2012-09-10T14:28:40.515Z,1347287320.515 [Supervisor](DEBUG): Initializing supervisor.
2012-09-10T14:28:40.517Z,1347287320.517 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-10T14:28:40.518Z,1347287320.518 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-10T14:28:40.519Z,1347287320.519 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-10T14:28:40.522Z,1347287320.522 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-10T14:28:40.534Z,1347287320.533 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-10T14:28:40.535Z,1347287320.535 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-10T14:28:40.535Z,1347287320.536 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-10T14:28:40.536Z,1347287320.536 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-10T14:28:40.537Z,1347287320.537 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-10T14:28:40.824Z,1347287320.824 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-10T14:28:40.825Z,1347287320.825 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-10T14:28:41.005Z,1347287321.005 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-10T14:28:41.005Z,1347287321.005 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-10T14:28:41.089Z,1347287321.089 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-10T14:28:41.090Z,1347287321.089 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-10T14:28:41.291Z,1347287321.291 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-10T14:28:41.291Z,1347287321.291 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-10T14:28:41.424Z,1347287321.424 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-10T14:28:41.425Z,1347287321.425 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-10T14:28:41.658Z,1347287321.658 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-10T14:28:41.658Z,1347287321.658 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-10T14:28:41.830Z,1347287321.830 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-10T14:28:41.830Z,1347287321.830 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-10T14:28:42.097Z,1347287322.097 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-10T14:28:42.098Z,1347287322.098 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-10T14:28:42.196Z,1347287322.196 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-10T14:28:42.197Z,1347287322.197 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-10T14:28:42.600Z,1347287322.600 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-10T14:28:42.601Z,1347287322.601 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-10T14:28:42.712Z,1347287322.713 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-10T14:28:42.713Z,1347287322.713 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-10T14:28:42.798Z,1347287322.798 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-10T14:28:42.799Z,1347287322.799 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-10T14:28:42.897Z,1347287322.897 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-10T14:28:43.026Z,1347287323.026 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-10T14:28:43.110Z,1347287323.110 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-10T14:28:43.211Z,1347287323.211 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-10T14:28:43.309Z,1347287323.309 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-10T14:28:43.427Z,1347287323.427 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-10T14:28:43.515Z,1347287323.515 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-10T14:28:43.633Z,1347287323.633 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-10T14:28:43.780Z,1347287323.780 [InternalSim] Loaded
2012-09-10T14:28:43.781Z,1347287323.781 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-10T14:28:43.782Z,1347287323.782 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-10T14:28:43.782Z,1347287323.782 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-10T14:28:43.844Z,1347287323.844 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-10T14:28:43.857Z,1347287323.857 [SBIT] Loaded
2012-09-10T14:28:43.858Z,1347287323.858 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-10T14:28:43.859Z,1347287323.859 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-10T14:28:43.888Z,1347287323.888 [IBIT] Loaded
2012-09-10T14:28:43.889Z,1347287323.889 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-10T14:28:43.892Z,1347287323.892 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-10T14:28:44.016Z,1347287324.016 [CBIT] Loaded
2012-09-10T14:28:44.017Z,1347287324.017 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-10T14:28:44.017Z,1347287324.017 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-10T14:28:44.018Z,1347287324.018 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-10T14:28:44.165Z,1347287324.165 [BuoyancyServo] Loaded
2012-09-10T14:28:44.166Z,1347287324.166 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-10T14:28:44.176Z,1347287324.176 [ElevatorServo] Loaded
2012-09-10T14:28:44.176Z,1347287324.176 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-10T14:28:44.189Z,1347287324.189 [MassServo] Loaded
2012-09-10T14:28:44.189Z,1347287324.189 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-10T14:28:44.202Z,1347287324.202 [RudderServo] Loaded
2012-09-10T14:28:44.202Z,1347287324.202 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-10T14:28:44.214Z,1347287324.214 [ThrusterServo] Loaded
2012-09-10T14:28:44.214Z,1347287324.214 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-10T14:28:44.215Z,1347287324.215 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-10T14:28:44.215Z,1347287324.216 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-10T14:28:44.233Z,1347287324.233 [DepthRateCalculator] Loaded
