2012-01-29T11:18:42.677Z,1327835922.677 [Supervisor](DEBUG): Initializing supervisor.
2012-01-29T11:18:42.680Z,1327835922.680 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-01-29T11:18:42.681Z,1327835922.681 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-01-29T11:18:42.682Z,1327835922.682 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-01-29T11:18:42.686Z,1327835922.686 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-01-29T11:18:42.697Z,1327835922.697 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-01-29T11:18:42.698Z,1327835922.698 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-01-29T11:18:42.699Z,1327835922.699 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-01-29T11:18:42.700Z,1327835922.700 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-01-29T11:18:42.701Z,1327835922.701 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-01-29T11:18:42.702Z,1327835922.702 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-01-29T11:18:43.002Z,1327835923.002 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-01-29T11:18:43.003Z,1327835923.003 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-01-29T11:18:43.197Z,1327835923.197 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-01-29T11:18:43.197Z,1327835923.197 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-01-29T11:18:43.277Z,1327835923.277 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-01-29T11:18:43.278Z,1327835923.278 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-01-29T11:18:43.478Z,1327835923.478 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-01-29T11:18:43.479Z,1327835923.479 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-01-29T11:18:43.612Z,1327835923.612 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-01-29T11:18:43.612Z,1327835923.612 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-01-29T11:18:43.854Z,1327835923.854 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-01-29T11:18:43.854Z,1327835923.855 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-01-29T11:18:44.026Z,1327835924.026 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-01-29T11:18:44.026Z,1327835924.026 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-01-29T11:18:44.295Z,1327835924.295 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-01-29T11:18:44.296Z,1327835924.296 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-01-29T11:18:44.393Z,1327835924.393 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-01-29T11:18:44.394Z,1327835924.394 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-01-29T11:18:44.816Z,1327835924.816 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-01-29T11:18:44.817Z,1327835924.816 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-01-29T11:18:44.928Z,1327835924.928 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-01-29T11:18:44.929Z,1327835924.929 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-01-29T11:18:45.009Z,1327835925.009 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-01-29T11:18:45.010Z,1327835925.010 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-01-29T11:18:45.108Z,1327835925.108 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-01-29T11:18:45.242Z,1327835925.242 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-01-29T11:18:45.323Z,1327835925.323 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-01-29T11:18:45.422Z,1327835925.422 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-01-29T11:18:45.518Z,1327835925.519 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-01-29T11:18:45.637Z,1327835925.637 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-01-29T11:18:45.726Z,1327835925.726 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-01-29T11:18:45.808Z,1327835925.808 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-01-29T11:18:45.839Z,1327835925.839 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-01-29T11:18:46.042Z,1327835926.042 [InternalSim] Loaded
2012-01-29T11:18:46.042Z,1327835926.042 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-01-29T11:18:46.043Z,1327835926.043 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-01-29T11:18:46.043Z,1327835926.043 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-01-29T11:18:46.128Z,1327835926.128 [SBIT](DEBUG): Construct Startup Built In Test.
