2012-09-17T16:20:38.209Z,1347898838.209 [Supervisor](DEBUG): Initializing supervisor.
2012-09-17T16:20:38.211Z,1347898838.211 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-17T16:20:38.212Z,1347898838.212 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-17T16:20:38.213Z,1347898838.213 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-17T16:20:38.216Z,1347898838.216 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-17T16:20:38.228Z,1347898838.228 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-17T16:20:38.229Z,1347898838.229 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-17T16:20:38.230Z,1347898838.230 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-17T16:20:38.231Z,1347898838.231 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-17T16:20:38.232Z,1347898838.232 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-17T16:20:38.535Z,1347898838.535 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-17T16:20:38.536Z,1347898838.536 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-17T16:20:38.724Z,1347898838.724 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-17T16:20:38.725Z,1347898838.724 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-17T16:20:38.811Z,1347898838.811 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-17T16:20:38.812Z,1347898838.812 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-17T16:20:39.023Z,1347898839.023 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-17T16:20:39.023Z,1347898839.023 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-17T16:20:39.163Z,1347898839.163 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-17T16:20:39.163Z,1347898839.163 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-17T16:20:39.417Z,1347898839.417 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-17T16:20:39.418Z,1347898839.418 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-17T16:20:39.602Z,1347898839.602 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-17T16:20:39.603Z,1347898839.602 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-17T16:20:39.872Z,1347898839.872 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-17T16:20:39.873Z,1347898839.873 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-17T16:20:39.974Z,1347898839.974 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-17T16:20:39.975Z,1347898839.975 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-17T16:20:40.449Z,1347898840.449 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-17T16:20:40.450Z,1347898840.450 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-17T16:20:40.565Z,1347898840.565 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-17T16:20:40.566Z,1347898840.566 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-17T16:20:40.677Z,1347898840.677 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-17T16:20:40.678Z,1347898840.678 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-17T16:20:40.780Z,1347898840.780 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-17T16:20:40.913Z,1347898840.913 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-17T16:20:40.000Z,1347898841.000 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-17T16:20:41.104Z,1347898841.104 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-17T16:20:41.206Z,1347898841.206 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-17T16:20:41.328Z,1347898841.328 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-17T16:20:41.434Z,1347898841.434 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-17T16:20:41.526Z,1347898841.526 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-17T16:20:41.536Z,1347898841.536 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-17T16:20:41.569Z,1347898841.569 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-17T16:20:41.717Z,1347898841.717 [InternalSim] Loaded
2012-09-17T16:20:41.718Z,1347898841.718 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-17T16:20:41.719Z,1347898841.719 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-17T16:20:41.719Z,1347898841.719 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-17T16:20:41.779Z,1347898841.779 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-17T16:20:41.793Z,1347898841.793 [SBIT] Loaded
2012-09-17T16:20:41.794Z,1347898841.794 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-17T16:20:41.795Z,1347898841.795 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-17T16:20:41.825Z,1347898841.825 [IBIT] Loaded
2012-09-17T16:20:41.825Z,1347898841.825 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-17T16:20:41.829Z,1347898841.829 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-17T16:20:41.954Z,1347898841.954 [CBIT] Loaded
2012-09-17T16:20:41.955Z,1347898841.955 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-17T16:20:41.955Z,1347898841.955 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-17T16:20:41.956Z,1347898841.956 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-17T16:20:42.101Z,1347898842.101 [BuoyancyServo] Loaded
2012-09-17T16:20:42.102Z,1347898842.102 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-17T16:20:42.115Z,1347898842.115 [MassServo] Loaded
2012-09-17T16:20:42.115Z,1347898842.115 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-17T16:20:42.128Z,1347898842.128 [RudderServo] Loaded
2012-09-17T16:20:42.129Z,1347898842.129 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-17T16:20:42.141Z,1347898842.141 [ThrusterServo] Loaded
2012-09-17T16:20:42.141Z,1347898842.141 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-17T16:20:42.142Z,1347898842.142 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-17T16:20:42.142Z,1347898842.142 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-17T16:20:42.160Z,1347898842.160 [DepthRateCalculator] Loaded
