O2] Loaded
2012-05-31T05:09:38.247Z,1338440978.247 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2012-05-31T05:09:38.278Z,1338440978.278 [CTD_NeilBrown] Loaded
2012-05-31T05:09:38.279Z,1338440978.279 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-05-31T05:09:38.280Z,1338440978.280 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 1079649504
2012-05-31T05:09:38.309Z,1338440978.309 [WetLabsBB2FL] Loaded
2012-05-31T05:09:38.309Z,1338440978.309 [ComponentRegistry](DEBUG): SyncComponent "WetLabsBB2FL" handled in the control thread.
2012-05-31T05:09:38.310Z,1338440978.310 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-05-31T05:09:38.312Z,1338440978.312 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-05-31T05:09:38.313Z,1338440978.313 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-05-31T05:09:38.318Z,1338440978.318 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-05-31T05:09:38.319Z,1338440978.319 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 1079846112
2012-05-31T05:09:38.320Z,1338440978.320 [Supervisor](DEBUG): Running supervisor.
2012-05-31T05:09:38.323Z,1338440978.323 [controlThread](DEBUG): Initializing ControlThread
2012-05-31T05:09:38.324Z,1338440978.324 [InternalSim](DEBUG):  InternalSim initializing...
2012-05-31T05:09:38.358Z,1338440978.358 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-05-31T05:09:38.359Z,1338440978.359 [SBIT](INFO): Initialize SBIT Component.
2012-05-31T05:09:38.360Z,1338440978.360 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9656 $
2012-05-31T05:09:38.360Z,1338440978.360 [IBIT](INFO): Initialize IBIT Component.
2012-05-31T05:09:38.370Z,1338440978.371 [CBIT](DEBUG): Initialize CBIT Component.
2012-05-31T05:09:38.371Z,1338440978.371 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-05-31T05:09:38.372Z,1338440978.372 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-05-31T05:09:38.400Z,1338440978.400 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-05-31T05:09:38.400Z,1338440978.400 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-05-31T05:09:38.401Z,1338440978.401 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-05-31T05:09:38.401Z,1338440978.401 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-05-31T05:09:38.402Z,1338440978.402 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-05-31T05:09:38.403Z,1338440978.403 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-05-31T05:09:38.403Z,1338440978.404 [Navigation](DEBUG): Initializing Navigation.
2012-05-31T05:09:38.404Z,1338440978.404 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-05-31T05:09:38.406Z,1338440978.406 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-05-31T05:09:38.407Z,1338440978.407 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-05-31T05:09:38.407Z,1338440978.407 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-05-31T05:09:40.352Z,1338440980.352 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-05-31T05:09:40.364Z,1338440980.364 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-05-31T05:09:40.374Z,1338440980.374 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-31T05:09:40.383Z,1338440980.383 [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>


2012-05-31T05:09:40.384Z,1338440980.384 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-05-31T05:09:40.412Z,1338440980.412 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-05-31T05:09:40.414Z,1338440980.414 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-05-31T05:09:40.417Z,1338440980.417 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-31T05:09:40.425Z,1338440980.425 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-05-31T05:09:40.428Z,1338440980.428 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-31T05:09:40.434Z,1338440980.434 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-05-31T05:09:40.443Z,1338440980.443 [Default:D.SetSpeed](DEBUG): Construct.
2012-05-31T05:09:40.446Z,1338440980.446 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-31T05:09:40.452Z,1338440980.453 [Default:F.Wait](DEBUG): Construct Wait.
2012-05-31T05:09:40.456Z,1338440980.456 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
xmlns:Control="Tethys/Control"
xmlns:Guidance="Tethys/Guidance" 
xmlns:Units="Tethys/Units"
xmlns:Universal="Tethys/Universal"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
Id="Default">

    <DefineArg Name="NeedGPS"><True/></DefineArg>

    <Aggregate Id="GPS" >

        <When><Arg Name="NeedGPS"/>
        </When>

<!-- Run at high speed -->

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

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Get GPS fix -->

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

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

    </Aggregate>

    <Aggregate Id="Iridium" >

<!-- Run at high speed -->

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

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute RunIn="Sequence">
                    <Setting>
                    <Guidance:Execute.command/><String>Burn 300</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped drop weight due to communications timeout</Syslog>
            </Timeout><Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

