2012-05-24T00:15:01.951Z,1337818501.951 [Supervisor](DEBUG): Initializing supervisor.
2012-05-24T00:15:01.953Z,1337818501.953 [SyncHandler](DEBUG): Created PCaller Thread at 1077138656
2012-05-24T00:15:01.954Z,1337818501.954 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-05-24T00:15:01.955Z,1337818501.955 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 1077335264
2012-05-24T00:15:01.956Z,1337818501.956 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-05-24T00:15:01.966Z,1337818501.966 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-05-24T00:15:01.967Z,1337818501.967 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 1077531872
2012-05-24T00:15:01.968Z,1337818501.968 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-05-24T00:15:01.969Z,1337818501.969 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-05-24T00:15:01.970Z,1337818501.970 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-05-24T00:15:02.240Z,1337818502.240 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-05-24T00:15:02.240Z,1337818502.240 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-05-24T00:15:02.421Z,1337818502.421 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-05-24T00:15:02.421Z,1337818502.421 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-05-24T00:15:02.504Z,1337818502.504 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-05-24T00:15:02.505Z,1337818502.505 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-05-24T00:15:02.689Z,1337818502.689 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-05-24T00:15:02.689Z,1337818502.689 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-05-24T00:15:02.814Z,1337818502.814 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-05-24T00:15:02.815Z,1337818502.815 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-05-24T00:15:03.029Z,1337818503.029 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-05-24T00:15:03.029Z,1337818503.029 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-05-24T00:15:03.175Z,1337818503.175 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-05-24T00:15:03.176Z,1337818503.175 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-05-24T00:15:03.431Z,1337818503.431 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-05-24T00:15:03.431Z,1337818503.431 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-05-24T00:15:03.527Z,1337818503.527 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-05-24T00:15:03.528Z,1337818503.528 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-05-24T00:15:03.904Z,1337818503.904 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-05-24T00:15:03.904Z,1337818503.904 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-05-24T00:15:04.013Z,1337818504.013 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-05-24T00:15:04.013Z,1337818504.013 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-05-24T00:15:04.098Z,1337818504.098 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-05-24T00:15:04.099Z,1337818504.099 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-05-24T00:15:04.199Z,1337818504.200 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-05-24T00:15:04.331Z,1337818504.331 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-05-24T00:15:04.429Z,1337818504.429 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-05-24T00:15:04.524Z,1337818504.524 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-05-24T00:15:04.632Z,1337818504.632 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-05-24T00:15:04.719Z,1337818504.719 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-05-24T00:15:04.805Z,1337818504.805 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-05-24T00:15:04.916Z,1337818504.916 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-05-24T00:15:05.044Z,1337818505.044 [InternalSim] Loaded
2012-05-24T00:15:05.044Z,1337818505.044 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-05-24T00:15:05.045Z,1337818505.045 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-05-24T00:15:05.046Z,1337818505.046 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-05-24T00:15:05.090Z,1337818505.090 [SBIT](DEBUG): Construct Startup Built In Test.
2012-05-24T00:15:05.102Z,1337818505.102 [SBIT] Loaded
2012-05-24T00:15:05.102Z,1337818505.102 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-05-24T00:15:05.103Z,1337818505.103 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-05-24T00:15:05.126Z,1337818505.126 [IBIT] Loaded
2012-05-24T00:15:05.127Z,1337818505.127 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-05-24T00:15:05.134Z,1337818505.134 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-05-24T00:15:05.242Z,1337818505.242 [CBIT] Loaded
2012-05-24T00:15:05.242Z,1337818505.242 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-05-24T00:15:05.242Z,1337818505.242 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-05-24T00:15:05.243Z,1337818505.243 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-05-24T00:15:05.373Z,1337818505.373 [BuoyancyServo] Loaded
2012-05-24T00:15:05.373Z,1337818505.374 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-05-24T00:15:05.380Z,1337818505.380 [ElevatorServo] Loaded
2012-05-24T00:15:05.381Z,1337818505.381 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-05-24T00:15:05.387Z,1337818505.387 [MassServo] Loaded
2012-05-24T00:15:05.388Z,1337818505.388 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-05-24T00:15:05.394Z,1337818505.394 [RudderServo] Loaded
2012-05-24T00:15:05.394Z,1337818505.394 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-05-24T00:15:05.401Z,1337818505.401 [ThrusterServo] Loaded