2012-09-17T16:20:42.160Z,1347898842.160 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-17T16:20:44.935Z,1347898844.935 [HFRadarModelCalc] Loaded
2012-09-17T16:20:44.935Z,1347898844.935 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-17T16:20:44.988Z,1347898844.988 [NavChart] Loaded
2012-09-17T16:20:44.989Z,1347898844.989 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-17T16:20:44.995Z,1347898844.995 [PitchRateCalculator] Loaded
2012-09-17T16:20:44.995Z,1347898844.995 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-17T16:20:45.002Z,1347898845.002 [SpeedCalculator] Loaded
2012-09-17T16:20:45.002Z,1347898845.002 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-17T16:20:45.019Z,1347898845.019 [TempGradientCalculator] Loaded
2012-09-17T16:20:45.019Z,1347898845.019 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-17T16:20:45.025Z,1347898845.025 [YawRateCalculator] Loaded
2012-09-17T16:20:45.026Z,1347898845.026 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-17T16:20:45.047Z,1347898845.047 [Navigation] Loaded
2012-09-17T16:20:45.047Z,1347898845.047 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-17T16:20:45.048Z,1347898845.048 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-17T16:20:45.048Z,1347898845.048 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-17T16:20:45.289Z,1347898845.289 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-17T16:20:45.289Z,1347898845.289 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-17T16:20:45.312Z,1347898845.312 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-17T16:20:45.312Z,1347898845.312 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-17T16:20:45.356Z,1347898845.356 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-17T16:20:45.404Z,1347898845.404 [VerticalControl] Loaded
2012-09-17T16:20:45.404Z,1347898845.404 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-17T16:20:45.405Z,1347898845.405 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-17T16:20:45.427Z,1347898845.427 [HorizontalControl] Loaded
2012-09-17T16:20:45.428Z,1347898845.428 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-17T16:20:45.429Z,1347898845.429 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-17T16:20:45.430Z,1347898845.430 [SpeedControl] Loaded
2012-09-17T16:20:45.431Z,1347898845.431 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-17T16:20:45.432Z,1347898845.432 [LoopControl](DEBUG): Construct LoopControl.
2012-09-17T16:20:45.432Z,1347898845.432 [LoopControl] Loaded
2012-09-17T16:20:45.433Z,1347898845.432 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-17T16:20:45.433Z,1347898845.433 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-17T16:20:45.434Z,1347898845.434 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-17T16:20:45.439Z,1347898845.439 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-17T16:20:45.444Z,1347898845.444 [AsyncPiEstimator] Loaded
2012-09-17T16:20:45.444Z,1347898845.444 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-17T16:20:45.446Z,1347898845.446 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-17T16:20:45.446Z,1347898845.446 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-17T16:20:45.447Z,1347898845.447 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-17T16:20:45.574Z,1347898845.574 [AHRS_sp3003D] Loaded
2012-09-17T16:20:45.575Z,1347898845.575 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-17T16:20:45.589Z,1347898845.589 [Depth_Keller] Loaded
2012-09-17T16:20:45.589Z,1347898845.589 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-17T16:20:45.769Z,1347898845.769 [DVL_micro] Loaded
2012-09-17T16:20:45.769Z,1347898845.769 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-17T16:20:45.770Z,1347898845.770 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-17T16:20:45.858Z,1347898845.858 [NAL9602] Loaded
2012-09-17T16:20:45.858Z,1347898845.858 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-17T16:20:45.912Z,1347898845.912 [Onboard] Loaded
2012-09-17T16:20:45.912Z,1347898845.912 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-17T16:20:45.913Z,1347898845.913 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-17T16:20:45.914Z,1347898845.914 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-17T16:20:45.988Z,1347898845.988 [CTD_NeilBrown] Loaded
2012-09-17T16:20:45.988Z,1347898845.989 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-17T16:20:45.990Z,1347898845.990 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-17T16:20:46.001Z,1347898846.001 [PAR_Licor] Loaded
2012-09-17T16:20:46.001Z,1347898846.001 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-17T16:20:46.019Z,1347898846.019 [Turbulence_NPS] Loaded
2012-09-17T16:20:46.020Z,1347898846.020 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-17T16:20:46.021Z,1347898846.021 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-17T16:20:46.053Z,1347898846.053 [WetLabsBB2FL] Loaded
2012-09-17T16:20:46.053Z,1347898846.053 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-17T16:20:46.054Z,1347898846.054 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-17T16:20:46.055Z,1347898846.055 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-17T16:20:46.057Z,1347898846.057 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-17T16:20:46.058Z,1347898846.058 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-17T16:20:46.064Z,1347898846.065 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-17T16:20:46.066Z,1347898846.066 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-17T16:20:46.071Z,1347898846.071 [Supervisor](DEBUG): Running supervisor.