    <Aggregate Id="CallIridium" >

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

        <Assign><Arg Name="NeedGPS"/><True/></Assign>

        <Call RefId="Iridium"/>

    </Aggregate>

<!-- Wait forever at the surface-->

<!-- Run at low speed -->

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

    <Guidance:GoToSurface RunIn="Parallel"/>

    <Guidance:Wait RunIn="Sequence"></Guidance:Wait>

</Mission>


2012-05-31T05:09:40.461Z,1338440980.461 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,DVL_micro,NAL9601,Onboard,Radio_Freewave,Aanderaa_O2,WetLabsBB2FL,Depth_Keller,DepthRateCalculator,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-05-31T05:09:40.480Z,1338440980.480 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-05-31T05:09:40.590Z,1338440980.589 [DVL_micro](DEBUG): Initializing DVL_micro.
2012-05-31T05:09:40.610Z,1338440980.611 [Radio_Freewave](INFO): Powering up
2012-05-31T05:09:40.623Z,1338440980.623 [WetLabsBB2FL](INFO): Powering down
2012-05-31T05:09:40.691Z,1338440980.691 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-05-31T05:09:40.691Z,1338440980.691 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-05-31T05:09:40.706Z,1338440980.706 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-05-31T05:09:40.707Z,1338440980.707 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-05-31T05:09:40.715Z,1338440980.715 [MassServo](DEBUG): Initializing EZServoServo.
2012-05-31T05:09:40.716Z,1338440980.716 [MassServo](DEBUG): Initializing MassServo.
2012-05-31T05:09:40.724Z,1338440980.724 [RudderServo](DEBUG): Initializing EZServoServo.
2012-05-31T05:09:40.725Z,1338440980.725 [RudderServo](DEBUG): Initializing RudderServo.
2012-05-31T05:09:40.733Z,1338440980.733 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-05-31T05:09:40.734Z,1338440980.734 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-05-31T05:09:41.775Z,1338440981.775 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-05-31T05:09:41.791Z,1338440981.791 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-05-31T05:09:41.795Z,1338440981.795 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-05-31T05:09:41.810Z,1338440981.810 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-05-31T05:09:41.814Z,1338440981.814 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-05-31T05:09:41.815Z,1338440981.815 [NavChartDb](INFO): Creating index for Soundings
2012-05-31T05:09:41.818Z,1338440981.818 [NavChartDb](INFO): Creating index for Contour 0p0
2012-05-31T05:09:41.820Z,1338440981.820 [NavChartDb](INFO): Creating index for Contour 1p8
2012-05-31T05:09:41.827Z,1338440981.828 [NavChartDb](INFO): Creating index for Contour 3p6
2012-05-31T05:09:41.829Z,1338440981.829 [NavChartDb](INFO): Creating index for Contour 5p4
2012-05-31T05:09:41.836Z,1338440981.836 [NavChartDb](INFO): Creating index for Contour 9p1
2012-05-31T05:09:41.838Z,1338440981.838 [NavChartDb](INFO): Creating index for Contour 10p9
2012-05-31T05:09:41.852Z,1338440981.852 [NavChartDb](INFO): Creating index for Contour 18p2
2012-05-31T05:09:41.854Z,1338440981.854 [NavChartDb](INFO): Creating index for Contour 36p5
2012-05-31T05:09:41.856Z,1338440981.856 [NavChartDb](INFO): Creating index for Contour 54p8
2012-05-31T05:09:41.858Z,1338440981.858 [NavChartDb](INFO): Creating index for Contour 73p1
2012-05-31T05:09:41.860Z,1338440981.860 [NavChartDb](INFO): Creating index for Contour 91p4
2012-05-31T05:09:41.863Z,1338440981.863 [NavChartDb](INFO): Creating index for Contour 182p8
2012-05-31T05:09:41.865Z,1338440981.865 [NavChartDb](INFO): Creating index for Contour 365p7
2012-05-31T05:09:41.875Z,1338440981.875 [NavChartDb](INFO): Creating index for Contour 548p6
2012-05-31T05:09:41.878Z,1338440981.878 [NavChartDb](INFO): Creating index for Contour 731p5
2012-05-31T05:09:41.880Z,1338440981.880 [NavChartDb](INFO): Creating index for Contour 914p4
2012-05-31T05:09:41.883Z,1338440981.883 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-05-31T05:09:41.885Z,1338440981.885 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-05-31T05:09:41.900Z,1338440981.900 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-05-31T05:09:41.902Z,1338440981.902 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-05-31T05:09:41.905Z,1338440981.905 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-05-31T05:09:41.908Z,1338440981.908 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-05-31T05:09:41.910Z,1338440981.910 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-05-31T05:09:41.923Z,1338440981.923 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-05-31T05:09:41.926Z,1338440981.926 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-05-31T05:09:41.928Z,1338440981.928 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-05-31T05:09:41.931Z,1338440981.931 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-05-31T05:09:41.933Z,1338440981.934 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-05-31T05:09:41.947Z,1338440981.947 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-05-31T05:09:41.950Z,1338440981.950 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-05-31T05:09:41.952Z,1338440981.952 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-05-31T05:09:43.164Z,1338440983.164 [NAL9601](INFO): Powering up NAL9601
2012-05-31T05:09:44.863Z,1338440984.863 [Aanderaa_O2](INFO): Powering down
2012-05-31T05:09:54.037Z,1338440994.037 [SBIT](IMPORTANT): Beginning Startup BIT
2012-05-31T05:09:54.039Z,1338440994.039 [CBIT](IMPORTANT): Beginning GF scan
2012-05-31T05:10:20.229Z,1338441020.229 [CBIT](IMPORTANT): No ground fault detected
2012-05-31T05:10:36.147Z,1338441036.147 [SBIT](IMPORTANT): SBIT PASSED
2012-05-31T05:10:36.575Z,1338441036.575 [MissionManager](IMPORTANT): Started mission Startup
2012-05-31T05:10:36.575Z,1338441036.575 [Startup] Running Loop=1
2012-05-31T05:10:36.575Z,1338441036.575 [Startup](INFO): Aggregate::initialize Startup
2012-05-31T05:10:36.575Z,1338441036.575 [Startup:A.GoToSurface] Running Loop=1
2012-05-31T05:10:36.575Z,1338441036.575 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T05:10:36.581Z,1338441036.581 [Startup:StartupSatComms] Running Loop=1
2012-05-31T05:10:36.581Z,1338441036.581 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-05-31T05:10:36.581Z,1338441036.581 [Startup:StartupSatComms:A] Running Loop=1
2012-05-31T05:10:36.940Z,1338441036.940 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-31T05:10:48.787Z,1338441048.787 [NAL9601](INFO): NAL9601 initialized
2012-05-31T05:10:49.953Z,1338441049.953 [NAL9601](IMPORTANT): GPS fix at: 1338441112.00
2012-05-31T05:10:49.966Z,1338441049.966 [Startup:StartupSatComms:A] Stopped
2012-05-31T05:10:49.966Z,1338441049.966 [Startup:StartupSatComms:B] Running Loop=1
2012-05-31T05:10:50.369Z,1338441050.369 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-31T05:11:03.498Z,1338441063.498 [NAL9601](INFO): SBD MO Status=1, MOMSN=7305, MT Status=0, MTMSN=0
2012-05-31T05:11:03.651Z,1338441063.651 [NAL9601](INFO): Sent 216 bytes from file Logs/20120531T011043/shore0014.lzma
2012-05-31T05:11:03.651Z,1338441063.651 [NAL9601](INFO): Packets left to send: 0
2012-05-31T05:11:03.652Z,1338441063.652 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000000