2012-05-24T00:15:05.401Z,1337818505.401 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-05-24T00:15:05.402Z,1337818505.402 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-05-24T00:15:05.403Z,1337818505.402 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-05-24T00:15:05.417Z,1337818505.417 [DepthRateCalculator] Loaded
2012-05-24T00:15:05.418Z,1337818505.418 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-05-24T00:15:05.434Z,1337818505.434 [NavChart] Loaded
2012-05-24T00:15:05.434Z,1337818505.434 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-05-24T00:15:05.440Z,1337818505.440 [PitchRateCalculator] Loaded
2012-05-24T00:15:05.440Z,1337818505.440 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-05-24T00:15:05.446Z,1337818505.446 [SpeedCalculator] Loaded
2012-05-24T00:15:05.446Z,1337818505.446 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-05-24T00:15:05.461Z,1337818505.461 [TempGradientCalculator] Loaded
2012-05-24T00:15:05.461Z,1337818505.461 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-05-24T00:15:05.467Z,1337818505.467 [YawRateCalculator] Loaded
2012-05-24T00:15:05.467Z,1337818505.467 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-05-24T00:15:05.497Z,1337818505.497 [Navigation] Loaded
2012-05-24T00:15:05.497Z,1337818505.497 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-05-24T00:15:05.498Z,1337818505.498 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-05-24T00:15:05.498Z,1337818505.499 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-05-24T00:15:05.714Z,1337818505.714 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-05-24T00:15:05.714Z,1337818505.714 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-05-24T00:15:05.735Z,1337818505.736 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-05-24T00:15:05.736Z,1337818505.736 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-05-24T00:15:05.775Z,1337818505.775 [VerticalControl](DEBUG): Construct VerticalControl.
2012-05-24T00:15:05.818Z,1337818505.818 [VerticalControl] Loaded
2012-05-24T00:15:05.818Z,1337818505.818 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-05-24T00:15:05.819Z,1337818505.819 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-05-24T00:15:05.839Z,1337818505.839 [HorizontalControl] Loaded
2012-05-24T00:15:05.839Z,1337818505.839 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-05-24T00:15:05.840Z,1337818505.840 [SpeedControl](DEBUG): Construct SpeedControl.
2012-05-24T00:15:05.842Z,1337818505.842 [SpeedControl] Loaded
2012-05-24T00:15:05.842Z,1337818505.842 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-05-24T00:15:05.843Z,1337818505.843 [LoopControl](DEBUG): Construct LoopControl.
2012-05-24T00:15:05.844Z,1337818505.843 [LoopControl] Loaded
2012-05-24T00:15:05.844Z,1337818505.844 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-05-24T00:15:05.844Z,1337818505.844 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-05-24T00:15:05.845Z,1337818505.845 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-05-24T00:15:05.850Z,1337818505.850 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-05-24T00:15:05.855Z,1337818505.855 [AsyncPiEstimator] Loaded
2012-05-24T00:15:05.855Z,1337818505.855 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-05-24T00:15:05.856Z,1337818505.856 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 1078994144
2012-05-24T00:15:05.857Z,1337818505.857 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-05-24T00:15:05.858Z,1337818505.858 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-05-24T00:15:05.950Z,1337818505.950 [AHRS_sp3003D] Loaded
2012-05-24T00:15:05.950Z,1337818505.950 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-05-24T00:15:06.197Z,1337818506.197 [Batt_Ocean_Server] Loaded
2012-05-24T00:15:06.197Z,1337818506.197 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-05-24T00:15:06.210Z,1337818506.210 [Depth_Keller] Loaded
2012-05-24T00:15:06.210Z,1337818506.210 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-05-24T00:15:06.215Z,1337818506.215 [DropWeight] Loaded
2012-05-24T00:15:06.216Z,1337818506.216 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-05-24T00:15:06.310Z,1337818506.310 [DVL_micro] Loaded
2012-05-24T00:15:06.310Z,1337818506.310 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2012-05-24T00:15:06.389Z,1337818506.389 [NAL9601] Loaded
2012-05-24T00:15:06.389Z,1337818506.389 [ComponentRegistry](DEBUG): SyncComponent "NAL9601" handled in the control thread.
2012-05-24T00:15:06.438Z,1337818506.438 [Onboard] Loaded
2012-05-24T00:15:06.438Z,1337818506.438 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-05-24T00:15:06.444Z,1337818506.444 [Radio_Freewave] Loaded
2012-05-24T00:15:06.444Z,1337818506.444 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-05-24T00:15:06.445Z,1337818506.445 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-05-24T00:15:06.446Z,1337818506.446 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-05-24T00:15:06.492Z,1337818506.492 [CTD_NeilBrown] Loaded
2012-05-24T00:15:06.492Z,1337818506.492 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-05-24T00:15:06.493Z,1337818506.493 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 1079645408
2012-05-24T00:15:06.524Z,1337818506.524 [WetLabsBB2FL] Loaded
2012-05-24T00:15:06.524Z,1337818506.524 [ComponentRegistry](DEBUG): SyncComponent "WetLabsBB2FL" handled in the control thread.
2012-05-24T00:15:06.525Z,1337818506.525 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-05-24T00:15:06.527Z,1337818506.527 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-05-24T00:15:06.528Z,1337818506.528 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-05-24T00:15:06.533Z,1337818506.533 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-05-24T00:15:06.535Z,1337818506.534 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 1079842016