2012-09-17T16:20:46.074Z,1347898846.074 [controlThread](DEBUG): Initializing ControlThread
2012-09-17T16:20:46.075Z,1347898846.075 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-17T16:20:46.112Z,1347898846.112 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-17T16:20:46.120Z,1347898846.120 [SBIT](INFO): Initialize SBIT Component.
2012-09-17T16:20:46.121Z,1347898846.121 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9842
2012-09-17T16:20:46.121Z,1347898846.121 [IBIT](INFO): Initialize IBIT Component.
2012-09-17T16:20:46.122Z,1347898846.122 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-17T16:20:46.123Z,1347898846.123 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-17T16:20:46.132Z,1347898846.132 [DVL_micro](INFO): Initializing
2012-09-17T16:20:46.133Z,1347898846.133 [DVL_micro](INFO): start:Powering up
2012-09-17T16:20:46.147Z,1347898846.147 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-17T16:20:46.148Z,1347898846.148 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-17T16:20:46.148Z,1347898846.148 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-17T16:20:46.149Z,1347898846.149 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-17T16:20:46.149Z,1347898846.149 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-17T16:20:46.151Z,1347898846.151 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-17T16:20:46.151Z,1347898846.151 [Navigation](DEBUG): Initializing Navigation.
2012-09-17T16:20:46.151Z,1347898846.151 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-17T16:20:46.153Z,1347898846.153 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-17T16:20:46.154Z,1347898846.154 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-17T16:20:46.154Z,1347898846.155 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-17T16:20:46.159Z,1347898846.159 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-17T16:20:46.167Z,1347898846.167 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-17T16:20:46.183Z,1347898846.183 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-17T16:20:46.191Z,1347898846.191 [WetLabsBB2FL](INFO): Powering down
2012-09-17T16:20:46.220Z,1347898846.220 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-17T16:20:46.259Z,1347898846.259 [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>


2012-09-17T16:20:46.260Z,1347898846.260 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-17T16:20:46.343Z,1347898846.343 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-17T16:20:46.345Z,1347898846.345 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-17T16:20:46.353Z,1347898846.353 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-17T16:20:46.370Z,1347898846.370 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-17T16:20:46.378Z,1347898846.378 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-17T16:20:46.393Z,1347898846.393 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-17T16:20:46.416Z,1347898846.416 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-17T16:20:46.423Z,1347898846.423 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-17T16:20:46.433Z,1347898846.433 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-17T16:20:46.435Z,1347898846.435 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-17T16:20:46.441Z,1347898846.441 [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>


2012-09-17T16:20:46.449Z,1347898846.449 [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,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-17T16:20:46.459Z,1347898846.459 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-17T16:20:46.473Z,1347898846.473 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-17T16:20:46.482Z,1347898846.482 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-17T16:20:46.490Z,1347898846.490 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-17T16:20:46.495Z,1347898846.495 [NavChartDb](INFO): Creating index for Soundings
2012-09-17T16:20:46.502Z,1347898846.502 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-17T16:20:46.504Z,1347898846.504 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-17T16:20:46.509Z,1347898846.509 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-17T16:20:46.510Z,1347898846.510 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-17T16:20:46.512Z,1347898846.512 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-17T16:20:46.514Z,1347898846.514 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-17T16:20:46.523Z,1347898846.523 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-17T16:20:46.525Z,1347898846.525 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-17T16:20:46.531Z,1347898846.531 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-17T16:20:46.533Z,1347898846.533 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-17T16:20:46.535Z,1347898846.535 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-17T16:20:46.537Z,1347898846.537 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-17T16:20:46.539Z,1347898846.539 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-17T16:20:46.541Z,1347898846.541 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-17T16:20:46.543Z,1347898846.543 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-17T16:20:46.545Z,1347898846.545 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-17T16:20:46.551Z,1347898846.551 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-17T16:20:46.553Z,1347898846.553 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-17T16:20:46.555Z,1347898846.556 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-17T16:20:46.557Z,1347898846.557 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-17T16:20:46.560Z,1347898846.560 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-17T16:20:46.562Z,1347898846.562 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-17T16:20:46.564Z,1347898846.564 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-17T16:20:46.566Z,1347898846.566 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-17T16:20:46.572Z,1347898846.572 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-17T16:20:46.574Z,1347898846.574 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-17T16:20:46.576Z,1347898846.576 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-17T16:20:46.578Z,1347898846.578 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-17T16:20:46.580Z,1347898846.580 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-17T16:20:46.598Z,1347898846.598 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-17T16:20:46.600Z,1347898846.600 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-17T16:20:46.602Z,1347898846.602 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-17T16:20:46.723Z,1347898846.723 [PAR_Licor](ERROR): PAR reading out of range: -0.011126 uMol/s/m2
2012-09-17T16:20:46.804Z,1347898846.804 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-17T16:20:46.805Z,1347898846.805 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-17T16:20:46.812Z,1347898846.812 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-17T16:20:46.813Z,1347898846.813 [MassServo](DEBUG): Initializing MassServo.
