2012-09-17T16:19:53.695Z,1347898793.695 [Supervisor](DEBUG): Initializing supervisor.
2012-09-17T16:19:53.699Z,1347898793.699 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-17T16:19:53.699Z,1347898793.699 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-17T16:19:53.700Z,1347898793.700 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-17T16:19:53.720Z,1347898793.720 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-17T16:19:53.731Z,1347898793.731 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-17T16:19:53.732Z,1347898793.732 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-17T16:19:53.733Z,1347898793.733 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-17T16:19:53.733Z,1347898793.733 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-17T16:19:53.736Z,1347898793.736 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-17T16:19:54.093Z,1347898794.093 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-17T16:19:54.095Z,1347898794.095 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-17T16:19:54.277Z,1347898794.277 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-17T16:19:54.278Z,1347898794.278 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-17T16:19:54.364Z,1347898794.364 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-17T16:19:54.366Z,1347898794.366 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-17T16:19:54.567Z,1347898794.567 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-17T16:19:54.567Z,1347898794.568 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-17T16:19:54.702Z,1347898794.702 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-17T16:19:54.704Z,1347898794.704 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-17T16:19:54.935Z,1347898794.935 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-17T16:19:54.936Z,1347898794.936 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-17T16:19:55.106Z,1347898795.106 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-17T16:19:55.108Z,1347898795.108 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-17T16:19:55.360Z,1347898795.360 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-17T16:19:55.362Z,1347898795.362 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-17T16:19:55.464Z,1347898795.464 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-17T16:19:55.465Z,1347898795.464 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-17T16:19:55.861Z,1347898795.861 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-17T16:19:55.862Z,1347898795.862 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-17T16:19:55.975Z,1347898795.975 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-17T16:19:55.975Z,1347898795.975 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-17T16:19:56.062Z,1347898796.062 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-17T16:19:56.066Z,1347898796.066 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-17T16:19:56.167Z,1347898796.167 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-17T16:19:56.306Z,1347898796.306 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-17T16:19:56.425Z,1347898796.425 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-17T16:19:56.527Z,1347898796.527 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-17T16:19:56.629Z,1347898796.629 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-17T16:19:56.748Z,1347898796.748 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-17T16:19:56.840Z,1347898796.839 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-17T16:19:56.977Z,1347898796.977 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-17T16:19:56.991Z,1347898796.991 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-17T16:19:57.025Z,1347898797.025 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-17T16:19:57.196Z,1347898797.196 [InternalSim] Loaded
2012-09-17T16:19:57.196Z,1347898797.196 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-17T16:19:57.197Z,1347898797.197 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-17T16:19:57.198Z,1347898797.198 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-17T16:19:57.280Z,1347898797.280 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-17T16:19:57.293Z,1347898797.293 [SBIT] Loaded
2012-09-17T16:19:57.293Z,1347898797.293 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-17T16:19:57.294Z,1347898797.294 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-17T16:19:57.322Z,1347898797.322 [IBIT] Loaded
2012-09-17T16:19:57.322Z,1347898797.322 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-17T16:19:57.325Z,1347898797.325 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-17T16:19:57.440Z,1347898797.440 [CBIT] Loaded
2012-09-17T16:19:57.440Z,1347898797.440 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-17T16:19:57.441Z,1347898797.441 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-17T16:19:57.442Z,1347898797.441 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-17T16:19:57.606Z,1347898797.606 [BuoyancyServo] Loaded
2012-09-17T16:19:57.606Z,1347898797.606 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-17T16:19:57.619Z,1347898797.619 [RudderServo] Loaded
2012-09-17T16:19:57.619Z,1347898797.619 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-17T16:19:57.631Z,1347898797.631 [ThrusterServo] Loaded
2012-09-17T16:19:57.631Z,1347898797.631 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-17T16:19:57.631Z,1347898797.631 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-17T16:19:57.632Z,1347898797.632 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-17T16:19:57.664Z,1347898797.664 [DepthRateCalculator] Loaded