2012-09-10T14:28:44.233Z,1347287324.233 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-10T14:28:46.713Z,1347287326.713 [HFRadarModelCalc] Loaded
2012-09-10T14:28:46.713Z,1347287326.713 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-10T14:28:46.730Z,1347287326.730 [NavChart] Loaded
2012-09-10T14:28:46.730Z,1347287326.730 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-10T14:28:46.736Z,1347287326.736 [PitchRateCalculator] Loaded
2012-09-10T14:28:46.737Z,1347287326.737 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-10T14:28:46.743Z,1347287326.743 [SpeedCalculator] Loaded
2012-09-10T14:28:46.744Z,1347287326.744 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-10T14:28:46.759Z,1347287326.759 [TempGradientCalculator] Loaded
2012-09-10T14:28:46.760Z,1347287326.760 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-10T14:28:46.766Z,1347287326.766 [YawRateCalculator] Loaded
2012-09-10T14:28:46.766Z,1347287326.766 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-10T14:28:46.787Z,1347287326.787 [Navigation] Loaded
2012-09-10T14:28:46.787Z,1347287326.787 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-10T14:28:46.788Z,1347287326.788 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-10T14:28:46.789Z,1347287326.789 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-10T14:28:47.030Z,1347287327.030 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-10T14:28:47.030Z,1347287327.030 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-10T14:28:47.053Z,1347287327.053 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-10T14:28:47.053Z,1347287327.053 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-10T14:28:47.097Z,1347287327.098 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-10T14:28:47.145Z,1347287327.145 [VerticalControl] Loaded
2012-09-10T14:28:47.145Z,1347287327.145 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-10T14:28:47.146Z,1347287327.146 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-10T14:28:47.167Z,1347287327.167 [HorizontalControl] Loaded
2012-09-10T14:28:47.167Z,1347287327.167 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-10T14:28:47.168Z,1347287327.168 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-10T14:28:47.170Z,1347287327.170 [SpeedControl] Loaded
2012-09-10T14:28:47.170Z,1347287327.170 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-10T14:28:47.171Z,1347287327.171 [LoopControl](DEBUG): Construct LoopControl.
2012-09-10T14:28:47.172Z,1347287327.172 [LoopControl] Loaded
2012-09-10T14:28:47.172Z,1347287327.172 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-10T14:28:47.173Z,1347287327.173 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-10T14:28:47.173Z,1347287327.173 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-10T14:28:47.184Z,1347287327.184 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-10T14:28:47.189Z,1347287327.189 [AsyncPiEstimator] Loaded
2012-09-10T14:28:47.190Z,1347287327.190 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-10T14:28:47.191Z,1347287327.191 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-10T14:28:47.193Z,1347287327.193 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-10T14:28:47.195Z,1347287327.195 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-10T14:28:47.333Z,1347287327.333 [AHRS_sp3003D] Loaded
2012-09-10T14:28:47.333Z,1347287327.333 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-10T14:28:47.348Z,1347287327.348 [Depth_Keller] Loaded
2012-09-10T14:28:47.348Z,1347287327.348 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-10T14:28:47.354Z,1347287327.354 [DropWeight] Loaded
2012-09-10T14:28:47.354Z,1347287327.354 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-10T14:28:47.477Z,1347287327.477 [DVL_micro] Loaded
2012-09-10T14:28:47.477Z,1347287327.477 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-10T14:28:47.479Z,1347287327.479 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-10T14:28:47.565Z,1347287327.565 [NAL9602] Loaded
2012-09-10T14:28:47.565Z,1347287327.565 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-10T14:28:47.618Z,1347287327.618 [Onboard] Loaded
2012-09-10T14:28:47.618Z,1347287327.618 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-10T14:28:47.626Z,1347287327.626 [Radio_Freewave] Loaded
2012-09-10T14:28:47.626Z,1347287327.626 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-10T14:28:47.627Z,1347287327.627 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-10T14:28:47.627Z,1347287327.628 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-10T14:28:47.702Z,1347287327.702 [CTD_NeilBrown] Loaded
2012-09-10T14:28:47.702Z,1347287327.703 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-10T14:28:47.704Z,1347287327.704 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-10T14:28:47.714Z,1347287327.714 [PAR_Licor] Loaded
2012-09-10T14:28:47.715Z,1347287327.715 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-10T14:28:47.732Z,1347287327.732 [Turbulence_NPS] Loaded
2012-09-10T14:28:47.733Z,1347287327.733 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-10T14:28:47.734Z,1347287327.734 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-10T14:28:47.766Z,1347287327.766 [WetLabsBB2FL] Loaded
2012-09-10T14:28:47.766Z,1347287327.766 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-10T14:28:47.767Z,1347287327.767 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-10T14:28:47.768Z,1347287327.768 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-10T14:28:47.771Z,1347287327.770 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-10T14:28:47.771Z,1347287327.771 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-10T14:28:47.777Z,1347287327.777 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-10T14:28:47.779Z,1347287327.779 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-10T14:28:47.783Z,1347287327.783 [Supervisor](DEBUG): Running supervisor.