2012-09-17T16:20:46.819Z,1347898846.819 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-17T16:20:46.820Z,1347898846.820 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-17T16:20:46.826Z,1347898846.826 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-17T16:20:46.827Z,1347898846.827 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-17T16:20:47.694Z,1347898847.694 [DVL_micro](INFO): Querying output modes
2012-09-17T16:20:47.695Z,1347898847.695 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-17T16:20:47.698Z,1347898847.698 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-09-17T16:20:47.699Z,1347898847.699 [DVL_micro](INFO): NQ1 output enabled
2012-09-17T16:20:47.699Z,1347898847.699 [DVL_micro](INFO): RSSI output enabled
2012-09-17T16:20:47.699Z,1347898847.699 [DVL_micro](INFO): ADCP output enabled
2012-09-17T16:20:47.699Z,1347898847.699 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-17T16:20:47.706Z,1347898847.707 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-17T16:20:47.711Z,1347898847.711 [DVL_micro](INFO): pause:Powering down
2012-09-17T16:20:49.847Z,1347898849.847 [PAR_Licor](ERROR): PAR reading out of range: -0.038148 uMol/s/m2
2012-09-17T16:20:51.042Z,1347898851.042 [NAL9602](INFO): Powering up NAL9602
2012-09-17T16:20:53.494Z,1347898853.494 [MassServo](FAULT): Overload Error
2012-09-17T16:20:53.494Z,1347898853.494 [MassServo] Hardware Fault, FailCount= 1
2012-09-17T16:20:53.494Z,1347898853.494 [MassServo](ERROR): Hardware Fault
2012-09-17T16:20:53.529Z,1347898853.529 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-17T16:20:53.870Z,1347898853.870 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-17T16:20:53.871Z,1347898853.871 [MassServo](INFO): Powering down
2012-09-17T16:20:53.917Z,1347898853.917 [CBIT](INFO): Clearing failed state for component MassServo
2012-09-17T16:20:53.917Z,1347898853.917 [MassServo] No Fault, FailCount= 1
2012-09-17T16:20:54.270Z,1347898854.270 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-17T16:20:54.388Z,1347898854.388 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-17T16:20:54.388Z,1347898854.388 [MassServo](DEBUG): Initializing MassServo.
2012-09-17T16:20:55.055Z,1347898855.055 [PAR_Licor](ERROR): PAR reading out of range: -0.068348 uMol/s/m2
2012-09-17T16:20:57.457Z,1347898857.457 [PAR_Licor](ERROR): PAR reading out of range: -0.023842 uMol/s/m2
2012-09-17T16:20:58.286Z,1347898858.286 [MassServo](FAULT): Overload Error
2012-09-17T16:20:58.286Z,1347898858.286 [MassServo] Hardware Fault, FailCount= 2
2012-09-17T16:20:58.286Z,1347898858.286 [MassServo](ERROR): Hardware Fault
2012-09-17T16:20:58.333Z,1347898858.333 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-17T16:20:58.666Z,1347898858.666 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-17T16:20:58.666Z,1347898858.666 [MassServo](INFO): Powering down
2012-09-17T16:20:58.670Z,1347898858.670 [CBIT](INFO): Clearing failed state for component MassServo
2012-09-17T16:20:58.670Z,1347898858.670 [MassServo] No Fault, FailCount= 2
2012-09-17T16:20:59.056Z,1347898859.056 [PAR_Licor](ERROR): PAR reading out of range: -0.027021 uMol/s/m2
2012-09-17T16:20:59.068Z,1347898859.068 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-17T16:20:59.187Z,1347898859.187 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-17T16:20:59.188Z,1347898859.188 [MassServo](DEBUG): Initializing MassServo.