2012-05-24T00:15:06.535Z,1337818506.535 [Supervisor](DEBUG): Running supervisor.
2012-05-24T00:15:06.538Z,1337818506.538 [controlThread](DEBUG): Initializing ControlThread
2012-05-24T00:15:06.539Z,1337818506.539 [InternalSim](DEBUG):  InternalSim initializing...
2012-05-24T00:15:06.574Z,1337818506.574 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-05-24T00:15:06.582Z,1337818506.582 [SBIT](INFO): Initialize SBIT Component.
2012-05-24T00:15:06.583Z,1337818506.583 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9636 $
2012-05-24T00:15:06.584Z,1337818506.584 [IBIT](INFO): Initialize IBIT Component.
2012-05-24T00:15:06.587Z,1337818506.587 [CBIT](DEBUG): Initialize CBIT Component.
2012-05-24T00:15:06.587Z,1337818506.587 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-05-24T00:15:06.589Z,1337818506.589 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-05-24T00:15:06.612Z,1337818506.612 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-05-24T00:15:06.612Z,1337818506.612 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-05-24T00:15:06.613Z,1337818506.612 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-05-24T00:15:06.613Z,1337818506.613 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-05-24T00:15:06.613Z,1337818506.614 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-05-24T00:15:06.615Z,1337818506.615 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-05-24T00:15:06.615Z,1337818506.615 [Navigation](DEBUG): Initializing Navigation.
2012-05-24T00:15:06.616Z,1337818506.616 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-05-24T00:15:06.618Z,1337818506.618 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-05-24T00:15:06.618Z,1337818506.618 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-05-24T00:15:06.619Z,1337818506.619 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-05-24T00:15:06.695Z,1337818506.694 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-05-24T00:15:06.699Z,1337818506.699 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-05-24T00:15:06.703Z,1337818506.703 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-05-24T00:15:06.707Z,1337818506.707 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-05-24T00:15:06.711Z,1337818506.711 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-05-24T00:15:06.712Z,1337818506.712 [NavChartDb](INFO): Creating index for Soundings
2012-05-24T00:15:06.716Z,1337818506.716 [NavChartDb](INFO): Creating index for Contour 0p0
2012-05-24T00:15:06.718Z,1337818506.718 [NavChartDb](INFO): Creating index for Contour 1p8
2012-05-24T00:15:06.720Z,1337818506.720 [NavChartDb](INFO): Creating index for Contour 3p6
2012-05-24T00:15:06.721Z,1337818506.721 [NavChartDb](INFO): Creating index for Contour 5p4
2012-05-24T00:15:06.724Z,1337818506.724 [NavChartDb](INFO): Creating index for Contour 9p1
2012-05-24T00:15:06.725Z,1337818506.726 [NavChartDb](INFO): Creating index for Contour 10p9
2012-05-24T00:15:06.728Z,1337818506.728 [NavChartDb](INFO): Creating index for Contour 18p2
2012-05-24T00:15:06.729Z,1337818506.730 [NavChartDb](INFO): Creating index for Contour 36p5
2012-05-24T00:15:06.732Z,1337818506.732 [NavChartDb](INFO): Creating index for Contour 54p8
2012-05-24T00:15:06.733Z,1337818506.733 [NavChartDb](INFO): Creating index for Contour 73p1
2012-05-24T00:15:06.736Z,1337818506.736 [NavChartDb](INFO): Creating index for Contour 91p4
2012-05-24T00:15:06.738Z,1337818506.738 [NavChartDb](INFO): Creating index for Contour 182p8
2012-05-24T00:15:06.740Z,1337818506.740 [NavChartDb](INFO): Creating index for Contour 365p7
2012-05-24T00:15:06.742Z,1337818506.741 [NavChartDb](INFO): Creating index for Contour 548p6
2012-05-24T00:15:06.744Z,1337818506.744 [NavChartDb](INFO): Creating index for Contour 731p5
2012-05-24T00:15:06.746Z,1337818506.746 [NavChartDb](INFO): Creating index for Contour 914p4
2012-05-24T00:15:06.748Z,1337818506.748 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-05-24T00:15:06.749Z,1337818506.750 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-05-24T00:15:06.752Z,1337818506.752 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-05-24T00:15:06.753Z,1337818506.753 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-05-24T00:15:06.756Z,1337818506.756 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-05-24T00:15:06.757Z,1337818506.757 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-05-24T00:15:06.760Z,1337818506.760 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-05-24T00:15:06.761Z,1337818506.761 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-05-24T00:15:06.763Z,1337818506.763 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-05-24T00:15:06.765Z,1337818506.765 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-05-24T00:15:06.768Z,1337818506.768 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-05-24T00:15:06.770Z,1337818506.770 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-05-24T00:15:06.772Z,1337818506.772 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-05-24T00:15:06.774Z,1337818506.773 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-05-24T00:15:06.776Z,1337818506.776 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-05-24T00:15:08.427Z,1337818508.427 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-05-24T00:15:08.439Z,1337818508.439 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-05-24T00:15:08.449Z,1337818508.449 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-24T00:15:08.458Z,1337818508.458 [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>