2012-09-10T14:28:47.786Z,1347287327.786 [controlThread](DEBUG): Initializing ControlThread
2012-09-10T14:28:47.787Z,1347287327.787 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-10T14:28:47.823Z,1347287327.823 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-10T14:28:47.833Z,1347287327.833 [SBIT](INFO): Initialize SBIT Component.
2012-09-10T14:28:47.833Z,1347287327.833 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9842
2012-09-10T14:28:47.834Z,1347287327.834 [IBIT](INFO): Initialize IBIT Component.
2012-09-10T14:28:47.835Z,1347287327.835 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-10T14:28:47.835Z,1347287327.835 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-10T14:28:47.845Z,1347287327.845 [DVL_micro](INFO): Initializing
2012-09-10T14:28:47.845Z,1347287327.845 [DVL_micro](INFO): start:Powering up
2012-09-10T14:28:47.860Z,1347287327.860 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-10T14:28:47.860Z,1347287327.861 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-10T14:28:47.861Z,1347287327.861 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-10T14:28:47.861Z,1347287327.861 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-10T14:28:47.862Z,1347287327.862 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-10T14:28:47.863Z,1347287327.863 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-10T14:28:47.863Z,1347287327.863 [Navigation](DEBUG): Initializing Navigation.
2012-09-10T14:28:47.864Z,1347287327.864 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-10T14:28:47.866Z,1347287327.866 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-10T14:28:47.866Z,1347287327.866 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-10T14:28:47.867Z,1347287327.867 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-10T14:28:47.872Z,1347287327.872 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-10T14:28:47.880Z,1347287327.880 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-10T14:28:47.900Z,1347287327.900 [WetLabsBB2FL](INFO): Powering down
2012-09-10T14:28:47.922Z,1347287327.922 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-10T14:28:47.979Z,1347287327.979 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-10T14:28:48.013Z,1347287328.013 [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>


2012-09-10T14:28:48.014Z,1347287328.014 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-10T14:28:48.081Z,1347287328.081 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-10T14:28:48.089Z,1347287328.089 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-10T14:28:48.094Z,1347287328.094 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-10T14:28:48.102Z,1347287328.102 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-10T14:28:48.106Z,1347287328.106 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-10T14:28:48.127Z,1347287328.127 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-10T14:28:48.146Z,1347287328.146 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-10T14:28:48.154Z,1347287328.154 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-10T14:28:48.167Z,1347287328.167 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-10T14:28:48.184Z,1347287328.184 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2012-09-10T14:28:48.192Z,1347287328.192 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-10T14:28:48.200Z,1347287328.200 [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>


2012-09-10T14:28:48.205Z,1347287328.205 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,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,logger,
2012-09-10T14:28:48.223Z,1347287328.223 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2012-09-10T14:28:48.259Z,1347287328.259 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2012-09-10T14:28:48.297Z,1347287328.297 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2012-09-10T14:28:48.317Z,1347287328.317 [NavChartDb](INFO): Setup scan of Resources/US5CA50M.000
2012-09-10T14:28:48.324Z,1347287328.324 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-10T14:28:48.467Z,1347287328.467 [Radio_Freewave](INFO): Powering up
2012-09-10T14:28:48.703Z,1347287328.703 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-10T14:28:48.719Z,1347287328.719 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-10T14:28:48.725Z,1347287328.725 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-09-10T14:28:48.731Z,1347287328.731 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-10T14:28:48.738Z,1347287328.737 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-10T14:28:48.743Z,1347287328.743 [MassServo](DEBUG): Initializing MassServo.