2012-09-17T16:21:00.255Z,1347898860.255 [PAR_Licor](ERROR): PAR reading out of range: -0.020663 uMol/s/m2
2012-09-17T16:21:01.487Z,1347898861.487 [NAL9602](INFO): NAL9602 initialized
2012-09-17T16:21:01.868Z,1347898861.868 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-17T16:21:01.871Z,1347898861.871 [CBIT](IMPORTANT): Beginning GF scan
2012-09-17T16:21:02.274Z,1347898862.274 [PAR_Licor](ERROR): PAR reading out of range: -0.004768 uMol/s/m2
2012-09-17T16:21:03.056Z,1347898863.056 [PAR_Licor](ERROR): PAR reading out of range: -0.031790 uMol/s/m2
2012-09-17T16:21:03.502Z,1347898863.502 [MassServo](FAULT): Overload Error
2012-09-17T16:21:03.502Z,1347898863.502 [MassServo] Hardware Fault, FailCount= 3
2012-09-17T16:21:03.502Z,1347898863.502 [MassServo](ERROR): Hardware Fault
2012-09-17T16:21:03.553Z,1347898863.553 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-17T16:21:03.872Z,1347898863.872 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-17T16:21:03.872Z,1347898863.872 [MassServo](INFO): Powering down
2012-09-17T16:21:03.898Z,1347898863.898 [CBIT](INFO): Clearing failed state for component MassServo
2012-09-17T16:21:03.898Z,1347898863.898 [MassServo] No Fault, FailCount= 3
2012-09-17T16:21:04.256Z,1347898864.256 [PAR_Licor](ERROR): PAR reading out of range: 0.000000 uMol/s/m2
2012-09-17T16:21:04.268Z,1347898864.268 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-17T16:21:04.387Z,1347898864.387 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-17T16:21:04.387Z,1347898864.388 [MassServo](DEBUG): Initializing MassServo.
2012-09-17T16:21:05.063Z,1347898865.063 [PAR_Licor](ERROR): PAR reading out of range: -0.082654 uMol/s/m2
2012-09-17T16:21:05.855Z,1347898865.855 [PAR_Licor](ERROR): PAR reading out of range: -0.015895 uMol/s/m2
2012-09-17T16:21:07.460Z,1347898867.460 [PAR_Licor](ERROR): PAR reading out of range: -0.031790 uMol/s/m2
2012-09-17T16:21:08.286Z,1347898868.286 [MassServo](FAULT): Overload Error
2012-09-17T16:21:08.286Z,1347898868.286 [MassServo] Hardware Fault, FailCount= 4
2012-09-17T16:21:08.286Z,1347898868.286 [MassServo](ERROR): Hardware Fault
2012-09-17T16:21:08.382Z,1347898868.382 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-17T16:21:08.670Z,1347898868.671 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-17T16:21:08.671Z,1347898868.671 [MassServo](INFO): Powering down
2012-09-17T16:21:08.722Z,1347898868.722 [CBIT](INFO): Clearing failed state for component MassServo
2012-09-17T16:21:08.722Z,1347898868.722 [MassServo] No Fault, FailCount= 4
2012-09-17T16:21:09.067Z,1347898869.067 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-17T16:21:09.187Z,1347898869.187 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-17T16:21:09.187Z,1347898869.187 [MassServo](DEBUG): Initializing MassServo.