2012-05-31T05:11:14.070Z,1338441074.070 [NAL9601](INFO): SBD MO Status=1, MOMSN=7306, MT Status=0, MTMSN=0
2012-05-31T05:11:14.235Z,1338441074.235 [NAL9601](INFO): Sent 332 bytes from file Logs/20120531T050931/shore0000.lzma
2012-05-31T05:11:14.235Z,1338441074.235 [NAL9601](INFO): Packets left to send: 1
2012-05-31T05:11:14.236Z,1338441074.236 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000001
2012-05-31T05:11:22.154Z,1338441082.154 [NAL9601](INFO): SBD MO Status=1, MOMSN=7307, MT Status=0, MTMSN=0
2012-05-31T05:11:22.323Z,1338441082.323 [NAL9601](INFO): Sent 283 bytes from file Logs/20120531T050931/shore0000.lzma
2012-05-31T05:11:22.323Z,1338441082.323 [NAL9601](INFO): Packets left to send: 0
2012-05-31T05:11:22.324Z,1338441082.324 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000002
2012-05-31T05:11:30.190Z,1338441090.190 [NAL9601](INFO): SBD MO Status=0, MOMSN=7308, MT Status=0, MTMSN=0
2012-05-31T05:11:30.340Z,1338441090.340 [Startup:StartupSatComms:B] Stopped
2012-05-31T05:11:30.340Z,1338441090.340 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-05-31T05:11:30.340Z,1338441090.341 [Startup:StartupSatComms] Stopped
2012-05-31T05:11:30.341Z,1338441090.341 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-05-31T05:11:30.342Z,1338441090.342 [Startup](INFO): Completed Startup
2012-05-31T05:11:30.342Z,1338441090.342 [Startup] Stopped
2012-05-31T05:11:30.342Z,1338441090.342 [Startup](INFO): Aggregate::uninitialize Startup
2012-05-31T05:11:30.342Z,1338441090.342 [Startup:A.GoToSurface] Stopped
2012-05-31T05:11:30.342Z,1338441090.342 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T05:11:30.577Z,1338441090.577 [MissionManager](IMPORTANT): Started mission Default
2012-05-31T05:11:30.577Z,1338441090.577 [Default] Running Loop=1
2012-05-31T05:11:30.577Z,1338441090.577 [Default](INFO): Aggregate::initialize Default
2012-05-31T05:11:30.577Z,1338441090.578 [Default:D.SetSpeed] Running Loop=1
2012-05-31T05:11:30.577Z,1338441090.578 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-31T05:11:30.578Z,1338441090.578 [Default:E.GoToSurface] Running Loop=1
2012-05-31T05:11:30.578Z,1338441090.578 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T05:11:30.578Z,1338441090.578 [Default:Iridium] Running Loop=1
2012-05-31T05:11:30.583Z,1338441090.583 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-31T05:11:30.583Z,1338441090.583 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-31T05:11:30.583Z,1338441090.583 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-31T05:11:30.583Z,1338441090.583 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-31T05:11:30.583Z,1338441090.583 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T05:11:30.584Z,1338441090.584 [Default:E.GoToSurface] Running Loop=1
2012-05-31T05:11:30.594Z,1338441090.594 [Default:D.SetSpeed] Running Loop=1
2012-05-31T05:11:30.617Z,1338441090.617 [Default:Iridium:B.GoToSurface] Stopped
2012-05-31T05:11:30.617Z,1338441090.617 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T05:11:30.617Z,1338441090.617 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-31T05:11:30.618Z,1338441090.618 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-31T05:11:30.631Z,1338441090.631 [Default:GPS] Running Loop=1
2012-05-31T05:11:30.631Z,1338441090.631 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-31T05:11:30.631Z,1338441090.631 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-31T05:11:30.631Z,1338441090.631 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-31T05:11:30.631Z,1338441090.631 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-31T05:11:30.631Z,1338441090.631 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T05:11:30.641Z,1338441090.641 [Default:GPS:B.GoToSurface] Stopped
2012-05-31T05:11:30.641Z,1338441090.641 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T05:11:30.641Z,1338441090.641 [Default:GPS:Read_GPS] Running Loop=1
2012-05-31T05:11:30.641Z,1338441090.641 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-31T05:11:30.995Z,1338441090.995 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-31T05:11:30.997Z,1338441090.997 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-31T05:11:32.631Z,1338441092.631 [NAL9601](IMPORTANT): GPS fix at: 1338441155.00
2012-05-31T05:11:32.673Z,1338441092.673 [Default:GPS:Read_GPS] Stopped
2012-05-31T05:11:32.674Z,1338441092.674 [Default:GPS:D] Running Loop=1
2012-05-31T05:11:32.984Z,1338441092.984 [Default:GPS:D] Stopped
2012-05-31T05:11:32.984Z,1338441092.984 [Default:GPS](INFO): Completed Default:GPS
2012-05-31T05:11:32.985Z,1338441092.985 [Default:GPS] Stopped
2012-05-31T05:11:32.985Z,1338441092.985 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-31T05:11:32.985Z,1338441092.985 [Default:GPS:A.SetSpeed] Stopped
2012-05-31T05:11:32.985Z,1338441092.985 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-31T05:11:44.145Z,1338441104.145 [NAL9601](IMPORTANT): SBD MO Status=1, MOMSN=7309, MT Status=1, MTMSN=2653
2012-05-31T05:11:44.291Z,1338441104.291 [NAL9601](INFO): Sent 147 bytes from file Logs/20120531T050931/shore0001.lzma
2012-05-31T05:11:44.291Z,1338441104.291 [NAL9601](INFO): Packets left to send: 0
2012-05-31T05:11:44.292Z,1338441104.292 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000003
2012-05-31T05:11:44.788Z,1338441104.788 [NAL9601](INFO): Received command:load Transport/transit_3km.xml;set transit_3km.Wpt1Lat 36.9 degree;set transit_3km.Wpt1Lon -121.91 degree;set transit_3km.TimeoutDuration 15 minute;run 
2012-05-31T05:11:44.802Z,1338441104.802 [CommandLine](IMPORTANT): got command load ./Missions/Transport/transit_3km.xml
2012-05-31T05:11:44.803Z,1338441104.803 [MissionManager](INFO): Loading Mission: ./Missions/Transport/transit_3km.xml
2012-05-31T05:11:44.850Z,1338441104.850 [MissionManager](INFO): DefineArg transit_3km.ApproachDepth = 10.000000 m
2012-05-31T05:11:44.853Z,1338441104.853 [MissionManager](INFO): DefineArg transit_3km.Wpt1Lat = 36.806966 arcdeg
2012-05-31T05:11:44.856Z,1338441104.856 [MissionManager](INFO): DefineArg transit_3km.Wpt1Lon = -121.824326 arcdeg
2012-05-31T05:11:44.859Z,1338441104.859 [MissionManager](INFO): DefineArg transit_3km.Speed = 1.000000 m/s
2012-05-31T05:11:44.863Z,1338441104.862 [MissionManager](INFO): DefineArg transit_3km.MaxDepth = 20.000000 m
2012-05-31T05:11:44.865Z,1338441104.865 [MissionManager](INFO): DefineArg transit_3km.TimeoutDuration = 240.000000 min
2012-05-31T05:11:44.868Z,1338441104.868 [transit_3km:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-05-31T05:11:44.876Z,1338441104.876 [transit_3km:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-05-31T05:11:44.885Z,1338441104.885 [transit_3km:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2012-05-31T05:11:44.892Z,1338441104.892 [transit_3km:SURFACECOMMS:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-31T05:11:44.898Z,1338441104.898 [transit_3km:SURFACECOMMS:B:A.SetSpeed](DEBUG): Construct.
2012-05-31T05:11:44.910Z,1338441104.910 [transit_3km:WaypointOne:A.Pitch](DEBUG): Construct.
2012-05-31T05:11:44.915Z,1338441104.915 [transit_3km:WaypointOne:B.SetSpeed](DEBUG): Construct.
2012-05-31T05:11:44.919Z,1338441104.918 [transit_3km:WaypointOne:WaypointW1.Waypoint](DEBUG): Construct Waypoint.
2012-05-31T05:11:44.928Z,1338441104.928 [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="transit_3km">