2012-09-10T14:28:48.749Z,1347287328.749 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-10T14:28:48.759Z,1347287328.759 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-10T14:28:48.765Z,1347287328.765 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-10T14:28:48.779Z,1347287328.779 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-10T14:28:49.427Z,1347287329.427 [DVL_micro](INFO): Querying output modes
2012-09-10T14:28:49.427Z,1347287329.427 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-10T14:28:49.431Z,1347287329.431 [DVL_micro](DEBUG): cmdResponse: 01
2012-09-10T14:28:49.431Z,1347287329.431 [DVL_micro](INFO): NQ1 output enabled
2012-09-10T14:28:49.431Z,1347287329.431 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-10T14:28:49.439Z,1347287329.439 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-10T14:28:49.444Z,1347287329.444 [DVL_micro](INFO): pause:Powering down
2012-09-10T14:28:54.955Z,1347287334.955 [NAL9602](INFO): Powering up NAL9602
2012-09-10T14:28:59.970Z,1347287339.970 [NavChartDb](INFO): Done scanning features of Resources/US5CA50M.000
2012-09-10T14:29:03.463Z,1347287343.463 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-10T14:29:03.466Z,1347287343.466 [CBIT](IMPORTANT): Beginning GF scan
2012-09-10T14:29:05.819Z,1347287345.819 [NAL9602](INFO): NAL9602 initialized
2012-09-10T14:29:13.808Z,1347287353.808 [NavChartDb](INFO): # of records loaded: 5000
2012-09-10T14:29:16.657Z,1347287356.657 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.936239
2012-09-10T14:29:21.713Z,1347287361.713 [NavChartDb](INFO): # of records loaded: 10000
2012-09-10T14:29:29.511Z,1347287369.511 [NavChartDb](INFO): # of records loaded: 15000
2012-09-10T14:29:29.895Z,1347287369.895 [CBIT](IMPORTANT): No ground fault detected
2012-09-10T14:29:37.054Z,1347287377.054 [NavChartDb](INFO): # of records loaded: 20000
2012-09-10T14:29:43.077Z,1347287383.077 [SBIT](FAULT): Rudder: EXPECTED:-15.000000 ACTUAL:-14.797676
2012-09-10T14:29:43.077Z,1347287383.077 [SBIT](FAULT): Control surface position failure.
2012-09-10T14:29:44.494Z,1347287384.494 [NavChartDb](INFO): # of records loaded: 25000
2012-09-10T14:29:52.384Z,1347287392.384 [NavChartDb](INFO): # of records loaded: 30000
2012-09-10T14:29:56.562Z,1347287396.562 [SBIT](FAULT): Rudder: EXPECTED:0.000000 ACTUAL:-0.153959
2012-09-10T14:29:56.562Z,1347287396.562 [SBIT](FAULT): Control surface position failure.
2012-09-10T14:29:56.964Z,1347287396.964 [SBIT](CRITICAL): SBIT FAILED
2012-09-10T14:29:57.309Z,1347287397.309 [MissionManager](IMPORTANT): Started mission Startup
2012-09-10T14:29:57.309Z,1347287397.309 [Startup] Running Loop=1
2012-09-10T14:29:57.309Z,1347287397.309 [Startup](INFO): Aggregate::initialize Startup
2012-09-10T14:29:57.309Z,1347287397.309 [Startup:A.GoToSurface] Running Loop=1
2012-09-10T14:29:57.310Z,1347287397.309 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-10T14:29:57.324Z,1347287397.324 [Startup:StartupSatComms] Running Loop=1
2012-09-10T14:29:57.324Z,1347287397.324 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-10T14:29:57.324Z,1347287397.324 [Startup:StartupSatComms:A] Running Loop=1
2012-09-10T14:29:57.734Z,1347287397.734 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-10T14:30:01.145Z,1347287401.145 [NavChartDb](INFO): # of records loaded: 35000
2012-09-10T14:30:09.599Z,1347287409.599 [NavChartDb](INFO): # of records loaded: 40000
2012-09-10T14:30:17.319Z,1347287417.319 [NavChartDb](INFO): # of records loaded: 45000
2012-09-10T14:30:24.931Z,1347287424.931 [NavChartDb](INFO): # of records loaded: 50000
2012-09-10T14:30:31.688Z,1347287431.688 [NAL9602](IMPORTANT): GPS fix at: 1347287435.00
2012-09-10T14:30:31.720Z,1347287431.720 [Startup:StartupSatComms:A] Stopped
2012-09-10T14:30:31.720Z,1347287431.720 [Startup:StartupSatComms:B] Running Loop=1
2012-09-10T14:30:32.114Z,1347287432.114 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-10T14:30:34.513Z,1347287434.513 [NavChartDb](INFO): # of records loaded: 55000
2012-09-10T14:30:35.976Z,1347287435.976 [NavChartDb](INFO): Calculating coverage of Resources/US5CA50M.000
2012-09-10T14:30:41.341Z,1347287441.341 [NavChartDb](INFO): Done scanning edges of Resources/US5CA50M.000