2012-01-29T11:18:46.159Z,1327835926.159 [SBIT] Loaded
2012-01-29T11:18:46.160Z,1327835926.160 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-01-29T11:18:46.161Z,1327835926.161 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-01-29T11:18:46.191Z,1327835926.191 [IBIT] Loaded
2012-01-29T11:18:46.192Z,1327835926.192 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-01-29T11:18:46.195Z,1327835926.195 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-01-29T11:18:46.325Z,1327835926.325 [CBIT] Loaded
2012-01-29T11:18:46.325Z,1327835926.325 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-01-29T11:18:46.326Z,1327835926.326 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-01-29T11:18:46.326Z,1327835926.326 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-01-29T11:18:46.502Z,1327835926.503 [BuoyancyServo] Loaded
2012-01-29T11:18:46.503Z,1327835926.503 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-01-29T11:18:46.516Z,1327835926.516 [ElevatorServo] Loaded
2012-01-29T11:18:46.516Z,1327835926.516 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-01-29T11:18:46.529Z,1327835926.529 [MassServo] Loaded
2012-01-29T11:18:46.529Z,1327835926.529 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-01-29T11:18:46.542Z,1327835926.542 [RudderServo] Loaded
2012-01-29T11:18:46.542Z,1327835926.542 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-01-29T11:18:46.555Z,1327835926.555 [ThrusterServo] Loaded
2012-01-29T11:18:46.555Z,1327835926.555 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-01-29T11:18:46.556Z,1327835926.556 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-01-29T11:18:46.556Z,1327835926.556 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-01-29T11:18:46.574Z,1327835926.574 [DepthRateCalculator] Loaded
2012-01-29T11:18:46.574Z,1327835926.574 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-01-29T11:18:50.825Z,1327835930.825 [HFRadarModelCalc] Loaded
2012-01-29T11:18:50.826Z,1327835930.826 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-01-29T11:18:50.843Z,1327835930.843 [NavChart] Loaded
2012-01-29T11:18:50.843Z,1327835930.843 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-01-29T11:18:50.850Z,1327835930.850 [PitchRateCalculator] Loaded
2012-01-29T11:18:50.850Z,1327835930.850 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-01-29T11:18:50.857Z,1327835930.857 [SpeedCalculator] Loaded
2012-01-29T11:18:50.857Z,1327835930.857 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-01-29T11:18:50.873Z,1327835930.874 [TempGradientCalculator] Loaded
2012-01-29T11:18:50.874Z,1327835930.874 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-01-29T11:18:50.880Z,1327835930.880 [YawRateCalculator] Loaded
2012-01-29T11:18:50.880Z,1327835930.880 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-01-29T11:18:50.925Z,1327835930.925 [Navigation] Loaded
2012-01-29T11:18:50.925Z,1327835930.925 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-01-29T11:18:50.925Z,1327835930.925 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-01-29T11:18:50.926Z,1327835930.926 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-01-29T11:18:51.178Z,1327835931.178 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-01-29T11:18:51.179Z,1327835931.179 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-01-29T11:18:51.203Z,1327835931.203 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-01-29T11:18:51.204Z,1327835931.204 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-01-29T11:18:51.249Z,1327835931.249 [VerticalControl](DEBUG): Construct VerticalControl.
2012-01-29T11:18:51.353Z,1327835931.353 [VerticalControl] Loaded
2012-01-29T11:18:51.353Z,1327835931.353 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-01-29T11:18:51.354Z,1327835931.354 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-01-29T11:18:51.416Z,1327835931.416 [HorizontalControl] Loaded
2012-01-29T11:18:51.417Z,1327835931.417 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-01-29T11:18:51.417Z,1327835931.418 [SpeedControl](DEBUG): Construct SpeedControl.
2012-01-29T11:18:51.419Z,1327835931.419 [SpeedControl] Loaded
2012-01-29T11:18:51.419Z,1327835931.420 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-01-29T11:18:51.421Z,1327835931.421 [LoopControl](DEBUG): Construct LoopControl.
2012-01-29T11:18:51.421Z,1327835931.421 [LoopControl] Loaded
2012-01-29T11:18:51.421Z,1327835931.421 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-01-29T11:18:51.422Z,1327835931.422 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-01-29T11:18:51.423Z,1327835931.422 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-01-29T11:18:51.437Z,1327835931.437 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-01-29T11:18:51.442Z,1327835931.442 [AsyncPiEstimator] Loaded
2012-01-29T11:18:51.442Z,1327835931.442 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-01-29T11:18:51.444Z,1327835931.444 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A34E0
2012-01-29T11:18:51.444Z,1327835931.444 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-01-29T11:18:51.445Z,1327835931.445 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-01-29T11:18:51.615Z,1327835931.615 [AHRS_sp3003D] Loaded
2012-01-29T11:18:51.615Z,1327835931.615 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-01-29T11:18:51.902Z,1327835931.902 [Batt_Ocean_Server] Loaded
2012-01-29T11:18:51.902Z,1327835931.902 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-01-29T11:18:51.917Z,1327835931.917 [Depth_Keller] Loaded
2012-01-29T11:18:51.918Z,1327835931.918 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-01-29T11:18:52.095Z,1327835932.095 [DVL_micro] Loaded
2012-01-29T11:18:52.096Z,1327835932.096 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-01-29T11:18:52.097Z,1327835932.097 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407274E0
2012-01-29T11:18:52.153Z,1327835932.153 [Onboard] Loaded
2012-01-29T11:18:52.153Z,1327835932.153 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-01-29T11:18:52.161Z,1327835932.161 [Radio_Freewave] Loaded
2012-01-29T11:18:52.161Z,1327835932.161 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-01-29T11:18:52.251Z,1327835932.251 [DAT] Loaded
2012-01-29T11:18:52.251Z,1327835932.251 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2012-01-29T11:18:52.252Z,1327835932.252 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-01-29T11:18:52.252Z,1327835932.252 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-01-29T11:18:52.337Z,1327835932.337 [PAR_Licor] Loaded
2012-01-29T11:18:52.337Z,1327835932.337 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-01-29T11:18:52.338Z,1327835932.338 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-01-29T11:18:52.341Z,1327835932.341 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-01-29T11:18:52.342Z,1327835932.342 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-01-29T11:18:52.349Z,1327835932.349 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-01-29T11:18:52.350Z,1327835932.350 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-01-29T11:18:52.354Z,1327835932.355 [Supervisor](DEBUG): Running supervisor.