<!-- To be used within 6km of waypoint. No science collection.  -->

    <DefineArg Name="ApproachDepth"><Units:meter /><Value>10.0</Value></DefineArg>

    <DefineArg Name="Wpt1Lat"><Units:degree /><Value>36.806966</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Units:degree /><Value>-121.824326</Value></DefineArg>

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

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:minute/><Value>240</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.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>1</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <Aggregate Id="SURFACECOMMS">

        <Guidance:GoToSurface RunIn="Progression" />

        <Aggregate>

            <Preemptive><True /></Preemptive>

            <Guidance:SetSpeed RunIn="Parallel">
                <Setting><Guidance:SetSpeed.speed /><Units:meter_per_second /><Value>0</Value></Setting>
            </Guidance:SetSpeed>

            <ReadDatum><Universal:latitude_fix />
            </ReadDatum>

            <ReadDatum>
                <Timeout Duration="P30M">
                    <Assign Id="TouchComms"><Universal:platform_communications/></Assign>
                </Timeout><Universal:platform_communications />
            </ReadDatum>

            <ReadDatum><Universal:latitude_fix />
            </ReadDatum>

        </Aggregate>

    </Aggregate>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

    <Aggregate Id="NeedComms">

        <When>
            <Elapsed><Universal:time_fix /></Elapsed>
            <Gt><Units:minute/><Value>35</Value></Gt>
        </When>

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

    </Aggregate>

    <Aggregate Id="WaypointOne">

<!-- Go to Wpt1 -->

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

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

        <Guidance:Waypoint Id="WaypointW1" RunIn="Sequence">
            <Setting><Guidance:Waypoint.latitude /><Arg Name="Wpt1Lat" /></Setting>
            <Setting><Guidance:Waypoint.longitude /><Arg Name="Wpt1Lon" /></Setting>
        </Guidance:Waypoint>