2012-05-24T00:15:08.459Z,1337818508.459 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-05-24T00:15:08.485Z,1337818508.485 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-05-24T00:15:08.488Z,1337818508.487 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-05-24T00:15:08.491Z,1337818508.491 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-24T00:15:08.498Z,1337818508.498 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-05-24T00:15:08.501Z,1337818508.501 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-24T00:15:08.507Z,1337818508.507 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-05-24T00:15:08.516Z,1337818508.516 [Default:D.SetSpeed](DEBUG): Construct.
2012-05-24T00:15:08.519Z,1337818508.519 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-24T00:15:08.523Z,1337818508.523 [Default:F.Wait](DEBUG): Construct Wait.
2012-05-24T00:15:08.527Z,1337818508.527 [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>


2012-05-24T00:15:08.532Z,1337818508.532 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,DVL_micro,NAL9601,Onboard,Radio_Freewave,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,
2012-05-24T00:15:08.551Z,1337818508.551 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-05-24T00:15:08.657Z,1337818508.657 [DVL_micro](DEBUG): Initializing DVL_micro.
2012-05-24T00:15:08.677Z,1337818508.677 [Radio_Freewave](INFO): Powering up
2012-05-24T00:15:08.684Z,1337818508.684 [WetLabsBB2FL](INFO): Powering down
2012-05-24T00:15:08.753Z,1337818508.753 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-05-24T00:15:08.754Z,1337818508.754 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-05-24T00:15:08.763Z,1337818508.763 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-05-24T00:15:08.764Z,1337818508.764 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-05-24T00:15:08.772Z,1337818508.772 [MassServo](DEBUG): Initializing EZServoServo.
2012-05-24T00:15:08.773Z,1337818508.773 [MassServo](DEBUG): Initializing MassServo.
2012-05-24T00:15:08.781Z,1337818508.781 [RudderServo](DEBUG): Initializing EZServoServo.
2012-05-24T00:15:08.782Z,1337818508.782 [RudderServo](DEBUG): Initializing RudderServo.
2012-05-24T00:15:08.790Z,1337818508.790 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-05-24T00:15:08.791Z,1337818508.792 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-05-24T00:15:11.454Z,1337818511.454 [NAL9601](INFO): Powering up NAL9601
2012-05-24T00:15:22.005Z,1337818522.005 [SBIT](IMPORTANT): Beginning Startup BIT
2012-05-24T00:15:22.007Z,1337818522.007 [CBIT](IMPORTANT): Beginning GF scan
2012-05-24T00:15:48.228Z,1337818548.227 [CBIT](IMPORTANT): No ground fault detected
2012-05-24T00:16:04.169Z,1337818564.169 [SBIT](IMPORTANT): SBIT PASSED
2012-05-24T00:16:04.570Z,1337818564.570 [MissionManager](IMPORTANT): Started mission Startup
2012-05-24T00:16:04.571Z,1337818564.570 [Startup] Running Loop=1
2012-05-24T00:16:04.571Z,1337818564.571 [Startup](INFO): Aggregate::initialize Startup
2012-05-24T00:16:04.571Z,1337818564.571 [Startup:A.GoToSurface] Running Loop=1
2012-05-24T00:16:04.571Z,1337818564.571 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T00:16:04.580Z,1337818564.579 [Startup:StartupSatComms] Running Loop=1
2012-05-24T00:16:04.580Z,1337818564.580 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-05-24T00:16:04.580Z,1337818564.580 [Startup:StartupSatComms:A] Running Loop=1
2012-05-24T00:16:04.936Z,1337818564.936 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-24T00:16:16.992Z,1337818576.991 [NAL9601](INFO): NAL9601 initialized
2012-05-24T00:17:04.937Z,1337818624.937 [Startup:StartupSatComms:A](INFO): Timed out from 2012-05-24T00:16:04.6Z
2012-05-24T00:17:04.937Z,1337818624.937 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-05-24T00:17:04.937Z,1337818624.937 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-05-24T00:17:04.938Z,1337818624.938 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-05-24T00:17:04.938Z,1337818624.938 [Startup:StartupSatComms:A] Stopped