2012-09-17T16:21:10.656Z,1347898870.656 [PAR_Licor](ERROR): PAR reading out of range: -0.055632 uMol/s/m2
2012-09-17T16:21:11.462Z,1347898871.462 [PAR_Licor](ERROR): PAR reading out of range: -0.019074 uMol/s/m2
2012-09-17T16:21:13.086Z,1347898873.086 [MassServo](FAULT): Overload Error
2012-09-17T16:21:13.086Z,1347898873.086 [MassServo] Hardware Fault, FailCount= 5
2012-09-17T16:21:13.087Z,1347898873.087 [MassServo](ERROR): Hardware Fault
2012-09-17T16:21:13.182Z,1347898873.182 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-17T16:21:13.182Z,1347898873.182 [CBIT](CRITICAL): Hardware Fault in component: MassServo
2012-09-17T16:21:13.464Z,1347898873.464 [PAR_Licor](ERROR): PAR reading out of range: 0.000000 uMol/s/m2
2012-09-17T16:21:13.477Z,1347898873.477 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-17T16:21:13.477Z,1347898873.477 [MassServo](INFO): Powering down
2012-09-17T16:21:15.055Z,1347898875.055 [PAR_Licor](ERROR): PAR reading out of range: -0.028611 uMol/s/m2
2012-09-17T16:21:15.119Z,1347898875.119 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.001042
2012-09-17T16:21:15.120Z,1347898875.120 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.903248
2012-09-17T16:21:15.863Z,1347898875.863 [PAR_Licor](ERROR): PAR reading out of range: -0.007947 uMol/s/m2
2012-09-17T16:21:16.656Z,1347898876.656 [PAR_Licor](ERROR): PAR reading out of range: -0.041327 uMol/s/m2
2012-09-17T16:21:18.656Z,1347898878.656 [PAR_Licor](ERROR): PAR reading out of range: -0.047685 uMol/s/m2
2012-09-17T16:21:23.060Z,1347898883.059 [PAR_Licor](ERROR): PAR reading out of range: -1.091984 uMol/s/m2
2012-09-17T16:21:24.258Z,1347898884.258 [PAR_Licor](ERROR): PAR reading out of range: 0.000000 uMol/s/m2
2012-09-17T16:21:25.460Z,1347898885.460 [PAR_Licor](ERROR): PAR reading out of range: -0.039737 uMol/s/m2
2012-09-17T16:21:25.507Z,1347898885.507 [CommandLine](IMPORTANT): got command get platform_buoyancy_position
2012-09-17T16:21:25.507Z,1347898885.507 [CommandLine](IMPORTANT): platform_buoyancy_position 954.460062 cubic_centimeter
2012-09-17T16:21:28.256Z,1347898888.256 [PAR_Licor](ERROR): PAR reading out of range: -0.933034 uMol/s/m2
2012-09-17T16:21:28.272Z,1347898888.272 [CBIT](IMPORTANT): No ground fault detected
2012-09-17T16:21:29.037Z,1347898889.037 [CommandLine](IMPORTANT): got command failComponent
2012-09-17T16:21:29.037Z,1347898889.037 [CommandLine](IMPORTANT): Failed components:
2012-09-17T16:21:29.037Z,1347898889.037 [CommandLine](IMPORTANT): MassServo: Hardware Fault
2012-09-17T16:21:30.664Z,1347898890.664 [PAR_Licor](ERROR): PAR reading out of range: -0.007947 uMol/s/m2
2012-09-17T16:21:32.263Z,1347898892.263 [PAR_Licor](ERROR): PAR reading out of range: -0.034969 uMol/s/m2
2012-09-17T16:21:34.656Z,1347898894.656 [PAR_Licor](ERROR): PAR reading out of range: -0.046095 uMol/s/m2
2012-09-17T16:21:35.383Z,1347898895.383 [CommandLine](IMPORTANT): got command failComponent none MassServo
2012-09-17T16:21:35.383Z,1347898895.383 [MassServo] No Fault, FailCount= 5
2012-09-17T16:21:35.383Z,1347898895.383 [CommandLine](IMPORTANT): MassServo failureMode is No Fault
2012-09-17T16:21:35.474Z,1347898895.474 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-17T16:21:35.591Z,1347898895.591 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-17T16:21:35.591Z,1347898895.591 [MassServo](DEBUG): Initializing MassServo.