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

    </Aggregate>

</Mission>


2012-05-31T05:11:44.928Z,1338441104.928 [CommandLine](IMPORTANT): Loaded ./Missions/Transport/transit_3km.xml
2012-05-31T05:11:45.031Z,1338441105.031 [CommandLine](IMPORTANT): got command set transit_3km.Wpt1Lat 36.900002 degree
2012-05-31T05:11:45.133Z,1338441105.133 [CommandLine](IMPORTANT): got command set transit_3km.Wpt1Lon -121.910004 degree
2012-05-31T05:11:45.377Z,1338441105.376 [CommandLine](IMPORTANT): got command set transit_3km.TimeoutDuration 15.000000 minute
2012-05-31T05:11:45.378Z,1338441105.378 [CommandLine](IMPORTANT): got command run 
2012-05-31T05:11:45.378Z,1338441105.378 [CommandLine](IMPORTANT): Running 
2012-05-31T05:11:45.436Z,1338441105.436 [Default] Stopped
2012-05-31T05:11:45.436Z,1338441105.436 [Default](INFO): Aggregate::uninitialize Default
2012-05-31T05:11:45.436Z,1338441105.436 [Default:Iridium] Stopped
2012-05-31T05:11:45.436Z,1338441105.436 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-31T05:11:45.436Z,1338441105.436 [Default:Iridium:A.SetSpeed] Stopped
2012-05-31T05:11:45.437Z,1338441105.437 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-31T05:11:45.437Z,1338441105.437 [Default:Iridium:Read_Iridium] Stopped
2012-05-31T05:11:45.437Z,1338441105.437 [Default:D.SetSpeed] Stopped
2012-05-31T05:11:45.437Z,1338441105.437 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-31T05:11:45.437Z,1338441105.437 [Default:E.GoToSurface] Stopped
2012-05-31T05:11:45.437Z,1338441105.437 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T05:11:45.437Z,1338441105.437 [MissionManager](IMPORTANT): Started mission transit_3km
2012-05-31T05:11:45.437Z,1338441105.437 [transit_3km] Running Loop=1
2012-05-31T05:11:45.437Z,1338441105.437 [transit_3km](INFO): Aggregate::initialize transit_3km
2012-05-31T05:11:45.437Z,1338441105.437 [transit_3km:A.AltitudeEnvelope] Running Loop=1
2012-05-31T05:11:45.437Z,1338441105.437 [transit_3km:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2012-05-31T05:11:45.438Z,1338441105.438 [transit_3km:B.DepthEnvelope] Running Loop=1
2012-05-31T05:11:45.438Z,1338441105.438 [transit_3km:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-05-31T05:11:45.439Z,1338441105.439 [transit_3km:C.OffshoreEnvelope] Running Loop=1
2012-05-31T05:11:45.439Z,1338441105.439 [transit_3km:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2012-05-31T05:11:45.439Z,1338441105.439 [transit_3km:SURFACECOMMS] Running Loop=1
2012-05-31T05:11:45.439Z,1338441105.439 [transit_3km:SURFACECOMMS](INFO): Aggregate::initialize transit_3km:SURFACECOMMS
2012-05-31T05:11:45.439Z,1338441105.439 [transit_3km:SURFACECOMMS:A.GoToSurface] Running Loop=1
2012-05-31T05:11:45.439Z,1338441105.439 [transit_3km:SURFACECOMMS:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T05:11:45.445Z,1338441105.445 [transit_3km:SURFACECOMMS:B] Running Loop=1
2012-05-31T05:11:45.445Z,1338441105.445 [transit_3km:SURFACECOMMS:B](INFO): Aggregate::initialize transit_3km:SURFACECOMMS:B
2012-05-31T05:11:45.445Z,1338441105.445 [transit_3km:SURFACECOMMS:B:A.SetSpeed] Running Loop=1
2012-05-31T05:11:45.445Z,1338441105.445 [transit_3km:SURFACECOMMS:B:A.SetSpeed](DEBUG): Initialize.
2012-05-31T05:11:45.445Z,1338441105.445 [transit_3km:SURFACECOMMS:B:B] Running Loop=1
2012-05-31T05:11:45.445Z,1338441105.445 [transit_3km:C.OffshoreEnvelope] Running Loop=1
2012-05-31T05:11:45.462Z,1338441105.462 [transit_3km:B.DepthEnvelope] Running Loop=1
2012-05-31T05:11:45.467Z,1338441105.467 [transit_3km:A.AltitudeEnvelope] Running Loop=1
2012-05-31T05:11:45.953Z,1338441105.954 [transit_3km:SURFACECOMMS:B:B](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-31T05:11:45.955Z,1338441105.955 [transit_3km:SURFACECOMMS:B:A.SetSpeed] Running Loop=1
2012-05-31T05:11:47.977Z,1338441107.977 [NAL9601](IMPORTANT): GPS fix at: 1338441170.00
2012-05-31T05:11:47.990Z,1338441107.990 [transit_3km:SURFACECOMMS:B:B] Stopped
2012-05-31T05:11:47.991Z,1338441107.991 [transit_3km:SURFACECOMMS:B:C] Running Loop=1
2012-05-31T05:11:48.381Z,1338441108.381 [transit_3km:SURFACECOMMS:B:C](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-31T05:11:49.955Z,1338441109.955 [transit_3km:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2012-05-31T05:11:59.382Z,1338441119.382 [NAL9601](INFO): SBD MO Status=0, MOMSN=7310, MT Status=0, MTMSN=0
2012-05-31T05:12:18.681Z,1338441138.681 [NAL9601](INFO): SBD MO Status=1, MOMSN=7311, MT Status=0, MTMSN=0
2012-05-31T05:12:18.835Z,1338441138.835 [NAL9601](INFO): Sent 332 bytes from file Logs/20120531T050931/shore0002.lzma
2012-05-31T05:12:18.835Z,1338441138.835 [NAL9601](INFO): Packets left to send: 1
2012-05-31T05:12:18.836Z,1338441138.836 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000004
2012-05-31T05:12:28.834Z,1338441148.833 [NAL9601](INFO): SBD MO Status=1, MOMSN=7312, MT Status=0, MTMSN=0
2012-05-31T05:12:29.019Z,1338441149.019 [NAL9601](INFO): Sent 38 bytes from file Logs/20120531T050931/shore0002.lzma
2012-05-31T05:12:29.019Z,1338441149.019 [NAL9601](INFO): Packets left to send: 0
2012-05-31T05:12:29.020Z,1338441149.020 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000005
2012-05-31T05:12:33.686Z,1338441153.686 [NAL9601](INFO): SBD MO Status=0, MOMSN=7313, MT Status=0, MTMSN=0
2012-05-31T05:12:33.840Z,1338441153.840 [transit_3km:SURFACECOMMS:B:C] Stopped
2012-05-31T05:12:33.840Z,1338441153.840 [transit_3km:SURFACECOMMS:B:D] Running Loop=1
2012-05-31T05:12:34.045Z,1338441154.045 [transit_3km:SURFACECOMMS:B:D](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-31T05:12:36.015Z,1338441156.015 [NAL9601](IMPORTANT): GPS fix at: 1338441218.00
2012-05-31T05:12:36.076Z,1338441156.076 [transit_3km:SURFACECOMMS:B:D] Stopped
2012-05-31T05:12:36.077Z,1338441156.077 [transit_3km:SURFACECOMMS:B](INFO): Completed transit_3km:SURFACECOMMS:B
2012-05-31T05:12:36.077Z,1338441156.077 [transit_3km:SURFACECOMMS:B] Stopped
2012-05-31T05:12:36.077Z,1338441156.077 [transit_3km:SURFACECOMMS:B](INFO): Aggregate::uninitialize transit_3km:SURFACECOMMS:B
2012-05-31T05:12:36.077Z,1338441156.077 [transit_3km:SURFACECOMMS:B:A.SetSpeed] Stopped
2012-05-31T05:12:36.077Z,1338441156.077 [transit_3km:SURFACECOMMS:B:A.SetSpeed](DEBUG): Uninitialize.
2012-05-31T05:12:36.078Z,1338441156.078 [transit_3km:SURFACECOMMS](INFO): Completed transit_3km:SURFACECOMMS
2012-05-31T05:12:36.078Z,1338441156.078 [transit_3km:SURFACECOMMS] Stopped
2012-05-31T05:12:36.078Z,1338441156.078 [transit_3km:SURFACECOMMS](INFO): Aggregate::uninitialize transit_3km:SURFACECOMMS
2012-05-31T05:12:36.079Z,1338441156.079 [transit_3km:SURFACECOMMS:A.GoToSurface] Stopped
2012-05-31T05:12:36.079Z,1338441156.079 [transit_3km:SURFACECOMMS:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T05:12:36.079Z,1338441156.079 [transit_3km:WaypointOne] Running Loop=1
2012-05-31T05:12:36.079Z,1338441156.079 [transit_3km:WaypointOne](INFO): Aggregate::initialize transit_3km:WaypointOne
2012-05-31T05:12:36.079Z,1338441156.079 [transit_3km:WaypointOne:A.Pitch] Running Loop=1
2012-05-31T05:12:36.079Z,1338441156.079 [transit_3km:WaypointOne:A.Pitch](DEBUG): Initialize.
2012-05-31T05:12:36.079Z,1338441156.079 [transit_3km:WaypointOne:B.SetSpeed] Running Loop=1
2012-05-31T05:12:36.079Z,1338441156.079 [transit_3km:WaypointOne:B.SetSpeed](DEBUG): Initialize.
2012-05-31T05:12:36.080Z,1338441156.080 [transit_3km:WaypointOne:WaypointW1.Waypoint] Running Loop=1
2012-05-31T05:12:36.080Z,1338441156.080 [transit_3km:WaypointOne:WaypointW1.Waypoint](DEBUG): Initialize WaypointComponent.
2012-05-31T05:12:36.477Z,1338441156.477 [transit_3km:WaypointOne:B.SetSpeed] Running Loop=1
2012-05-31T05:12:36.486Z,1338441156.486 [transit_3km:WaypointOne:A.Pitch] Running Loop=1
2012-05-31T05:12:42.401Z,1338441162.401 [NAL9601](INFO): Powering down
2012-05-31T05:13:41.342Z,1338441221.342 [Radio_Freewave](INFO): Powering down
2012-05-31T05:26:45.570Z,1338442005.570 [transit_3km](INFO): Timed out from 2012-05-31T05:11:45.4Z
2012-05-31T05:26:45.570Z,1338442005.570 [A_Timeout] Running Loop=1
2012-05-31T05:26:45.571Z,1338442005.571 [A_Timeout](INFO): Aggregate::initialize A_Timeout
2012-05-31T05:26:45.571Z,1338442005.571 [A_Timeout](INFO): Completed A_Timeout
2012-05-31T05:26:45.571Z,1338442005.571 [transit_3km] Stopped
2012-05-31T05:26:45.571Z,1338442005.571 [transit_3km](INFO): Aggregate::uninitialize transit_3km
2012-05-31T05:26:45.571Z,1338442005.571 [transit_3km:A.AltitudeEnvelope] Stopped
2012-05-31T05:26:45.571Z,1338442005.571 [transit_3km:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2012-05-31T05:26:45.571Z,1338442005.571 [transit_3km:B.DepthEnvelope] Stopped
2012-05-31T05:26:45.571Z,1338442005.571 [transit_3km:B.DepthEnvelope](DEBUG): Uninitialize.
2012-05-31T05:26:45.572Z,1338442005.572 [transit_3km:C.OffshoreEnvelope] Stopped
2012-05-31T05:26:45.572Z,1338442005.572 [transit_3km:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2012-05-31T05:26:45.572Z,1338442005.572 [transit_3km:WaypointOne] Stopped
2012-05-31T05:26:45.572Z,1338442005.572 [transit_3km:WaypointOne](INFO): Aggregate::uninitialize transit_3km:WaypointOne
2012-05-31T05:26:45.572Z,1338442005.572 [transit_3km:WaypointOne:A.Pitch] Stopped
2012-05-31T05:26:45.572Z,1338442005.572 [transit_3km:WaypointOne:B.SetSpeed] Stopped
2012-05-31T05:26:45.572Z,1338442005.572 [transit_3km:WaypointOne:B.SetSpeed](DEBUG): Uninitialize.
2012-05-31T05:26:45.572Z,1338442005.572 [transit_3km:WaypointOne:WaypointW1.Waypoint] Stopped
2012-05-31T05:26:45.572Z,1338442005.572 [transit_3km:WaypointOne:WaypointW1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2012-05-31T05:26:46.035Z,1338442006.035 [MissionManager](IMPORTANT): Started mission Default
2012-05-31T05:26:46.035Z,1338442006.035 [Default] Running Loop=1
2012-05-31T05:26:46.036Z,1338442006.036 [Default](INFO): Aggregate::initialize Default
2012-05-31T05:26:46.036Z,1338442006.036 [Default:D.SetSpeed] Running Loop=1
2012-05-31T05:26:46.036Z,1338442006.036 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-31T05:26:46.036Z,1338442006.036 [Default:E.GoToSurface] Running Loop=1
2012-05-31T05:26:46.036Z,1338442006.036 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T05:26:46.036Z,1338442006.036 [Default:Iridium] Running Loop=1
2012-05-31T05:26:46.036Z,1338442006.036 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-31T05:26:46.036Z,1338442006.036 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-31T05:26:46.037Z,1338442006.037 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-31T05:26:46.037Z,1338442006.037 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-31T05:26:46.037Z,1338442006.037 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T05:26:46.038Z,1338442006.039 [Default:CallIridium] Running Loop=1
2012-05-31T05:26:46.039Z,1338442006.039 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-31T05:26:46.039Z,1338442006.039 [Default:CallIridium:A] Running Loop=1
2012-05-31T05:26:46.041Z,1338442006.041 [Default:CallIridium:A] Stopped
2012-05-31T05:26:46.041Z,1338442006.041 [Default:CallIridium:B] Running Loop=1
2012-05-31T05:26:46.041Z,1338442006.041 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-31T05:26:46.392Z,1338442006.392 [Default:GPS] Running Loop=1
2012-05-31T05:26:46.392Z,1338442006.392 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-31T05:26:46.392Z,1338442006.392 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-31T05:26:46.392Z,1338442006.392 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-31T05:26:46.393Z,1338442006.392 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-31T05:26:46.393Z,1338442006.392 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T05:29:25.837Z,1338442165.837 [Radio_Freewave](INFO): Powering up
2012-05-31T05:29:25.847Z,1338442165.847 [Default:Iridium:B.GoToSurface] Stopped
2012-05-31T05:29:25.847Z,1338442165.847 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T05:29:25.847Z,1338442165.847 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-31T05:29:25.848Z,1338442165.848 [Default:GPS:B.GoToSurface] Stopped
2012-05-31T05:29:25.848Z,1338442165.848 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T05:29:25.849Z,1338442165.849 [Default:GPS:Read_GPS] Running Loop=1
2012-05-31T05:29:26.611Z,1338442166.611 [NAL9601](INFO): Powering up
2012-05-31T05:30:32.235Z,1338442232.235 [NAL9601](INFO): NAL9601 initialized
2012-05-31T05:30:33.386Z,1338442233.386 [NAL9601](IMPORTANT): GPS fix at: 1338442290.00
2012-05-31T05:30:33.401Z,1338442233.401 [Navigation](IMPORTANT): Navigation Error 89.6 %DT