2012-05-24T00:17:04.938Z,1337818624.938 [Startup:StartupSatComms:B] Running Loop=1
2012-05-24T00:17:05.336Z,1337818625.336 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-24T00:18:05.292Z,1337818685.292 [Startup:StartupSatComms:B](INFO): Timed out from 2012-05-24T00:17:04.9Z
2012-05-24T00:18:05.293Z,1337818685.293 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-05-24T00:18:05.293Z,1337818685.293 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-05-24T00:18:05.293Z,1337818685.293 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-05-24T00:18:05.293Z,1337818685.293 [Startup:StartupSatComms:B] Stopped
2012-05-24T00:18:05.293Z,1337818685.293 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-05-24T00:18:05.293Z,1337818685.293 [Startup:StartupSatComms] Stopped
2012-05-24T00:18:05.293Z,1337818685.293 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-05-24T00:18:05.294Z,1337818685.294 [Startup](INFO): Completed Startup
2012-05-24T00:18:05.294Z,1337818685.295 [Startup] Stopped
2012-05-24T00:18:05.295Z,1337818685.295 [Startup](INFO): Aggregate::uninitialize Startup
2012-05-24T00:18:05.295Z,1337818685.295 [Startup:A.GoToSurface] Stopped
2012-05-24T00:18:05.295Z,1337818685.295 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T00:18:05.702Z,1337818685.702 [MissionManager](IMPORTANT): Started mission Default
2012-05-24T00:18:05.702Z,1337818685.702 [Default] Running Loop=1
2012-05-24T00:18:05.702Z,1337818685.702 [Default](INFO): Aggregate::initialize Default
2012-05-24T00:18:05.702Z,1337818685.702 [Default:D.SetSpeed] Running Loop=1
2012-05-24T00:18:05.702Z,1337818685.702 [Default:D.SetSpeed](DEBUG): Initialize.
2012-05-24T00:18:05.702Z,1337818685.702 [Default:E.GoToSurface] Running Loop=1
2012-05-24T00:18:05.702Z,1337818685.702 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T00:18:05.703Z,1337818685.703 [Default:Iridium] Running Loop=1
2012-05-24T00:18:05.703Z,1337818685.703 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-05-24T00:18:05.703Z,1337818685.703 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-24T00:18:05.703Z,1337818685.703 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-05-24T00:18:05.703Z,1337818685.703 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-05-24T00:18:05.703Z,1337818685.703 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T00:18:05.704Z,1337818685.704 [Default:E.GoToSurface] Running Loop=1
2012-05-24T00:18:05.709Z,1337818685.709 [Default:D.SetSpeed] Running Loop=1
2012-05-24T00:18:05.714Z,1337818685.714 [Default:CallIridium] Running Loop=1
2012-05-24T00:18:05.715Z,1337818685.714 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-05-24T00:18:05.715Z,1337818685.715 [Default:CallIridium:A] Running Loop=1
2012-05-24T00:18:05.716Z,1337818685.716 [Default:CallIridium:A] Stopped
2012-05-24T00:18:05.716Z,1337818685.717 [Default:CallIridium:B] Running Loop=1
2012-05-24T00:18:05.717Z,1337818685.717 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-05-24T00:18:05.722Z,1337818685.722 [Default:Iridium:B.GoToSurface] Stopped
2012-05-24T00:18:05.722Z,1337818685.722 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T00:18:05.722Z,1337818685.722 [Default:Iridium:Read_Iridium] Running Loop=1
2012-05-24T00:18:05.722Z,1337818685.722 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-05-24T00:18:05.727Z,1337818685.727 [Default:GPS] Running Loop=1
2012-05-24T00:18:05.727Z,1337818685.727 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-05-24T00:18:05.727Z,1337818685.727 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-24T00:18:05.727Z,1337818685.727 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-05-24T00:18:05.728Z,1337818685.727 [Default:GPS:B.GoToSurface] Running Loop=1
2012-05-24T00:18:05.728Z,1337818685.728 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-24T00:18:05.733Z,1337818685.733 [Default:GPS:B.GoToSurface] Stopped
2012-05-24T00:18:05.733Z,1337818685.733 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T00:18:05.733Z,1337818685.733 [Default:GPS:Read_GPS] Running Loop=1