2012-09-17T16:19:57.665Z,1347898797.665 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-17T16:19:59.983Z,1347898799.983 [HFRadarModelCalc] Loaded
2012-09-17T16:19:59.983Z,1347898799.983 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-17T16:19:59.999Z,1347898799.999 [NavChart] Loaded
2012-09-17T16:19:59.999Z,1347898799.999 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-17T16:20:00.005Z,1347898800.005 [PitchRateCalculator] Loaded
2012-09-17T16:20:00.005Z,1347898800.005 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-17T16:20:00.011Z,1347898800.011 [SpeedCalculator] Loaded
2012-09-17T16:20:00.012Z,1347898800.012 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-17T16:20:00.026Z,1347898800.026 [TempGradientCalculator] Loaded
2012-09-17T16:20:00.026Z,1347898800.026 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-17T16:20:00.032Z,1347898800.032 [YawRateCalculator] Loaded
2012-09-17T16:20:00.033Z,1347898800.033 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-17T16:20:00.052Z,1347898800.052 [Navigation] Loaded
2012-09-17T16:20:00.053Z,1347898800.053 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-17T16:20:00.053Z,1347898800.053 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-17T16:20:00.054Z,1347898800.054 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-17T16:20:00.324Z,1347898800.324 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-17T16:20:00.325Z,1347898800.325 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-17T16:20:00.364Z,1347898800.364 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-17T16:20:00.365Z,1347898800.365 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-17T16:20:00.422Z,1347898800.422 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-17T16:20:00.468Z,1347898800.468 [VerticalControl] Loaded
2012-09-17T16:20:00.468Z,1347898800.468 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-17T16:20:00.469Z,1347898800.469 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-17T16:20:00.490Z,1347898800.490 [HorizontalControl] Loaded
2012-09-17T16:20:00.490Z,1347898800.490 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-17T16:20:00.491Z,1347898800.491 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-17T16:20:00.493Z,1347898800.493 [SpeedControl] Loaded
2012-09-17T16:20:00.493Z,1347898800.493 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-17T16:20:00.494Z,1347898800.494 [LoopControl](DEBUG): Construct LoopControl.
2012-09-17T16:20:00.495Z,1347898800.494 [LoopControl] Loaded
2012-09-17T16:20:00.495Z,1347898800.495 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-17T16:20:00.495Z,1347898800.495 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-17T16:20:00.496Z,1347898800.496 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-17T16:20:00.504Z,1347898800.504 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-17T16:20:00.508Z,1347898800.508 [AsyncPiEstimator] Loaded
2012-09-17T16:20:00.509Z,1347898800.509 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-17T16:20:00.510Z,1347898800.510 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-17T16:20:00.511Z,1347898800.510 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-17T16:20:00.511Z,1347898800.511 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-17T16:20:00.675Z,1347898800.675 [AHRS_sp3003D] Loaded
2012-09-17T16:20:00.675Z,1347898800.675 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-17T16:20:00.688Z,1347898800.688 [Depth_Keller] Loaded
2012-09-17T16:20:00.689Z,1347898800.689 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-17T16:20:00.807Z,1347898800.807 [DVL_micro] Loaded
2012-09-17T16:20:00.807Z,1347898800.807 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-17T16:20:00.808Z,1347898800.808 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-17T16:20:00.888Z,1347898800.888 [NAL9602] Loaded
2012-09-17T16:20:00.889Z,1347898800.889 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-17T16:20:00.942Z,1347898800.942 [Onboard] Loaded
2012-09-17T16:20:00.942Z,1347898800.942 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-17T16:20:00.943Z,1347898800.943 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-17T16:20:00.944Z,1347898800.944 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-17T16:20:01.035Z,1347898801.035 [CTD_NeilBrown] Loaded
2012-09-17T16:20:01.036Z,1347898801.036 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-17T16:20:01.037Z,1347898801.037 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-17T16:20:01.048Z,1347898801.048 [PAR_Licor] Loaded
2012-09-17T16:20:01.048Z,1347898801.048 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-17T16:20:01.065Z,1347898801.065 [Turbulence_NPS] Loaded
2012-09-17T16:20:01.065Z,1347898801.065 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-17T16:20:01.066Z,1347898801.066 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-17T16:20:01.095Z,1347898801.095 [WetLabsBB2FL] Loaded
2012-09-17T16:20:01.096Z,1347898801.096 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-17T16:20:01.097Z,1347898801.097 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-17T16:20:01.097Z,1347898801.097 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-17T16:20:01.101Z,1347898801.101 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-17T16:20:01.101Z,1347898801.101 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-17T16:20:01.107Z,1347898801.107 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-17T16:20:01.108Z,1347898801.108 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-17T16:20:01.112Z,1347898801.112 [Supervisor](DEBUG): Running supervisor.