2012-09-10T14:30:46.410Z,1347287446.409 [NavChartDb](INFO): # of records loaded: 60000
2012-09-10T14:30:56.442Z,1347287456.442 [NavChartDb](INFO): Done scanning nodes of Resources/US5CA50M.000
2012-09-10T14:30:56.458Z,1347287456.458 [NavChartDb](INFO): # of records loaded: 62026
2012-09-10T14:30:56.624Z,1347287456.624 [NavChartDb](IMPORTANT): Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-10T14:30:56.677Z,1347287456.677 [NavChartDb](INFO): Setup scan of Resources/US3CA52M.000
2012-09-10T14:31:02.845Z,1347287462.845 [NavChartDb](INFO): Done scanning features of Resources/US3CA52M.000
2012-09-10T14:31:04.615Z,1347287464.615 [CommandLine](IMPORTANT): got command restart application
2012-09-10T14:31:05.635Z,1347287465.635 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-10T14:31:05.635Z,1347287465.635 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-10T14:31:05.883Z,1347287465.883 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-10T14:31:06.203Z,1347287466.203 [WetLabsBB2FL](INFO): Powering down
2012-09-10T14:31:06.211Z,1347287466.211 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-10T14:31:06.266Z,1347287466.266 [Turbulence_NPS](INFO): Powering down
2012-09-10T14:31:06.278Z,1347287466.279 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-10T14:31:06.283Z,1347287466.283 [CTD_NeilBrown](INFO): Powering down
2012-09-10T14:31:06.299Z,1347287466.299 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-10T14:31:06.519Z,1347287466.519 [DVL_micro](INFO): uninitialize:Powering down
2012-09-10T14:31:06.527Z,1347287466.527 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-10T14:31:06.827Z,1347287466.827 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-10T14:31:06.831Z,1347287466.831 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-10T14:31:06.833Z,1347287466.833 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-10T14:31:06.983Z,1347287466.983 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-10T14:31:06.983Z,1347287466.983 [AHRS_sp3003D](INFO): Powering down
2012-09-10T14:31:07.071Z,1347287467.071 [NAL9602](INFO): Powering down
2012-09-10T14:31:07.073Z,1347287467.073 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-10T14:31:07.074Z,1347287467.074 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-10T14:31:07.079Z,1347287467.079 [Startup] Stopped
2012-09-10T14:31:07.079Z,1347287467.079 [Startup](INFO): Aggregate::uninitialize Startup
2012-09-10T14:31:07.079Z,1347287467.079 [Startup:A.GoToSurface] Stopped
2012-09-10T14:31:07.079Z,1347287467.079 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-10T14:31:07.079Z,1347287467.079 [Startup:StartupSatComms] Stopped
2012-09-10T14:31:07.079Z,1347287467.079 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-09-10T14:31:07.079Z,1347287467.079 [Startup:StartupSatComms:B] Stopped
2012-09-10T14:31:07.081Z,1347287467.081 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-10T14:31:07.081Z,1347287467.081 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-10T14:31:07.081Z,1347287467.081 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-10T14:31:07.081Z,1347287467.081 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-10T14:31:07.082Z,1347287467.082 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-10T14:31:07.082Z,1347287467.082 [BuoyancyServo](INFO): Powering down
2012-09-10T14:31:07.083Z,1347287467.083 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-10T14:31:07.083Z,1347287467.083 [ElevatorServo](INFO): Powering down
2012-09-10T14:31:07.084Z,1347287467.084 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-10T14:31:07.084Z,1347287467.084 [MassServo](INFO): Powering down
2012-09-10T14:31:07.085Z,1347287467.085 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-10T14:31:07.085Z,1347287467.085 [RudderServo](INFO): Powering down
2012-09-10T14:31:07.086Z,1347287467.086 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-10T14:31:07.086Z,1347287467.086 [ThrusterServo](INFO): Powering down
2012-09-10T14:31:07.087Z,1347287467.087 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-10T14:31:07.087Z,1347287467.087 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-10T14:31:07.088Z,1347287467.088 [CBIT](DEBUG): Uninitialize CBIT Component.