2012-05-24T00:18:05.733Z,1337818685.733 [Default:GPS:A.SetSpeed] Running Loop=1
2012-05-24T00:18:06.087Z,1337818686.087 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-05-24T00:18:06.089Z,1337818686.089 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-24T00:20:51.099Z,1337818851.099 [CommandLine](IMPORTANT): got command failComponent
2012-05-24T00:20:51.099Z,1337818851.099 [CommandLine](IMPORTANT): Failed components:
2012-05-24T00:20:51.099Z,1337818851.099 [CommandLine](IMPORTANT): No failed Components.
2012-05-24T00:20:57.743Z,1337818857.743 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/tank_weight.xml
2012-05-24T00:20:57.743Z,1337818857.743 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/tank_weight.xml
2012-05-24T00:20:57.769Z,1337818857.769 [MissionManager](INFO): DefineArg tank_weight.BuoyancyLimitHiCC = 0.000955 n/a
2012-05-24T00:20:57.773Z,1337818857.773 [MissionManager](INFO): DefineArg tank_weight.BuoyancyLimitLoCC = 0.000080 n/a
2012-05-24T00:20:57.775Z,1337818857.775 [tank_weight:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-05-24T00:20:57.782Z,1337818857.782 [tank_weight:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-05-24T00:20:57.792Z,1337818857.792 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2012-05-24T00:20:57.836Z,1337818857.836 [MissionManager](INFO): DefineArg tank_weight:Science.SampleAanderaaO2 = 0.000000 n/a
2012-05-24T00:20:57.839Z,1337818857.839 [MissionManager](INFO): DefineArg tank_weight:Science.SampleISUS = 0 bool
2012-05-24T00:20:57.843Z,1337818857.843 [MissionManager](INFO): DefineArg tank_weight:Science.SampleNeilBrown = 1.000000 n/a
2012-05-24T00:20:57.846Z,1337818857.846 [MissionManager](INFO): DefineArg tank_weight:Science.SampleWetLabsBB2FL = 1.000000 n/a
2012-05-24T00:20:57.849Z,1337818857.849 [MissionManager](INFO): DefineArg tank_weight:Science.PeakDetectChlActive = 0 bool
2012-05-24T00:20:57.851Z,1337818857.851 [MissionManager](INFO): DefineArg tank_weight:Science.PeakDetectNO3Active = 0 bool
2012-05-24T00:20:57.854Z,1337818857.855 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakChl = 0.000000 ug/l
2012-05-24T00:20:57.857Z,1337818857.857 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakChlDepth = 0.000000 m
2012-05-24T00:20:57.860Z,1337818857.861 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakChlLatitude = nan arcdeg
2012-05-24T00:20:57.864Z,1337818857.864 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakChlLongitude = nan arcdeg
2012-05-24T00:20:57.867Z,1337818857.867 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakNO3 = 0.000000 uM/l
2012-05-24T00:20:57.870Z,1337818857.870 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakNO3Depth = 0.000000 m
2012-05-24T00:20:57.873Z,1337818857.873 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakNO3Latitude = nan arcdeg
2012-05-24T00:20:57.876Z,1337818857.876 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakNO3Longitude = nan arcdeg
2012-05-24T00:20:57.884Z,1337818857.884 [tank_weight:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2012-05-24T00:20:57.893Z,1337818857.893 [tank_weight:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2012-05-24T00:20:57.902Z,1337818857.902 [MissionManager](INFO): RedefineArg tank_weight:Science.SampleISUS = 1 bool
2012-05-24T00:20:57.904Z,1337818857.904 [tank_weight:D:A.SetSpeed](DEBUG): Construct.
2012-05-24T00:20:57.907Z,1337818857.907 [tank_weight:D:B.Pitch](DEBUG): Construct.
2012-05-24T00:20:57.917Z,1337818857.917 [tank_weight:D:BuoyancyLo:A.Buoyancy](DEBUG): Construct Buoyancy.
2012-05-24T00:20:57.921Z,1337818857.921 [tank_weight:D:BuoyancyLo:B.Wait](DEBUG): Construct Wait.
2012-05-24T00:20:57.933Z,1337818857.933 [tank_weight:D:BuoyancyHi:A.Buoyancy](DEBUG): Construct Buoyancy.
2012-05-24T00:20:57.939Z,1337818857.939 [tank_weight:D:BuoyancyHi:B.Wait](DEBUG): Construct Wait.
2012-05-24T00:20:57.961Z,1337818857.961 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       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="tank_weight">