2012-09-17T16:20:01.116Z,1347898801.115 [controlThread](DEBUG): Initializing ControlThread
2012-09-17T16:20:01.116Z,1347898801.116 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-17T16:20:01.149Z,1347898801.149 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-17T16:20:01.351Z,1347898801.351 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-17T16:20:01.375Z,1347898801.375 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-17T16:20:01.394Z,1347898801.394 [DVL_micro](INFO): Initializing
2012-09-17T16:20:01.394Z,1347898801.394 [DVL_micro](INFO): start:Powering up
2012-09-17T16:20:01.434Z,1347898801.434 [WetLabsBB2FL](INFO): Powering down
2012-09-17T16:20:01.491Z,1347898801.491 [SBIT](INFO): Initialize SBIT Component.
2012-09-17T16:20:01.491Z,1347898801.491 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9842
2012-09-17T16:20:01.492Z,1347898801.492 [IBIT](INFO): Initialize IBIT Component.
2012-09-17T16:20:01.493Z,1347898801.493 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-17T16:20:01.493Z,1347898801.493 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-17T16:20:01.519Z,1347898801.519 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-17T16:20:01.520Z,1347898801.520 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-17T16:20:01.520Z,1347898801.520 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-17T16:20:01.520Z,1347898801.520 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-17T16:20:01.521Z,1347898801.521 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-17T16:20:01.522Z,1347898801.522 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-17T16:20:01.524Z,1347898801.524 [Navigation](DEBUG): Initializing Navigation.
2012-09-17T16:20:01.524Z,1347898801.524 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-17T16:20:01.527Z,1347898801.527 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-17T16:20:01.528Z,1347898801.528 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-17T16:20:01.529Z,1347898801.529 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-17T16:20:01.555Z,1347898801.555 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-17T16:20:01.591Z,1347898801.591 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-17T16:20:01.609Z,1347898801.609 [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>


2012-09-17T16:20:01.614Z,1347898801.614 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-17T16:20:01.670Z,1347898801.670 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-17T16:20:01.676Z,1347898801.676 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-17T16:20:01.683Z,1347898801.683 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-17T16:20:01.699Z,1347898801.699 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-17T16:20:01.702Z,1347898801.702 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-17T16:20:01.723Z,1347898801.723 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-17T16:20:01.735Z,1347898801.735 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-17T16:20:01.740Z,1347898801.740 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-17T16:20:01.743Z,1347898801.743 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-17T16:20:01.748Z,1347898801.748 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-17T16:20:01.752Z,1347898801.752 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-17T16:20:01.756Z,1347898801.756 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-17T16:20:01.761Z,1347898801.761 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-17T16:20:01.764Z,1347898801.764 [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>


2012-09-17T16:20:01.776Z,1347898801.776 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,NAL9602,Onboard,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-17T16:20:01.793Z,1347898801.793 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-17T16:20:01.794Z,1347898801.794 [NavChartDb](INFO): Creating index for Soundings