2012-05-31T05:30:33.403Z,1338442233.403 [Default:GPS:Read_GPS] Stopped
2012-05-31T05:30:33.403Z,1338442233.403 [Default:GPS:D] Running Loop=1
2012-05-31T05:30:33.804Z,1338442233.804 [Default:GPS:D] Stopped
2012-05-31T05:30:33.804Z,1338442233.805 [Default:GPS](INFO): Completed Default:GPS
2012-05-31T05:30:33.804Z,1338442233.805 [Default:GPS] Stopped
2012-05-31T05:30:33.805Z,1338442233.805 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-31T05:30:33.805Z,1338442233.805 [Default:GPS:A.SetSpeed] Stopped
2012-05-31T05:30:33.805Z,1338442233.805 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-31T05:30:54.069Z,1338442254.069 [NAL9601](INFO): SBD MO Status=1, MOMSN=7314, MT Status=0, MTMSN=0
2012-05-31T05:30:54.191Z,1338442254.191 [NAL9601](INFO): Sent 332 bytes from file Logs/20120531T050931/shore0003.lzma
2012-05-31T05:30:54.191Z,1338442254.191 [NAL9601](INFO): Packets left to send: 3
2012-05-31T05:30:54.192Z,1338442254.192 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000006
2012-05-31T05:31:02.585Z,1338442262.585 [NAL9601](INFO): SBD MO Status=1, MOMSN=7315, MT Status=0, MTMSN=0
2012-05-31T05:31:02.783Z,1338442262.783 [NAL9601](INFO): Sent 332 bytes from file Logs/20120531T050931/shore0003.lzma
2012-05-31T05:31:02.783Z,1338442262.783 [NAL9601](INFO): Packets left to send: 2
2012-05-31T05:31:02.833Z,1338442262.833 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000007
2012-05-31T05:31:11.082Z,1338442271.082 [NAL9601](INFO): SBD MO Status=1, MOMSN=7316, MT Status=0, MTMSN=0
2012-05-31T05:31:11.263Z,1338442271.263 [NAL9601](INFO): Sent 332 bytes from file Logs/20120531T050931/shore0003.lzma
2012-05-31T05:31:11.263Z,1338442271.263 [NAL9601](INFO): Packets left to send: 1
2012-05-31T05:31:11.264Z,1338442271.264 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000008
2012-05-31T05:31:19.569Z,1338442279.569 [NAL9601](INFO): SBD MO Status=1, MOMSN=7317, MT Status=0, MTMSN=0
2012-05-31T05:31:19.751Z,1338442279.751 [NAL9601](INFO): Sent 236 bytes from file Logs/20120531T050931/shore0003.lzma
2012-05-31T05:31:19.751Z,1338442279.751 [NAL9601](INFO): Packets left to send: 0
2012-05-31T05:31:19.753Z,1338442279.753 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000009
2012-05-31T05:31:25.985Z,1338442285.986 [NAL9601](INFO): SBD MO Status=0, MOMSN=7318, MT Status=0, MTMSN=0
2012-05-31T05:31:26.157Z,1338442286.158 [Default:Iridium:Read_Iridium] Stopped
2012-05-31T05:31:26.158Z,1338442286.158 [Default:Iridium](INFO): Completed Default:Iridium
2012-05-31T05:31:26.158Z,1338442286.158 [Default:Iridium] Stopped
2012-05-31T05:31:26.158Z,1338442286.158 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-31T05:31:26.158Z,1338442286.158 [Default:Iridium:A.SetSpeed] Stopped
2012-05-31T05:31:26.159Z,1338442286.158 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-31T05:31:26.159Z,1338442286.159 [Default:F.Wait] Running Loop=1
2012-05-31T05:31:26.159Z,1338442286.159 [Default:F.Wait](DEBUG): Initialize Wait Component.
2012-05-31T05:31:26.439Z,1338442286.439 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2012-05-31T05:31:26.439Z,1338442286.439 [Default:CallIridium:B] Stopped
2012-05-31T05:31:26.439Z,1338442286.439 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-31T05:31:26.439Z,1338442286.439 [Default:CallIridium](INFO): Completed Default:CallIridium
2012-05-31T05:31:26.439Z,1338442286.439 [Default:CallIridium] Stopped
2012-05-31T05:31:26.440Z,1338442286.440 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-31T05:31:36.523Z,1338442296.523 [NAL9601](INFO): Powering down
2012-05-31T05:36:26.755Z,1338442586.755 [Default:CallIridium] Running Loop=1
2012-05-31T05:36:26.755Z,1338442586.755 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-31T05:36:26.755Z,1338442586.755 [Default:CallIridium:A] Running Loop=1
2012-05-31T05:36:26.755Z,1338442586.755 [Default:CallIridium:A] Stopped
2012-05-31T05:36:26.756Z,1338442586.756 [Default:CallIridium:B] Running Loop=1
2012-05-31T05:36:26.756Z,1338442586.756 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-31T05:36:31.517Z,1338442591.517 [Default:Iridium] Running Loop=1
2012-05-31T05:36:31.517Z,1338442591.517 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-31T05:36:31.517Z,1338442591.517 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-31T05:36:31.517Z,1338442591.517 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-31T05:36:31.517Z,1338442591.517 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-31T05:36:31.517Z,1338442591.517 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T05:36:31.519Z,1338442591.519 [Default:Iridium:B.GoToSurface] Stopped
2012-05-31T05:36:31.519Z,1338442591.519 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T05:36:31.519Z,1338442591.519 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-31T05:36:31.519Z,1338442591.519 [Default:GPS] Running Loop=1
2012-05-31T05:36:31.519Z,1338442591.519 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-31T05:36:31.519Z,1338442591.519 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-31T05:36:31.519Z,1338442591.519 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-31T05:36:31.520Z,1338442591.520 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-31T05:36:31.520Z,1338442591.520 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T05:36:31.521Z,1338442591.521 [Default:GPS:B.GoToSurface] Stopped
2012-05-31T05:36:31.521Z,1338442591.521 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T05:36:31.521Z,1338442591.521 [Default:GPS:Read_GPS] Running Loop=1
2012-05-31T05:36:32.168Z,1338442592.168 [NAL9601](INFO): Powering up
2012-05-31T05:37:37.891Z,1338442657.891 [NAL9601](INFO): NAL9601 initialized
2012-05-31T05:37:38.984Z,1338442658.984 [NAL9601](IMPORTANT): GPS fix at: 1338442717.00
2012-05-31T05:37:38.999Z,1338442659.000 [Default:GPS:Read_GPS] Stopped
2012-05-31T05:37:38.000Z,1338442659.000 [Default:GPS:D] Running Loop=1
2012-05-31T05:37:39.404Z,1338442659.404 [Default:GPS:D] Stopped
2012-05-31T05:37:39.404Z,1338442659.404 [Default:GPS](INFO): Completed Default:GPS
2012-05-31T05:37:39.404Z,1338442659.404 [Default:GPS] Stopped
2012-05-31T05:37:39.404Z,1338442659.404 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-31T05:37:39.404Z,1338442659.404 [Default:GPS:A.SetSpeed] Stopped
2012-05-31T05:37:39.405Z,1338442659.405 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-31T05:37:55.658Z,1338442675.658 [NAL9601](IMPORTANT): SBD MO Status=1, MOMSN=7319, MT Status=1, MTMSN=2654
2012-05-31T05:37:55.855Z,1338442675.855 [NAL9601](INFO): Sent 159 bytes from file Logs/20120531T050931/shore0004.lzma
2012-05-31T05:37:55.855Z,1338442675.855 [NAL9601](INFO): Packets left to send: 0
2012-05-31T05:37:55.856Z,1338442675.856 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000010
2012-05-31T05:37:56.336Z,1338442676.336 [NAL9601](INFO): Received command:load Transport/go_west_1000m.xml;set go_west_1000m.Eastings -500 meter;set go_west_1000m:SURFACECOMMS.IridiumTimeout 15 minute;run 
2012-05-31T05:37:56.349Z,1338442676.349 [CommandLine](IMPORTANT): got command load ./Missions/Transport/go_west_1000m.xml
2012-05-31T05:37:56.349Z,1338442676.349 [MissionManager](INFO): Loading Mission: ./Missions/Transport/go_west_1000m.xml
2012-05-31T05:37:56.379Z,1338442676.379 [MissionManager](INFO): DefineArg go_west_1000m.ApproachDepth = 10.000000 m
2012-05-31T05:37:56.382Z,1338442676.382 [MissionManager](INFO): DefineArg go_west_1000m.Northings = 0.000000 m
2012-05-31T05:37:56.385Z,1338442676.385 [MissionManager](INFO): DefineArg go_west_1000m.Eastings = -1000.000000 m
2012-05-31T05:37:56.387Z,1338442676.387 [go_west_1000m:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-05-31T05:37:56.394Z,1338442676.394 [go_west_1000m:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-05-31T05:37:56.404Z,1338442676.404 [go_west_1000m:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2012-05-31T05:37:56.410Z,1338442676.410 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2012-05-31T05:37:56.430Z,1338442676.430 [MissionManager](INFO): DefineArg go_west_1000m:SURFACECOMMS.SurfaceDepthRate = nan m/s
2012-05-31T05:37:56.433Z,1338442676.433 [MissionManager](INFO): DefineArg go_west_1000m:SURFACECOMMS.SurfacePitch = nan arcdeg
2012-05-31T05:37:56.436Z,1338442676.436 [MissionManager](INFO): DefineArg go_west_1000m:SURFACECOMMS.SurfaceSpeed = 0.500000 m/s
2012-05-31T05:37:56.439Z,1338442676.439 [MissionManager](INFO): DefineArg go_west_1000m:SURFACECOMMS.IridiumTimeout = 30.000000 min
2012-05-31T05:37:56.440Z,1338442676.440 [go_west_1000m:SURFACECOMMS:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-31T05:37:56.453Z,1338442676.453 [go_west_1000m:WaypointOne:A.Pitch](DEBUG): Construct.
2012-05-31T05:37:56.458Z,1338442676.458 [go_west_1000m:WaypointOne:B.SetSpeed](DEBUG): Construct.
2012-05-31T05:37:56.461Z,1338442676.461 [go_west_1000m:WaypointOne:Point.Point](DEBUG): Construct.
2012-05-31T05:37:56.472Z,1338442676.472 [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="go_west_1000m">

<!-- To be used within 6km of waypoint. No science collection.  -->

    <DefineArg Name="ApproachDepth"><Units:meter/><Value>10.0</Value></DefineArg>

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

    <DefineArg Name="Eastings"><Units:meter/><Value>-1000</Value></DefineArg>

    <Timeout Duration="P30M"/>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>20</Value></Setting>
    </Guidance:DepthEnvelope>

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

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

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

    <Aggregate Id="NeedComms">

        <When>
            <Elapsed><Universal:time_fix/></Elapsed>
            <Gt><Units:minute/><Value>35</Value></Gt>
        </When>

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

    </Aggregate>

    <Aggregate Id="WaypointOne">

<!-- Go to Wpt1 -->

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

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

        <Guidance:Point Id="Point" RunIn="Sequence">
            <Setting><Guidance:Point.northingsDelta/><Arg Name="Northings"/></Setting>
            <Setting><Guidance:Point.eastingsDelta/><Arg Name="Eastings"/></Setting>
        </Guidance:Point>