2012-01-29T11:18:52.356Z,1327835932.355 [CommandLine](INFO): Thread ID is 6913
2012-01-29T11:18:52.359Z,1327835932.359 [controlThread](INFO): Thread ID is 6912
2012-01-29T11:18:52.360Z,1327835932.360 [controlThread](DEBUG): Initializing ControlThread
2012-01-29T11:18:52.360Z,1327835932.360 [CycleStarter](INFO): Thread ID is 6911
2012-01-29T11:18:52.361Z,1327835932.361 [InternalSim](DEBUG):  InternalSim initializing...
2012-01-29T11:18:52.389Z,1327835932.389 [logger](INFO): Thread ID is 6914
2012-01-29T11:18:52.429Z,1327835932.429 [AsyncPiEstimator](INFO): Thread ID is 6975
2012-01-29T11:18:52.429Z,1327835932.429 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-01-29T11:18:52.437Z,1327835932.437 [SBIT](INFO): Initialize SBIT Component.
2012-01-29T11:18:52.437Z,1327835932.437 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10106
2012-01-29T11:18:52.438Z,1327835932.438 [IBIT](INFO): Initialize IBIT Component.
2012-01-29T11:18:52.439Z,1327835932.439 [CBIT](DEBUG): Initialize CBIT Component.
2012-01-29T11:18:52.439Z,1327835932.439 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-01-29T11:18:52.439Z,1327835932.439 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-01-29T11:18:52.447Z,1327835932.447 [DVL_micro](INFO): Thread ID is 6976
2012-01-29T11:18:52.457Z,1327835932.457 [DVL_micro](INFO): Initializing
2012-01-29T11:18:52.457Z,1327835932.457 [DVL_micro](INFO): start:Powering up
2012-01-29T11:18:52.458Z,1327835932.458 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-01-29T11:18:52.459Z,1327835932.459 [DVL_micro](INFO): Cycling power to configure device.
2012-01-29T11:18:52.465Z,1327835932.465 [NavChartDb](INFO): Thread ID is 6977
2012-01-29T11:18:52.470Z,1327835932.470 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-01-29T11:18:52.470Z,1327835932.470 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-01-29T11:18:52.470Z,1327835932.470 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-01-29T11:18:52.471Z,1327835932.471 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-01-29T11:18:52.471Z,1327835932.471 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-01-29T11:18:52.474Z,1327835932.474 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-01-29T11:18:52.474Z,1327835932.474 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-01-29T11:18:52.475Z,1327835932.474 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-01-29T11:18:52.475Z,1327835932.475 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-01-29T11:18:52.475Z,1327835932.475 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-01-29T11:18:52.484Z,1327835932.484 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-01-29T11:18:52.485Z,1327835932.485 [Navigation](DEBUG): Initializing Navigation.