2012-09-17T16:20:01.803Z,1347898801.803 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-17T16:20:01.804Z,1347898801.805 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-17T16:20:01.815Z,1347898801.815 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-17T16:20:01.817Z,1347898801.817 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-17T16:20:01.821Z,1347898801.821 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-17T16:20:01.830Z,1347898801.830 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-17T16:20:01.831Z,1347898801.830 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-17T16:20:01.833Z,1347898801.833 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-17T16:20:01.835Z,1347898801.835 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-17T16:20:01.837Z,1347898801.837 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-17T16:20:01.845Z,1347898801.845 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-17T16:20:01.847Z,1347898801.847 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-17T16:20:01.849Z,1347898801.849 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-17T16:20:01.854Z,1347898801.855 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-17T16:20:01.856Z,1347898801.856 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-17T16:20:01.863Z,1347898801.863 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-17T16:20:01.865Z,1347898801.865 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-17T16:20:01.867Z,1347898801.867 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-17T16:20:01.869Z,1347898801.869 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-17T16:20:01.871Z,1347898801.871 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-17T16:20:01.872Z,1347898801.872 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-17T16:20:01.878Z,1347898801.878 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-17T16:20:01.880Z,1347898801.880 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-17T16:20:01.882Z,1347898801.882 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-17T16:20:01.884Z,1347898801.884 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-17T16:20:01.886Z,1347898801.886 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-17T16:20:01.888Z,1347898801.888 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-17T16:20:01.890Z,1347898801.890 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-17T16:20:01.892Z,1347898801.892 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-17T16:20:01.912Z,1347898801.912 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-17T16:20:01.922Z,1347898801.922 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-17T16:20:01.924Z,1347898801.924 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-17T16:20:02.281Z,1347898802.281 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-17T16:20:02.287Z,1347898802.287 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-17T16:20:02.293Z,1347898802.293 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-17T16:20:02.299Z,1347898802.299 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-17T16:20:02.305Z,1347898802.305 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-17T16:20:02.311Z,1347898802.311 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-17T16:20:02.986Z,1347898802.986 [DVL_micro](INFO): Querying output modes
2012-09-17T16:20:02.987Z,1347898802.987 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-17T16:20:02.990Z,1347898802.990 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-09-17T16:20:02.991Z,1347898802.991 [DVL_micro](INFO): NQ1 output enabled
2012-09-17T16:20:02.991Z,1347898802.991 [DVL_micro](INFO): RSSI output enabled
2012-09-17T16:20:02.991Z,1347898802.991 [DVL_micro](INFO): ADCP output enabled
2012-09-17T16:20:02.991Z,1347898802.991 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-17T16:20:02.998Z,1347898802.999 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-17T16:20:03.003Z,1347898803.003 [DVL_micro](INFO): pause:Powering down
2012-09-17T16:20:05.774Z,1347898805.774 [PAR_Licor](ERROR): PAR reading out of range: -0.020663 uMol/s/m2
2012-09-17T16:20:06.160Z,1347898806.160 [NAL9602](INFO): Powering up NAL9602
2012-09-17T16:20:06.973Z,1347898806.973 [PAR_Licor](ERROR): PAR reading out of range: -0.009537 uMol/s/m2
2012-09-17T16:20:08.962Z,1347898808.962 [PAR_Licor](ERROR): PAR reading out of range: -0.001589 uMol/s/m2
2012-09-17T16:20:10.165Z,1347898810.165 [PAR_Licor](ERROR): PAR reading out of range: -0.034969 uMol/s/m2
2012-09-17T16:20:11.763Z,1347898811.763 [PAR_Licor](ERROR): PAR reading out of range: -0.049274 uMol/s/m2
2012-09-17T16:20:13.370Z,1347898813.370 [PAR_Licor](ERROR): PAR reading out of range: -0.058811 uMol/s/m2
2012-09-17T16:20:16.603Z,1347898816.603 [NAL9602](INFO): NAL9602 initialized