2012-09-17T16:21:36.256Z,1347898896.256 [PAR_Licor](ERROR): PAR reading out of range: -0.093780 uMol/s/m2
2012-09-17T16:21:37.055Z,1347898897.055 [PAR_Licor](ERROR): PAR reading out of range: -0.128749 uMol/s/m2
2012-09-17T16:21:37.860Z,1347898897.860 [PAR_Licor](ERROR): PAR reading out of range: -0.036558 uMol/s/m2
2012-09-17T16:21:39.490Z,1347898899.490 [MassServo](FAULT): Overload Error
2012-09-17T16:21:39.490Z,1347898899.490 [MassServo] Hardware Fault, FailCount= 6
2012-09-17T16:21:39.490Z,1347898899.490 [MassServo](ERROR): Hardware Fault
2012-09-17T16:21:39.538Z,1347898899.538 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-17T16:21:39.538Z,1347898899.538 [CBIT](CRITICAL): Hardware Fault in component: MassServo
2012-09-17T16:21:39.859Z,1347898899.859 [PAR_Licor](ERROR): PAR reading out of range: -0.023842 uMol/s/m2
2012-09-17T16:21:39.872Z,1347898899.872 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-17T16:21:39.872Z,1347898899.872 [MassServo](INFO): Powering down
2012-09-17T16:21:41.057Z,1347898901.057 [PAR_Licor](ERROR): PAR reading out of range: -0.027021 uMol/s/m2
2012-09-17T16:21:42.260Z,1347898902.260 [PAR_Licor](ERROR): PAR reading out of range: -0.006358 uMol/s/m2
2012-09-17T16:21:44.256Z,1347898904.256 [PAR_Licor](ERROR): PAR reading out of range: -0.004768 uMol/s/m2
2012-09-17T16:21:45.055Z,1347898905.055 [PAR_Licor](ERROR): PAR reading out of range: -0.020663 uMol/s/m2
2012-09-17T16:21:46.655Z,1347898906.655 [PAR_Licor](ERROR): PAR reading out of range: 0.000000 uMol/s/m2
2012-09-17T16:21:48.655Z,1347898908.655 [PAR_Licor](ERROR): PAR reading out of range: -0.003179 uMol/s/m2
2012-09-17T16:21:49.855Z,1347898909.855 [PAR_Licor](ERROR): PAR reading out of range: -0.041327 uMol/s/m2
2012-09-17T16:21:51.460Z,1347898911.460 [PAR_Licor](ERROR): PAR reading out of range: -0.009537 uMol/s/m2
2012-09-17T16:21:52.259Z,1347898912.259 [PAR_Licor](ERROR): PAR reading out of range: -0.019074 uMol/s/m2
2012-09-17T16:21:53.458Z,1347898913.458 [PAR_Licor](ERROR): PAR reading out of range: -0.044506 uMol/s/m2
2012-09-17T16:21:55.055Z,1347898915.055 [PAR_Licor](ERROR): PAR reading out of range: -0.022253 uMol/s/m2
2012-09-17T16:21:55.868Z,1347898915.868 [SBIT](CRITICAL): SBIT FAILED
2012-09-17T16:21:56.263Z,1347898916.263 [MissionManager](IMPORTANT): Started mission Startup
2012-09-17T16:21:56.263Z,1347898916.263 [Startup] Running Loop=1
2012-09-17T16:21:56.263Z,1347898916.263 [Startup](INFO): Aggregate::initialize Startup
2012-09-17T16:21:56.263Z,1347898916.263 [Startup:A.GoToSurface] Running Loop=1
2012-09-17T16:21:56.263Z,1347898916.263 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-17T16:21:56.269Z,1347898916.269 [Startup:StartupSatComms] Running Loop=1
2012-09-17T16:21:56.269Z,1347898916.269 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-17T16:21:56.269Z,1347898916.269 [Startup:StartupSatComms:A] Running Loop=1
2012-09-17T16:21:56.662Z,1347898916.662 [PAR_Licor](ERROR): PAR reading out of range: -0.006358 uMol/s/m2
2012-09-17T16:21:56.670Z,1347898916.670 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-17T16:21:59.855Z,1347898919.855 [PAR_Licor](ERROR): PAR reading out of range: -0.017484 uMol/s/m2
2012-09-17T16:22:00.656Z,1347898920.656 [PAR_Licor](ERROR): PAR reading out of range: -0.007947 uMol/s/m2
2012-09-17T16:22:01.856Z,1347898921.856 [PAR_Licor](ERROR): PAR reading out of range: -0.030200 uMol/s/m2
2012-09-17T16:22:02.659Z,1347898922.659 [PAR_Licor](ERROR): PAR reading out of range: -0.004768 uMol/s/m2
2012-09-17T16:22:04.255Z,1347898924.255 [PAR_Licor](ERROR): PAR reading out of range: -0.001589 uMol/s/m2
2012-09-17T16:22:05.059Z,1347898925.059 [PAR_Licor](ERROR): PAR reading out of range: -0.009537 uMol/s/m2
2012-09-17T16:22:06.259Z,1347898926.260 [PAR_Licor](ERROR): PAR reading out of range: -0.038148 uMol/s/m2
2012-09-17T16:22:07.056Z,1347898927.056 [PAR_Licor](ERROR): PAR reading out of range: -0.036558 uMol/s/m2