    <DefineArg Name="BuoyancyLimitHiCC"><Control:VerticalControl.buoyancyLimitHiCC/></DefineArg>

    <DefineArg Name="BuoyancyLimitLoCC"><Control:VerticalControl.buoyancyLimitLoCC/></DefineArg>

    <Timeout Duration="P75M"/>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>0</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>15</Value></Setting>
    </Guidance:DepthEnvelope>

    <Insert Filename="Insert/Science.xml">
        <RedefineArg Name="SampleISUS"><True/></RedefineArg>
    </Insert>

    <Aggregate>

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

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.massPosition/><Units:meter/><Value>0</Value></Setting>
            <Setting><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Setting>
        </Guidance:Pitch>

        <Aggregate Id="BuoyancyLo">

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

            <Guidance:Wait RunIn="Sequence">
                <Setting><Guidance:Wait.duration/><Units:minute/><Value>65</Value></Setting>
            </Guidance:Wait>

        </Aggregate>

        <Aggregate Id="BuoyancyHi">

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

            <Guidance:Wait RunIn="Sequence">
                <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
            </Guidance:Wait>

        </Aggregate>

    </Aggregate>

</Mission>


2012-05-24T00:20:57.961Z,1337818857.961 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/tank_weight.xml
2012-05-24T00:20:57.971Z,1337818857.971 [Default] Stopped
2012-05-24T00:20:57.971Z,1337818857.971 [Default](INFO): Aggregate::uninitialize Default
2012-05-24T00:20:57.971Z,1337818857.971 [Default:GPS] Stopped
2012-05-24T00:20:57.971Z,1337818857.971 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-05-24T00:20:57.971Z,1337818857.971 [Default:GPS:A.SetSpeed] Stopped
2012-05-24T00:20:57.971Z,1337818857.971 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-05-24T00:20:57.971Z,1337818857.971 [Default:GPS:Read_GPS] Stopped
2012-05-24T00:20:57.971Z,1337818857.971 [Default:Iridium] Stopped
2012-05-24T00:20:57.971Z,1337818857.971 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-05-24T00:20:57.971Z,1337818857.971 [Default:Iridium:A.SetSpeed] Stopped
2012-05-24T00:20:57.972Z,1337818857.972 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-05-24T00:20:57.972Z,1337818857.972 [Default:Iridium:Read_Iridium] Stopped
2012-05-24T00:20:57.972Z,1337818857.972 [Default:CallIridium] Stopped
2012-05-24T00:20:57.972Z,1337818857.972 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-05-24T00:20:57.972Z,1337818857.972 [Default:CallIridium:B] Stopped
2012-05-24T00:20:57.972Z,1337818857.972 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-05-24T00:20:57.972Z,1337818857.972 [Default:D.SetSpeed] Stopped
2012-05-24T00:20:57.972Z,1337818857.972 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-05-24T00:20:57.972Z,1337818857.972 [Default:E.GoToSurface] Stopped
2012-05-24T00:20:57.972Z,1337818857.972 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-24T00:20:57.973Z,1337818857.973 [MissionManager](IMPORTANT): Started mission tank_weight
2012-05-24T00:20:57.973Z,1337818857.973 [tank_weight] Running Loop=1
2012-05-24T00:20:57.973Z,1337818857.973 [tank_weight](INFO): Aggregate::initialize tank_weight
2012-05-24T00:20:57.973Z,1337818857.973 [tank_weight:A.AltitudeEnvelope] Running Loop=1
2012-05-24T00:20:57.973Z,1337818857.973 [tank_weight:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2012-05-24T00:20:57.973Z,1337818857.973 [tank_weight:B.DepthEnvelope] Running Loop=1
2012-05-24T00:20:57.973Z,1337818857.973 [tank_weight:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-05-24T00:20:57.974Z,1337818857.974 [tank_weight:Science] Running Loop=1
2012-05-24T00:20:57.974Z,1337818857.974 [tank_weight:Science](INFO): Aggregate::initialize tank_weight:Science
2012-05-24T00:20:57.975Z,1337818857.974 [tank_weight:Science:A] Running Loop=1
2012-05-24T00:20:57.975Z,1337818857.975 [tank_weight:Science:B] Running Loop=1
2012-05-24T00:20:57.975Z,1337818857.975 [tank_weight:Science:C] Running Loop=1
2012-05-24T00:20:57.975Z,1337818857.975 [tank_weight:Science:D] Running Loop=1
2012-05-24T00:20:57.975Z,1337818857.975 [tank_weight:D] Running Loop=1
2012-05-24T00:20:57.975Z,1337818857.975 [tank_weight:D](INFO): Aggregate::initialize tank_weight:D
2012-05-24T00:20:57.975Z,1337818857.975 [tank_weight:D:A.SetSpeed] Running Loop=1
2012-05-24T00:20:57.975Z,1337818857.975 [tank_weight:D:A.SetSpeed](DEBUG): Initialize.
2012-05-24T00:20:57.975Z,1337818857.975 [tank_weight:D:B.Pitch] Running Loop=1
2012-05-24T00:20:57.975Z,1337818857.975 [tank_weight:D:B.Pitch](DEBUG): Initialize.
2012-05-24T00:20:57.976Z,1337818857.976 [tank_weight:D:BuoyancyLo] Running Loop=1
2012-05-24T00:20:57.976Z,1337818857.976 [tank_weight:D:BuoyancyLo](INFO): Aggregate::initialize tank_weight:D:BuoyancyLo
2012-05-24T00:20:57.976Z,1337818857.976 [tank_weight:D:BuoyancyLo:A.Buoyancy] Running Loop=1