2012-01-29T11:18:52.485Z,1327835932.485 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-01-29T11:18:52.487Z,1327835932.487 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-01-29T11:18:52.488Z,1327835932.488 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-01-29T11:18:52.488Z,1327835932.488 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-01-29T11:18:54.281Z,1327835934.281 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-01-29T11:18:54.319Z,1327835934.319 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-01-29T11:18:54.352Z,1327835934.352 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-01-29T11:18:54.378Z,1327835934.378 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface RunIn="Progression"/>

    <Aggregate Id="StartupSatComms" >

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

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

    </Aggregate>

</Mission>


2012-01-29T11:18:54.379Z,1327835934.379 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-01-29T11:18:54.451Z,1327835934.451 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-01-29T11:18:54.469Z,1327835934.469 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-01-29T11:18:54.472Z,1327835934.473 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-01-29T11:18:54.516Z,1327835934.516 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-01-29T11:18:54.519Z,1327835934.519 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-01-29T11:18:54.542Z,1327835934.542 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-01-29T11:18:54.549Z,1327835934.549 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-01-29T11:18:54.549Z,1327835934.549 [DVL_micro](INFO): Querying output modes
2012-01-29T11:18:54.549Z,1327835934.549 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-01-29T11:18:54.559Z,1327835934.559 [Default:D.SetSpeed](DEBUG): Construct.
2012-01-29T11:18:54.560Z,1327835934.560 [DVL_micro](DEBUG): cmdResponse: 01
2012-01-29T11:18:54.561Z,1327835934.560 [DVL_micro](INFO): NQ1 output enabled
2012-01-29T11:18:54.561Z,1327835934.561 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-01-29T11:18:54.566Z,1327835934.566 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-01-29T11:18:54.571Z,1327835934.571 [Default:F.Wait](DEBUG): Construct Wait.
2012-01-29T11:18:54.572Z,1327835934.572 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-01-29T11:18:54.577Z,1327835934.577 [DVL_micro](INFO): pause:Powering down
2012-01-29T11:18:54.587Z,1327835934.587 [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>


2012-01-29T11:18:54.591Z,1327835934.591 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,Onboard,Radio_Freewave,DAT,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2012-01-29T11:18:54.669Z,1327835934.669 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-01-29T11:18:54.757Z,1327835934.757 [Radio_Freewave](INFO): Powering up
2012-01-29T11:18:54.780Z,1327835934.780 [DAT](INFO): Powering up
2012-01-29T11:18:54.780Z,1327835934.780 [DAT](DEBUG): Initializing DAT.
2012-01-29T11:18:55.154Z,1327835935.154 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-01-29T11:18:55.161Z,1327835935.161 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-01-29T11:18:55.167Z,1327835935.167 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-01-29T11:18:55.172Z,1327835935.172 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-01-29T11:18:55.178Z,1327835935.178 [MassServo](DEBUG): Initializing EZServoServo.
2012-01-29T11:18:55.184Z,1327835935.184 [MassServo](DEBUG): Initializing MassServo.
2012-01-29T11:18:55.190Z,1327835935.190 [RudderServo](DEBUG): Initializing EZServoServo.
2012-01-29T11:18:55.232Z,1327835935.232 [RudderServo](DEBUG): Initializing RudderServo.
2012-01-29T11:18:55.238Z,1327835935.238 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-01-29T11:18:55.244Z,1327835935.244 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-01-29T11:19:07.882Z,1327835947.882 [SBIT](IMPORTANT): Beginning Startup BIT
2012-01-29T11:19:07.885Z,1327835947.885 [CBIT](IMPORTANT): Beginning GF scan
2012-01-29T11:19:09.381Z,1327835949.381 [CommandLine](IMPORTANT): got command ibit
2012-01-29T11:19:09.739Z,1327835949.739 [IBIT](FAULT): Cannot run IBIT while SBIT is in progress.