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

    </Aggregate>

</Mission>


2012-05-31T05:37:56.473Z,1338442676.473 [CommandLine](IMPORTANT): Loaded ./Missions/Transport/go_west_1000m.xml
2012-05-31T05:37:56.597Z,1338442676.597 [CommandLine](IMPORTANT): got command set go_west_1000m.Eastings -500.000000 meter
2012-05-31T05:37:56.772Z,1338442676.772 [CommandLine](IMPORTANT): got command set go_west_1000m:SURFACECOMMS.IridiumTimeout 15.000000 minute
2012-05-31T05:37:56.773Z,1338442676.773 [CommandLine](IMPORTANT): got command run 
2012-05-31T05:37:56.774Z,1338442676.773 [CommandLine](IMPORTANT): Running 
2012-05-31T05:37:56.788Z,1338442676.788 [Default] Stopped
2012-05-31T05:37:56.788Z,1338442676.788 [Default](INFO): Aggregate::uninitialize Default
2012-05-31T05:37:56.788Z,1338442676.788 [Default:Iridium] Stopped
2012-05-31T05:37:56.788Z,1338442676.788 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-31T05:37:56.788Z,1338442676.788 [Default:Iridium:A.SetSpeed] Stopped
2012-05-31T05:37:56.788Z,1338442676.788 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-31T05:37:56.788Z,1338442676.788 [Default:Iridium:Read_Iridium] Stopped
2012-05-31T05:37:56.788Z,1338442676.788 [Default:CallIridium] Stopped
2012-05-31T05:37:56.788Z,1338442676.788 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-31T05:37:56.789Z,1338442676.789 [Default:CallIridium:B] Stopped
2012-05-31T05:37:56.789Z,1338442676.789 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-31T05:37:56.789Z,1338442676.789 [Default:D.SetSpeed] Stopped
2012-05-31T05:37:56.789Z,1338442676.789 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-31T05:37:56.789Z,1338442676.789 [Default:E.GoToSurface] Stopped
2012-05-31T05:37:56.789Z,1338442676.789 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T05:37:56.789Z,1338442676.789 [Default:F.Wait] Stopped
2012-05-31T05:37:56.789Z,1338442676.789 [Default:F.Wait](DEBUG): Uninitialize Wait Component.
2012-05-31T05:37:56.789Z,1338442676.789 [MissionManager](IMPORTANT): Started mission go_west_1000m
2012-05-31T05:37:56.789Z,1338442676.789 [go_west_1000m] Running Loop=1
2012-05-31T05:37:56.789Z,1338442676.789 [go_west_1000m](INFO): Aggregate::initialize go_west_1000m
2012-05-31T05:37:56.789Z,1338442676.789 [go_west_1000m:A.AltitudeEnvelope] Running Loop=1
2012-05-31T05:37:56.789Z,1338442676.789 [go_west_1000m:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2012-05-31T05:37:56.790Z,1338442676.790 [go_west_1000m:B.DepthEnvelope] Running Loop=1
2012-05-31T05:37:56.790Z,1338442676.790 [go_west_1000m:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-05-31T05:37:56.791Z,1338442676.791 [go_west_1000m:C.OffshoreEnvelope] Running Loop=1
2012-05-31T05:37:56.791Z,1338442676.791 [go_west_1000m:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2012-05-31T05:37:56.791Z,1338442676.791 [go_west_1000m:SURFACECOMMS] Running Loop=1
2012-05-31T05:37:56.791Z,1338442676.791 [go_west_1000m:SURFACECOMMS](INFO): Aggregate::initialize go_west_1000m:SURFACECOMMS
2012-05-31T05:37:56.791Z,1338442676.791 [go_west_1000m:SURFACECOMMS:A.GoToSurface] Running Loop=1
2012-05-31T05:37:56.791Z,1338442676.791 [go_west_1000m:SURFACECOMMS:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T05:37:56.797Z,1338442676.797 [go_west_1000m:SURFACECOMMS:B] Running Loop=1
2012-05-31T05:37:56.797Z,1338442676.797 [go_west_1000m:SURFACECOMMS:B](INFO): Aggregate::initialize go_west_1000m:SURFACECOMMS:B
2012-05-31T05:37:56.798Z,1338442676.798 [go_west_1000m:SURFACECOMMS:B:A] Running Loop=1
2012-05-31T05:37:56.798Z,1338442676.798 [go_west_1000m:C.OffshoreEnvelope] Running Loop=1
2012-05-31T05:37:56.803Z,1338442676.803 [go_west_1000m:B.DepthEnvelope] Running Loop=1
2012-05-31T05:37:56.808Z,1338442676.808 [go_west_1000m:A.AltitudeEnvelope] Running Loop=1
2012-05-31T05:37:57.160Z,1338442677.160 [go_west_1000m:SURFACECOMMS:B:A](DEBUG): Initialize ReadDataComponent to sense time_fix
2012-05-31T05:37:59.083Z,1338442679.083 [NAL9601](IMPORTANT): GPS fix at: 1338442737.00
2012-05-31T05:37:59.097Z,1338442679.097 [go_west_1000m:SURFACECOMMS:B:A] Stopped
2012-05-31T05:37:59.097Z,1338442679.098 [go_west_1000m:SURFACECOMMS:B:B] Running Loop=1
2012-05-31T05:37:59.495Z,1338442679.495 [go_west_1000m:SURFACECOMMS:B:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-31T05:38:10.930Z,1338442690.930 [NAL9601](INFO): SBD MO Status=0, MOMSN=7320, MT Status=0, MTMSN=0
2012-05-31T05:38:22.829Z,1338442702.829 [NAL9601](INFO): SBD MO Status=1, MOMSN=7321, MT Status=0, MTMSN=0
2012-05-31T05:38:23.029Z,1338442703.029 [NAL9601](INFO): Sent 332 bytes from file Logs/20120531T050931/shore0005.lzma
2012-05-31T05:38:23.030Z,1338442703.030 [NAL9601](INFO): Packets left to send: 1
2012-05-31T05:38:23.031Z,1338442703.031 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000011
2012-05-31T05:38:28.526Z,1338442708.526 [NAL9601](INFO): SBD MO Status=1, MOMSN=7322, MT Status=0, MTMSN=0
2012-05-31T05:38:28.703Z,1338442708.703 [NAL9601](INFO): Sent 23 bytes from file Logs/20120531T050931/shore0005.lzma
2012-05-31T05:38:28.703Z,1338442708.703 [NAL9601](INFO): Packets left to send: 0
2012-05-31T05:38:28.704Z,1338442708.704 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000012
2012-05-31T05:38:36.926Z,1338442716.926 [NAL9601](INFO): SBD MO Status=0, MOMSN=7323, MT Status=0, MTMSN=0
2012-05-31T05:38:37.106Z,1338442717.106 [go_west_1000m:SURFACECOMMS:B:B] Stopped
2012-05-31T05:38:37.106Z,1338442717.106 [go_west_1000m:SURFACECOMMS:B:C] Running Loop=1
2012-05-31T05:38:37.333Z,1338442717.333 [go_west_1000m:SURFACECOMMS:B:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2012-05-31T05:38:39.341Z,1338442719.341 [NAL9601](IMPORTANT): GPS fix at: 1338442777.00
2012-05-31T05:38:39.356Z,1338442719.355 [go_west_1000m:SURFACECOMMS:B:C] Stopped
2012-05-31T05:38:39.356Z,1338442719.356 [go_west_1000m:SURFACECOMMS:B](INFO): Completed go_west_1000m:SURFACECOMMS:B
2012-05-31T05:38:39.356Z,1338442719.356 [go_west_1000m:SURFACECOMMS:B] Stopped
2012-05-31T05:38:39.356Z,1338442719.356 [go_west_1000m:SURFACECOMMS:B](INFO): Aggregate::uninitialize go_west_1000m:SURFACECOMMS:B
2012-05-31T05:38:39.357Z,1338442719.357 [go_west_1000m:SURFACECOMMS](INFO): Completed go_west_1000m:SURFACECOMMS
2012-05-31T05:38:39.357Z,1338442719.357 [go_west_1000m:SURFACECOMMS] Stopped
2012-05-31T05:38:39.357Z,1338442719.357 [go_west_1000m:SURFACECOMMS](INFO): Aggregate::uninitialize go_west_1000m:SURFACECOMMS
2012-05-31T05:38:39.357Z,1338442719.357 [go_west_1000m:SURFACECOMMS:A.GoToSurface] Stopped
2012-05-31T05:38:39.357Z,1338442719.357 [go_west_1000m:SURFACECOMMS:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T05:38:39.357Z,1338442719.357 [go_west_1000m:WaypointOne] Running Loop=1
2012-05-31T05:38:39.357Z,1338442719.357 [go_west_1000m:WaypointOne](INFO): Aggregate::initialize go_west_1000m:WaypointOne
2012-05-31T05:38:39.357Z,1338442719.358 [go_west_1000m:WaypointOne:A.Pitch] Running Loop=1
2012-05-31T05:38:39.358Z,1338442719.358 [go_west_1000m:WaypointOne:A.Pitch](DEBUG): Initialize.
2012-05-31T05:38:39.358Z,1338442719.358 [go_west_1000m:WaypointOne:B.SetSpeed] Running Loop=1
2012-05-31T05:38:39.358Z,1338442719.358 [go_west_1000m:WaypointOne:B.SetSpeed](DEBUG): Initialize.
2012-05-31T05:38:39.358Z,1338442719.358 [go_west_1000m:WaypointOne:Point.Point] Running Loop=1
2012-05-31T05:38:39.358Z,1338442719.358 [go_west_1000m:WaypointOne:Point.Point](DEBUG): Initialize.
2012-05-31T05:38:39.747Z,1338442719.747 [go_west_1000m:WaypointOne:B.SetSpeed] Running Loop=1
2012-05-31T05:38:39.752Z,1338442719.752 [go_west_1000m:WaypointOne:A.Pitch] Running Loop=1
2012-05-31T05:38:45.704Z,1338442725.704 [NAL9601](INFO): Powering down
2012-05-31T05:38:56.466Z,1338442736.466 [Radio_Freewave](INFO): Powering down
2012-05-31T05:39:06.221Z,1338442746.221 [Radio_Freewave](INFO): Powering up
2012-05-31T05:39:16.922Z,1338442756.921 [Radio_Freewave](INFO): Powering down
2012-05-31T06:07:56.933Z,1338444476.934 [go_west_1000m](INFO): Timed out from 2012-05-31T05:37:56.8Z
2012-05-31T06:07:56.934Z,1338444476.934 [A_Timeout] Running Loop=1
2012-05-31T06:07:56.934Z,1338444476.934 [A_Timeout](INFO): Aggregate::initialize A_Timeout
2012-05-31T06:07:56.934Z,1338444476.934 [A_Timeout](INFO): Completed A_Timeout
2012-05-31T06:07:56.934Z,1338444476.934 [go_west_1000m] Stopped
2012-05-31T06:07:56.934Z,1338444476.934 [go_west_1000m](INFO): Aggregate::uninitialize go_west_1000m
2012-05-31T06:07:56.934Z,1338444476.934 [go_west_1000m:A.AltitudeEnvelope] Stopped
2012-05-31T06:07:56.934Z,1338444476.934 [go_west_1000m:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2012-05-31T06:07:56.935Z,1338444476.935 [go_west_1000m:B.DepthEnvelope] Stopped
2012-05-31T06:07:56.935Z,1338444476.935 [go_west_1000m:B.DepthEnvelope](DEBUG): Uninitialize.
2012-05-31T06:07:56.935Z,1338444476.935 [go_west_1000m:C.OffshoreEnvelope] Stopped
2012-05-31T06:07:56.935Z,1338444476.935 [go_west_1000m:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2012-05-31T06:07:56.935Z,1338444476.935 [go_west_1000m:WaypointOne] Stopped
2012-05-31T06:07:56.935Z,1338444476.935 [go_west_1000m:WaypointOne](INFO): Aggregate::uninitialize go_west_1000m:WaypointOne
2012-05-31T06:07:56.935Z,1338444476.935 [go_west_1000m:WaypointOne:A.Pitch] Stopped
2012-05-31T06:07:56.935Z,1338444476.935 [go_west_1000m:WaypointOne:B.SetSpeed] Stopped
2012-05-31T06:07:56.935Z,1338444476.935 [go_west_1000m:WaypointOne:B.SetSpeed](DEBUG): Uninitialize.
2012-05-31T06:07:56.935Z,1338444476.935 [go_west_1000m:WaypointOne:Point.Point] Stopped
2012-05-31T06:07:57.338Z,1338444477.338 [MissionManager](IMPORTANT): Started mission Default
2012-05-31T06:07:57.338Z,1338444477.338 [Default] Running Loop=1
2012-05-31T06:07:57.338Z,1338444477.338 [Default](INFO): Aggregate::initialize Default
2012-05-31T06:07:57.338Z,1338444477.338 [Default:D.SetSpeed] Running Loop=1
2012-05-31T06:07:57.343Z,1338444477.342 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-31T06:07:57.343Z,1338444477.343 [Default:E.GoToSurface] Running Loop=1
2012-05-31T06:07:57.343Z,1338444477.343 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T06:07:57.343Z,1338444477.343 [Default:Iridium] Running Loop=1
2012-05-31T06:07:57.343Z,1338444477.343 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-31T06:07:57.343Z,1338444477.343 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-31T06:07:57.343Z,1338444477.343 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-31T06:07:57.344Z,1338444477.344 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-31T06:07:57.344Z,1338444477.344 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T06:07:57.345Z,1338444477.345 [Default:CallIridium] Running Loop=1
2012-05-31T06:07:57.345Z,1338444477.345 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-31T06:07:57.345Z,1338444477.345 [Default:CallIridium:A] Running Loop=1
2012-05-31T06:07:57.346Z,1338444477.346 [Default:CallIridium:A] Stopped
2012-05-31T06:07:57.346Z,1338444477.346 [Default:CallIridium:B] Running Loop=1
2012-05-31T06:07:57.346Z,1338444477.346 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-31T06:07:57.759Z,1338444477.759 [Default:GPS] Running Loop=1
2012-05-31T06:07:57.760Z,1338444477.760 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-31T06:07:57.760Z,1338444477.760 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-31T06:07:57.760Z,1338444477.760 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-31T06:07:57.760Z,1338444477.760 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-31T06:07:57.760Z,1338444477.760 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T06:10:30.530Z,1338444630.530 [Radio_Freewave](INFO): Powering up
2012-05-31T06:10:30.548Z,1338444630.548 [Default:Iridium:B.GoToSurface] Stopped
2012-05-31T06:10:30.548Z,1338444630.548 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T06:10:30.548Z,1338444630.548 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-31T06:10:30.549Z,1338444630.549 [Default:GPS:B.GoToSurface] Stopped
2012-05-31T06:10:30.549Z,1338444630.549 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T06:10:30.549Z,1338444630.549 [Default:GPS:Read_GPS] Running Loop=1
2012-05-31T06:10:31.319Z,1338444631.319 [NAL9601](INFO): Powering up
2012-05-31T06:11:37.043Z,1338444697.043 [NAL9601](INFO): NAL9601 initialized
2012-05-31T06:11:38.118Z,1338444698.118 [NAL9601](IMPORTANT): GPS fix at: 1338444759.00
2012-05-31T06:11:38.132Z,1338444698.132 [Navigation](IMPORTANT): Navigation Error 105.2 %DT