2012-05-24T00:20:57.976Z,1337818857.976 [tank_weight:D:BuoyancyLo:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2012-05-24T00:20:57.976Z,1337818857.977 [tank_weight:D:BuoyancyLo:B.Wait] Running Loop=1
2012-05-24T00:20:57.977Z,1337818857.977 [tank_weight:D:BuoyancyLo:B.Wait](DEBUG): Initialize Wait Component.
2012-05-24T00:20:57.981Z,1337818857.981 [tank_weight:D:BuoyancyLo:A.Buoyancy] Running Loop=1
2012-05-24T00:20:57.986Z,1337818857.986 [tank_weight:D:B.Pitch] Running Loop=1
2012-05-24T00:20:57.992Z,1337818857.992 [tank_weight:D:A.SetSpeed] Running Loop=1
2012-05-24T00:20:57.997Z,1337818857.997 [tank_weight:Science] Running Loop=1
2012-05-24T00:20:57.997Z,1337818857.997 [tank_weight:Science:D] Running Loop=1
2012-05-24T00:20:57.998Z,1337818857.998 [tank_weight:Science:D](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2012-05-24T00:20:57.999Z,1337818857.999 [tank_weight:Science:C] Running Loop=1
2012-05-24T00:20:57.000Z,1337818858.000 [tank_weight:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2012-05-24T00:20:58.000Z,1337818858.000 [tank_weight:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2012-05-24T00:20:58.002Z,1337818858.001 [tank_weight:Science:B] Running Loop=1
2012-05-24T00:20:58.002Z,1337818858.002 [tank_weight:Science:B](DEBUG): Initialize ReadDataComponent to sense mole_concentration_of_nitrate_in_sea_water
2012-05-24T00:20:58.004Z,1337818858.004 [tank_weight:B.DepthEnvelope] Running Loop=1
2012-05-24T00:20:58.009Z,1337818858.009 [tank_weight:A.AltitudeEnvelope] Running Loop=1
2012-05-24T00:20:58.359Z,1337818858.359 [WetLabsBB2FL](INFO): Powering up
2012-05-24T00:20:59.572Z,1337818859.572 [tank_weight:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2012-05-24T00:21:01.734Z,1337818861.734 [CommandLine](IMPORTANT): got command show variable wetlabs
2012-05-24T00:21:01.739Z,1337818861.740 [CommandLine](INFO): Config/vehicle.WetLabsBB2FL_card (none)
2012-05-24T00:21:01.740Z,1337818861.740 [CommandLine](INFO): Config/vehicle.WetLabsBB2FL_uart (none)
2012-05-24T00:21:01.740Z,1337818861.740 [CommandLine](INFO): Config/vehicle.WetLabsBB2FL_baud (bit_per_second)
2012-05-24T00:21:01.746Z,1337818861.746 [CommandLine](INFO): Config/Science.WetLabsBB2FL_enable (bool)
2012-05-24T00:21:01.746Z,1337818861.746 [CommandLine](INFO): Config/Science.WetLabsBB2FL_useHardware (bool)
2012-05-24T00:21:01.747Z,1337818861.747 [CommandLine](INFO): Config/Science.WetLabsBB2FL_timeout (second)
2012-05-24T00:21:01.747Z,1337818861.747 [CommandLine](INFO): Config/Science.WetLabsBB2FL_period (second)
2012-05-24T00:21:01.747Z,1337818861.747 [CommandLine](INFO): Config/Science.WetLabsBB2FL_power (watt)
2012-05-24T00:21:01.748Z,1337818861.748 [CommandLine](INFO): Config/Science.WetLabsBB2FL_serial (none)
2012-05-24T00:21:01.748Z,1337818861.748 [CommandLine](INFO): Config/Science.WetLabsBB2FL_scaleFactor470 (reciprocal_meter_per_steradian_count)
2012-05-24T00:21:01.748Z,1337818861.749 [CommandLine](INFO): Config/Science.WetLabsBB2FL_darkCounts470 (count)
2012-05-24T00:21:01.749Z,1337818861.749 [CommandLine](INFO): Config/Science.WetLabsBB2FL_scaleFactor650 (reciprocal_meter_per_steradian_count)
2012-05-24T00:21:01.749Z,1337818861.749 [CommandLine](INFO): Config/Science.WetLabsBB2FL_darkCounts650 (count)
2012-05-24T00:21:01.749Z,1337818861.750 [CommandLine](INFO): Config/Science.WetLabsBB2FL_scaleFactorChl (microgram_per_liter_per_count)
2012-05-24T00:21:01.750Z,1337818861.750 [CommandLine](INFO): Config/Science.WetLabsBB2FL_darkCountsChl (count)
2012-05-24T00:21:01.750Z,1337818861.750 [CommandLine](INFO): Config/Science.WetLabsBB2FL_chlAccuracy (microgram_per_liter)
2012-05-24T00:21:01.760Z,1337818861.760 [CommandLine](INFO): WetLabsBB2FL.Output470 (count)
2012-05-24T00:21:01.761Z,1337818861.761 [CommandLine](INFO): WetLabsBB2FL.Output650 (count)
2012-05-24T00:21:01.761Z,1337818861.761 [CommandLine](INFO): WetLabsBB2FL.OutputChl (count)
2012-05-24T00:21:01.761Z,1337818861.761 [CommandLine](INFO): WetLabsBB2FL.volume_scattering_470_nm (reciprocal_meter_per_steradian)
2012-05-24T00:21:01.762Z,1337818861.762 [CommandLine](INFO): WetLabsBB2FL.volume_scattering_650_nm (reciprocal_meter_per_steradian)
2012-05-24T00:21:01.762Z,1337818861.762 [CommandLine](INFO): WetLabsBB2FL.mass_concentration_of_chlorophyll_in_sea_water (microgram_per_liter)
2012-05-24T00:21:01.763Z,1337818861.763 [CommandLine](INFO): WetLabsBB2FL.durationOfLastRun (second)
2012-05-24T00:21:01.765Z,1337818861.765 [CommandLine](INFO): tank_weight:Science.SampleWetLabsBB2FL (none)
2012-05-24T00:21:01.964Z,1337818861.964 [WetLabsBB2FL](DEBUG): Error parsing data: 
2012-05-24T00:21:01.964Z,1337818861.964 [WetLabsBB2FL] Data Fault, FailCount= 1
2012-05-24T00:21:01.964Z,1337818861.964 [WetLabsBB2FL](ERROR): Data Fault
2012-05-24T00:21:02.003Z,1337818862.003 [CBIT](ERROR): Data Fault in component: WetLabsBB2FL
2012-05-24T00:21:02.667Z,1337818862.667 [WetLabsBB2FL](INFO): Powering down
2012-05-24T00:21:02.715Z,1337818862.715 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2012-05-24T00:21:02.715Z,1337818862.715 [WetLabsBB2FL] No Fault, FailCount= 1
2012-05-24T00:21:02.976Z,1337818862.976 [WetLabsBB2FL](INFO): Powering up