2012-01-29T11:19:10.267Z,1327835950.267 [IBIT](IMPORTANT): surfaceThreshold: 0.500000 m
2012-01-29T11:19:10.267Z,1327835950.267 [IBIT](IMPORTANT): buoyancyNeutral: 498.000000 cc
2012-01-29T11:19:10.268Z,1327835950.268 [IBIT](IMPORTANT): massDefault: 1.090000 cm
2012-01-29T11:19:10.268Z,1327835950.268 [IBIT](IMPORTANT): stopDepth: 125.000000 m
2012-01-29T11:19:10.269Z,1327835950.269 [IBIT](IMPORTANT): abortDepth: 150.000000 m
2012-01-29T11:19:10.269Z,1327835950.269 [IBIT](IMPORTANT): IBIT FAILED
2012-01-29T11:19:12.991Z,1327835952.991 [CommandLine](INFO): End of History
2012-01-29T11:19:13.672Z,1327835953.672 [CommandLine](INFO): End of History
2012-01-29T11:19:13.913Z,1327835953.913 [CommandLine](INFO): End of History
2012-01-29T11:19:14.126Z,1327835954.126 [CommandLine](INFO): End of History
2012-01-29T11:19:14.550Z,1327835954.550 [DAT](INFO): Init failed - response: 
2012-01-29T11:19:14.550Z,1327835954.550 [DAT](FAULT): DAT failed to initialize
2012-01-29T11:19:14.550Z,1327835954.550 [DAT] Communications Fault, FailCount= 1
2012-01-29T11:19:14.550Z,1327835954.550 [DAT](ERROR): Communications Fault
2012-01-29T11:19:14.681Z,1327835954.681 [CBIT](ERROR): Communications Fault in component: DAT
2012-01-29T11:19:14.975Z,1327835954.976 [DAT](INFO): Powering down
2012-01-29T11:19:16.029Z,1327835956.029 [CBIT](INFO): Clearing failed state for component DAT
2012-01-29T11:19:16.029Z,1327835956.029 [DAT] No Fault, FailCount= 1
2012-01-29T11:19:18.436Z,1327835958.436 [DAT](INFO): Powering up
2012-01-29T11:19:18.436Z,1327835958.436 [DAT](DEBUG): Initializing DAT.
2012-01-29T11:19:18.519Z,1327835958.519 [CommandLine](IMPORTANT): got command quit
2012-01-29T11:19:19.709Z,1327835959.709 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-01-29T11:19:19.710Z,1327835959.710 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-01-29T11:19:19.988Z,1327835959.988 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-01-29T11:19:20.068Z,1327835960.069 [DVL_micro](INFO): uninitialize:Powering down
2012-01-29T11:19:20.076Z,1327835960.076 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-01-29T11:19:20.100Z,1327835960.100 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-01-29T11:19:20.107Z,1327835960.107 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-01-29T11:19:20.213Z,1327835960.213 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-01-29T11:19:20.220Z,1327835960.220 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-01-29T11:19:20.246Z,1327835960.246 [controlThread](DEBUG): Uninitializing ControlThread
2012-01-29T11:19:20.246Z,1327835960.246 [AHRS_sp3003D](INFO): Powering down
2012-01-29T11:19:20.333Z,1327835960.333 [DAT](INFO): Powering down
2012-01-29T11:19:20.335Z,1327835960.335 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-01-29T11:19:20.336Z,1327835960.336 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-01-29T11:19:20.347Z,1327835960.346 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-01-29T11:19:20.347Z,1327835960.347 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-01-29T11:19:20.347Z,1327835960.347 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-01-29T11:19:20.347Z,1327835960.348 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-01-29T11:19:20.348Z,1327835960.348 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-01-29T11:19:20.348Z,1327835960.348 [BuoyancyServo](INFO): Powering down
2012-01-29T11:19:20.361Z,1327835960.361 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-01-29T11:19:20.361Z,1327835960.361 [ElevatorServo](INFO): Powering down
2012-01-29T11:19:20.361Z,1327835960.361 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-01-29T11:19:20.361Z,1327835960.362 [MassServo](INFO): Powering down
2012-01-29T11:19:20.381Z,1327835960.381 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-01-29T11:19:20.381Z,1327835960.381 [RudderServo](INFO): Powering down
2012-01-29T11:19:20.382Z,1327835960.382 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-01-29T11:19:20.382Z,1327835960.382 [ThrusterServo](INFO): Powering down
2012-01-29T11:19:20.383Z,1327835960.383 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-01-29T11:19:20.384Z,1327835960.384 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-01-29T11:19:20.384Z,1327835960.384 [CBIT](DEBUG): Uninitialize CBIT Component.