2012-09-17T16:22:09.461Z,1347898929.461 [PAR_Licor](ERROR): PAR reading out of range: -0.044506 uMol/s/m2
2012-09-17T16:22:10.255Z,1347898930.255 [PAR_Licor](ERROR): PAR reading out of range: -0.006358 uMol/s/m2
2012-09-17T16:22:10.522Z,1347898930.523 [CommandLine](IMPORTANT): got command restart application
2012-09-17T16:22:11.458Z,1347898931.458 [PAR_Licor](ERROR): PAR reading out of range: -0.044506 uMol/s/m2
2012-09-17T16:22:11.546Z,1347898931.546 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-17T16:22:11.546Z,1347898931.546 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-17T16:22:11.706Z,1347898931.706 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-17T16:22:11.882Z,1347898931.882 [WetLabsBB2FL](INFO): Powering down
2012-09-17T16:22:11.886Z,1347898931.886 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-17T16:22:11.959Z,1347898931.958 [Turbulence_NPS](INFO): Powering down
2012-09-17T16:22:11.974Z,1347898931.974 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-17T16:22:11.987Z,1347898931.987 [CTD_NeilBrown](INFO): Powering down
2012-09-17T16:22:11.994Z,1347898931.994 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-17T16:22:12.167Z,1347898932.167 [DVL_micro](INFO): uninitialize:Powering down
2012-09-17T16:22:12.175Z,1347898932.175 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-17T16:22:12.259Z,1347898932.259 [PAR_Licor](ERROR): PAR reading out of range: -0.025432 uMol/s/m2
2012-09-17T16:22:12.447Z,1347898932.447 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-17T16:22:12.459Z,1347898932.459 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-17T16:22:12.461Z,1347898932.461 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-17T16:22:12.627Z,1347898932.626 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-17T16:22:12.627Z,1347898932.627 [AHRS_sp3003D](INFO): Powering down
2012-09-17T16:22:12.715Z,1347898932.715 [NAL9602](INFO): Powering down
2012-09-17T16:22:12.716Z,1347898932.717 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-17T16:22:12.717Z,1347898932.717 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-17T16:22:12.722Z,1347898932.722 [Startup] Stopped
2012-09-17T16:22:12.722Z,1347898932.722 [Startup](INFO): Aggregate::uninitialize Startup
2012-09-17T16:22:12.722Z,1347898932.722 [Startup:A.GoToSurface] Stopped
2012-09-17T16:22:12.722Z,1347898932.722 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-17T16:22:12.722Z,1347898932.722 [Startup:StartupSatComms] Stopped
2012-09-17T16:22:12.723Z,1347898932.723 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-09-17T16:22:12.723Z,1347898932.723 [Startup:StartupSatComms:A] Stopped
2012-09-17T16:22:12.724Z,1347898932.724 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-17T16:22:12.724Z,1347898932.724 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-17T16:22:12.725Z,1347898932.725 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-17T16:22:12.725Z,1347898932.725 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-17T16:22:12.725Z,1347898932.725 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-17T16:22:12.725Z,1347898932.725 [BuoyancyServo](INFO): Powering down
2012-09-17T16:22:12.726Z,1347898932.727 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-17T16:22:12.727Z,1347898932.727 [MassServo](INFO): Powering down
2012-09-17T16:22:12.728Z,1347898932.727 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-17T16:22:12.728Z,1347898932.728 [RudderServo](INFO): Powering down
2012-09-17T16:22:12.728Z,1347898932.728 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-17T16:22:12.729Z,1347898932.728 [ThrusterServo](INFO): Powering down
2012-09-17T16:22:12.729Z,1347898932.729 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-17T16:22:12.730Z,1347898932.730 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-17T16:22:12.730Z,1347898932.730 [CBIT](DEBUG): Uninitialize CBIT Component.