2012-05-31T06:11:38.134Z,1338444698.134 [Default:GPS:Read_GPS] Stopped
2012-05-31T06:11:38.134Z,1338444698.134 [Default:GPS:D] Running Loop=1
2012-05-31T06:11:38.590Z,1338444698.590 [Default:GPS:D] Stopped
2012-05-31T06:11:38.590Z,1338444698.590 [Default:GPS](INFO): Completed Default:GPS
2012-05-31T06:11:38.590Z,1338444698.590 [Default:GPS] Stopped
2012-05-31T06:11:38.595Z,1338444698.595 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-31T06:11:38.595Z,1338444698.595 [Default:GPS:A.SetSpeed] Stopped
2012-05-31T06:11:38.595Z,1338444698.595 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-31T06:11:55.274Z,1338444715.274 [NAL9601](IMPORTANT): SBD MO Status=1, MOMSN=7324, MT Status=1, MTMSN=2655
2012-05-31T06:11:55.403Z,1338444715.403 [NAL9601](INFO): Sent 332 bytes from file Logs/20120531T050931/shore0006.lzma
2012-05-31T06:11:55.403Z,1338444715.403 [NAL9601](INFO): Packets left to send: 5
2012-05-31T06:11:55.404Z,1338444715.404 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000013
2012-05-31T06:11:55.816Z,1338444715.816 [NAL9601](INFO): Received command:stop
2012-05-31T06:11:55.827Z,1338444715.827 [CommandLine](IMPORTANT): got command stop
2012-05-31T06:12:12.338Z,1338444732.338 [NAL9601](INFO): SBD MO Status=1, MOMSN=7325, MT Status=0, MTMSN=0
2012-05-31T06:12:12.479Z,1338444732.479 [NAL9601](INFO): Sent 332 bytes from file Logs/20120531T050931/shore0006.lzma
2012-05-31T06:12:12.479Z,1338444732.479 [NAL9601](INFO): Packets left to send: 4
2012-05-31T06:12:12.480Z,1338444732.480 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000014
2012-05-31T06:12:25.229Z,1338444745.229 [NAL9601](INFO): SBD MO Status=1, MOMSN=7326, MT Status=0, MTMSN=0
2012-05-31T06:12:25.355Z,1338444745.355 [NAL9601](INFO): Sent 332 bytes from file Logs/20120531T050931/shore0006.lzma
2012-05-31T06:12:25.355Z,1338444745.355 [NAL9601](INFO): Packets left to send: 3
2012-05-31T06:12:25.356Z,1338444745.356 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000015
2012-05-31T06:12:34.148Z,1338444754.148 [NAL9601](INFO): SBD MO Status=1, MOMSN=7327, MT Status=0, MTMSN=0
2012-05-31T06:12:34.343Z,1338444754.343 [NAL9601](INFO): Sent 332 bytes from file Logs/20120531T050931/shore0006.lzma
2012-05-31T06:12:34.343Z,1338444754.343 [NAL9601](INFO): Packets left to send: 2
2012-05-31T06:12:34.344Z,1338444754.344 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000016
2012-05-31T06:12:49.049Z,1338444769.049 [NAL9601](INFO): SBD MO Status=1, MOMSN=7328, MT Status=0, MTMSN=0
2012-05-31T06:12:49.219Z,1338444769.219 [NAL9601](INFO): Sent 332 bytes from file Logs/20120531T050931/shore0006.lzma
2012-05-31T06:12:49.219Z,1338444769.219 [NAL9601](INFO): Packets left to send: 1
2012-05-31T06:12:49.220Z,1338444769.220 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000017
2012-05-31T06:12:58.338Z,1338444778.338 [NAL9601](INFO): SBD MO Status=1, MOMSN=7329, MT Status=0, MTMSN=0
2012-05-31T06:12:58.507Z,1338444778.507 [NAL9601](INFO): Sent 43 bytes from file Logs/20120531T050931/shore0006.lzma
2012-05-31T06:12:58.507Z,1338444778.507 [NAL9601](INFO): Packets left to send: 0
2012-05-31T06:12:58.508Z,1338444778.508 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000018
2012-05-31T06:13:09.561Z,1338444789.561 [NAL9601](INFO): SBD MO Status=0, MOMSN=7330, MT Status=0, MTMSN=0
2012-05-31T06:13:28.226Z,1338444808.226 [NAL9601](INFO): SBD MO Status=1, MOMSN=7331, MT Status=0, MTMSN=0
2012-05-31T06:13:28.359Z,1338444808.359 [NAL9601](INFO): Sent 177 bytes from file Logs/20120531T050931/shore0007.lzma
2012-05-31T06:13:28.359Z,1338444808.359 [NAL9601](INFO): Packets left to send: 0
2012-05-31T06:13:28.360Z,1338444808.360 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000019
2012-05-31T06:13:36.626Z,1338444816.626 [NAL9601](INFO): SBD MO Status=0, MOMSN=7332, MT Status=0, MTMSN=0
2012-05-31T06:13:36.762Z,1338444816.762 [Default:Iridium:Read_Iridium] Stopped
2012-05-31T06:13:36.762Z,1338444816.762 [Default:Iridium](INFO): Completed Default:Iridium
2012-05-31T06:13:36.762Z,1338444816.762 [Default:Iridium] Stopped
2012-05-31T06:13:36.762Z,1338444816.762 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-31T06:13:36.762Z,1338444816.763 [Default:Iridium:A.SetSpeed] Stopped
2012-05-31T06:13:36.763Z,1338444816.763 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-31T06:13:36.763Z,1338444816.763 [Default:F.Wait] Running Loop=1
2012-05-31T06:13:36.763Z,1338444816.763 [Default:F.Wait](DEBUG): Initialize Wait Component.
2012-05-31T06:13:37.036Z,1338444817.036 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2012-05-31T06:13:37.037Z,1338444817.037 [Default:CallIridium:B] Stopped
2012-05-31T06:13:37.037Z,1338444817.037 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-31T06:13:37.037Z,1338444817.037 [Default:CallIridium](INFO): Completed Default:CallIridium
2012-05-31T06:13:37.037Z,1338444817.037 [Default:CallIridium] Stopped
2012-05-31T06:13:37.037Z,1338444817.037 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-31T06:13:47.156Z,1338444827.156 [NAL9601](INFO): Powering down
2012-05-31T06:18:37.205Z,1338445117.205 [Default:CallIridium] Running Loop=1
2012-05-31T06:18:37.205Z,1338445117.205 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-31T06:18:37.206Z,1338445117.205 [Default:CallIridium:A] Running Loop=1
2012-05-31T06:18:37.206Z,1338445117.206 [Default:CallIridium:A] Stopped
2012-05-31T06:18:37.206Z,1338445117.206 [Default:CallIridium:B] Running Loop=1
2012-05-31T06:18:37.206Z,1338445117.206 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-31T06:18:42.235Z,1338445122.235 [Default:Iridium] Running Loop=1
2012-05-31T06:18:42.235Z,1338445122.235 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-31T06:18:42.235Z,1338445122.235 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-31T06:18:42.235Z,1338445122.235 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-31T06:18:42.235Z,1338445122.235 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-31T06:18:42.235Z,1338445122.235 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T06:18:42.236Z,1338445122.236 [Default:Iridium:B.GoToSurface] Stopped
2012-05-31T06:18:42.236Z,1338445122.236 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T06:18:42.236Z,1338445122.236 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-31T06:18:42.237Z,1338445122.237 [Default:GPS] Running Loop=1
2012-05-31T06:18:42.237Z,1338445122.237 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-31T06:18:42.237Z,1338445122.237 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-31T06:18:42.237Z,1338445122.237 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-31T06:18:42.237Z,1338445122.237 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-31T06:18:42.237Z,1338445122.237 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T06:18:42.238Z,1338445122.238 [Default:GPS:B.GoToSurface] Stopped
2012-05-31T06:18:42.238Z,1338445122.238 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T06:18:42.238Z,1338445122.239 [Default:GPS:Read_GPS] Running Loop=1
2012-05-31T06:18:42.832Z,1338445122.832 [NAL9601](INFO): Powering up
2012-05-31T06:19:48.459Z,1338445188.459 [NAL9601](INFO): NAL9601 initialized
2012-05-31T06:19:49.622Z,1338445189.622 [NAL9601](IMPORTANT): GPS fix at: 1338445251.00
2012-05-31T06:19:49.640Z,1338445189.640 [Default:GPS:Read_GPS] Stopped
2012-05-31T06:19:49.640Z,1338445189.640 [Default:GPS:D] Running Loop=1
2012-05-31T06:19:50.037Z,1338445190.037 [Default:GPS:D] Stopped
2012-05-31T06:19:50.038Z,1338445190.038 [Default:GPS](INFO): Completed Default:GPS
2012-05-31T06:19:50.038Z,1338445190.038 [Default:GPS] Stopped
2012-05-31T06:19:50.038Z,1338445190.038 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-31T06:19:50.038Z,1338445190.038 [Default:GPS:A.SetSpeed] Stopped
2012-05-31T06:19:50.038Z,1338445190.038 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-31T06:20:12.336Z,1338445212.336 [NAL9601](INFO): SBD MO Status=1, MOMSN=7333, MT Status=0, MTMSN=0
2012-05-31T06:20:12.511Z,1338445212.511 [NAL9601](INFO): Sent 176 bytes from file Logs/20120531T050931/shore0008.lzma
2012-05-31T06:20:12.511Z,1338445212.511 [NAL9601](INFO): Packets left to send: 0
2012-05-31T06:20:12.513Z,1338445212.513 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000020
2012-05-31T06:20:21.137Z,1338445221.136 [NAL9601](INFO): SBD MO Status=0, MOMSN=7334, MT Status=0, MTMSN=0
2012-05-31T06:20:21.323Z,1338445221.323 [Default:Iridium:Read_Iridium] Stopped
2012-05-31T06:20:21.323Z,1338445221.323 [Default:Iridium](INFO): Completed Default:Iridium
2012-05-31T06:20:21.323Z,1338445221.323 [Default:Iridium] Stopped
2012-05-31T06:20:21.323Z,1338445221.323 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-31T06:20:21.323Z,1338445221.323 [Default:Iridium:A.SetSpeed] Stopped
2012-05-31T06:20:21.323Z,1338445221.323 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-31T06:20:21.555Z,1338445221.555 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2012-05-31T06:20:21.555Z,1338445221.555 [Default:CallIridium:B] Stopped
2012-05-31T06:20:21.555Z,1338445221.555 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-31T06:20:21.556Z,1338445221.556 [Default:CallIridium](INFO): Completed Default:CallIridium
2012-05-31T06:20:21.556Z,1338445221.556 [Default:CallIridium] Stopped
2012-05-31T06:20:21.556Z,1338445221.556 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-31T06:20:31.697Z,1338445231.697 [NAL9601](INFO): Powering down
2012-05-31T06:25:21.739Z,1338445521.739 [Default:CallIridium] Running Loop=1
2012-05-31T06:25:21.739Z,1338445521.739 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-31T06:25:21.739Z,1338445521.739 [Default:CallIridium:A] Running Loop=1
2012-05-31T06:25:21.740Z,1338445521.740 [Default:CallIridium:A] Stopped
2012-05-31T06:25:21.740Z,1338445521.740 [Default:CallIridium:B] Running Loop=1
2012-05-31T06:25:21.740Z,1338445521.740 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-31T06:25:26.678Z,1338445526.678 [Default:Iridium] Running Loop=1
2012-05-31T06:25:26.679Z,1338445526.679 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-31T06:25:26.679Z,1338445526.679 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-31T06:25:26.679Z,1338445526.679 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-31T06:25:26.679Z,1338445526.679 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-31T06:25:26.679Z,1338445526.679 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T06:25:26.680Z,1338445526.680 [Default:Iridium:B.GoToSurface] Stopped
2012-05-31T06:25:26.680Z,1338445526.680 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T06:25:26.680Z,1338445526.680 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-31T06:25:26.681Z,1338445526.681 [Default:GPS] Running Loop=1
2012-05-31T06:25:26.681Z,1338445526.681 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-31T06:25:26.681Z,1338445526.681 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-31T06:25:26.681Z,1338445526.681 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-31T06:25:26.681Z,1338445526.681 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-31T06:25:26.681Z,1338445526.681 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-31T06:25:26.682Z,1338445526.682 [Default:GPS:B.GoToSurface] Stopped
2012-05-31T06:25:26.682Z,1338445526.682 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-31T06:25:26.682Z,1338445526.682 [Default:GPS:Read_GPS] Running Loop=1
2012-05-31T06:25:27.340Z,1338445527.340 [NAL9601](INFO): Powering up
2012-05-31T06:26:33.063Z,1338445593.063 [NAL9601](INFO): NAL9601 initialized
2012-05-31T06:26:34.138Z,1338445594.138 [NAL9601](IMPORTANT): GPS fix at: 1338445656.00
2012-05-31T06:26:34.154Z,1338445594.154 [Default:GPS:Read_GPS] Stopped
2012-05-31T06:26:34.154Z,1338445594.154 [Default:GPS:D] Running Loop=1
2012-05-31T06:26:34.556Z,1338445594.556 [Default:GPS:D] Stopped
2012-05-31T06:26:34.556Z,1338445594.556 [Default:GPS](INFO): Completed Default:GPS
2012-05-31T06:26:34.556Z,1338445594.556 [Default:GPS] Stopped
2012-05-31T06:26:34.556Z,1338445594.556 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-31T06:26:34.557Z,1338445594.556 [Default:GPS:A.SetSpeed] Stopped
2012-05-31T06:26:34.557Z,1338445594.557 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-31T06:26:50.441Z,1338445610.441 [NAL9601](IMPORTANT): SBD MO Status=1, MOMSN=7335, MT Status=1, MTMSN=2656
2012-05-31T06:26:50.627Z,1338445610.627 [NAL9601](INFO): Sent 176 bytes from file Logs/20120531T050931/shore0009.lzma
2012-05-31T06:26:50.627Z,1338445610.627 [NAL9601](INFO): Packets left to send: 0
2012-05-31T06:26:50.628Z,1338445610.628 [NAL9601](INFO): Stored copy of sent data in Logs/latest/sent0000021
2012-05-31T06:26:51.040Z,1338445611.040 [NAL9601](INFO): Received command:! reboot
2012-05-31T06:26:51.087Z,1338445611.087 [CommandLine](IMPORTANT): got command ! reboot