2012-09-17T16:20:16.609Z,1347898816.609 [PAR_Licor](ERROR): PAR reading out of range: -0.014305 uMol/s/m2
2012-09-17T16:20:16.977Z,1347898816.977 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-17T16:20:16.979Z,1347898816.980 [CBIT](IMPORTANT): Beginning GF scan
2012-09-17T16:20:17.379Z,1347898817.379 [PAR_Licor](ERROR): PAR reading out of range: -0.047685 uMol/s/m2
2012-09-17T16:20:18.168Z,1347898818.168 [PAR_Licor](ERROR): PAR reading out of range: -0.017484 uMol/s/m2
2012-09-17T16:20:20.168Z,1347898820.168 [PAR_Licor](ERROR): PAR reading out of range: -0.012716 uMol/s/m2
2012-09-17T16:20:21.365Z,1347898821.365 [PAR_Licor](ERROR): PAR reading out of range: -0.001589 uMol/s/m2
2012-09-17T16:20:22.967Z,1347898822.967 [PAR_Licor](ERROR): PAR reading out of range: -0.012716 uMol/s/m2
2012-09-17T16:20:23.764Z,1347898823.764 [PAR_Licor](ERROR): PAR reading out of range: 0.000000 uMol/s/m2
2012-09-17T16:20:26.566Z,1347898826.566 [PAR_Licor](ERROR): PAR reading out of range: -0.025432 uMol/s/m2
2012-09-17T16:20:29.764Z,1347898829.764 [PAR_Licor](ERROR): PAR reading out of range: -0.034969 uMol/s/m2
2012-09-17T16:20:30.229Z,1347898830.229 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.001040
2012-09-17T16:20:30.229Z,1347898830.229 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.802075
2012-09-17T16:20:31.763Z,1347898831.763 [PAR_Licor](ERROR): PAR reading out of range: -0.025432 uMol/s/m2
2012-09-17T16:20:34.395Z,1347898834.395 [CommandLine](IMPORTANT): got command restart application
2012-09-17T16:20:35.363Z,1347898835.363 [PAR_Licor](ERROR): PAR reading out of range: -0.019074 uMol/s/m2
2012-09-17T16:20:35.574Z,1347898835.574 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-17T16:20:35.574Z,1347898835.574 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-17T16:20:35.806Z,1347898835.806 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-17T16:20:36.167Z,1347898836.167 [PAR_Licor](ERROR): PAR reading out of range: -0.022253 uMol/s/m2
2012-09-17T16:20:36.209Z,1347898836.209 [WetLabsBB2FL](INFO): Powering down
2012-09-17T16:20:36.218Z,1347898836.218 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-17T16:20:36.295Z,1347898836.295 [Turbulence_NPS](INFO): Powering down
2012-09-17T16:20:36.298Z,1347898836.298 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-17T16:20:36.687Z,1347898836.687 [CTD_NeilBrown](INFO): Powering down
2012-09-17T16:20:36.706Z,1347898836.706 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-17T16:20:36.939Z,1347898836.939 [DVL_micro](INFO): uninitialize:Powering down
2012-09-17T16:20:36.948Z,1347898836.948 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-17T16:20:37.151Z,1347898837.151 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-17T16:20:37.171Z,1347898837.171 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-17T16:20:37.172Z,1347898837.172 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-17T16:20:37.331Z,1347898837.331 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-17T16:20:37.331Z,1347898837.331 [AHRS_sp3003D](INFO): Powering down
2012-09-17T16:20:37.419Z,1347898837.419 [NAL9602](INFO): Powering down
2012-09-17T16:20:37.421Z,1347898837.421 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-17T16:20:37.421Z,1347898837.421 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-17T16:20:37.427Z,1347898837.427 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-17T16:20:37.427Z,1347898837.427 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-17T16:20:37.428Z,1347898837.428 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-17T16:20:37.428Z,1347898837.428 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-17T16:20:37.428Z,1347898837.428 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-17T16:20:37.428Z,1347898837.428 [BuoyancyServo](INFO): Powering down
2012-09-17T16:20:37.429Z,1347898837.429 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-17T16:20:37.430Z,1347898837.430 [RudderServo](INFO): Powering down
2012-09-17T16:20:37.431Z,1347898837.431 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-17T16:20:37.431Z,1347898837.431 [ThrusterServo](INFO): Powering down
2012-09-17T16:20:37.432Z,1347898837.432 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-17T16:20:37.432Z,1347898837.432 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-17T16:20:37.432Z,1347898837.432 [CBIT](DEBUG): Uninitialize CBIT Component.