2012-09-18T17:46:03.117Z,1347990363.117 [Supervisor](DEBUG): Initializing supervisor.
2012-09-18T17:46:03.119Z,1347990363.119 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-18T17:46:03.121Z,1347990363.121 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-18T17:46:03.123Z,1347990363.124 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-18T17:46:03.127Z,1347990363.127 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-18T17:46:03.138Z,1347990363.138 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-18T17:46:03.139Z,1347990363.139 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-18T17:46:03.140Z,1347990363.139 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-18T17:46:03.140Z,1347990363.140 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-18T17:46:03.141Z,1347990363.141 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-18T17:46:03.426Z,1347990363.427 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-18T17:46:03.427Z,1347990363.427 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-18T17:46:03.609Z,1347990363.609 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-18T17:46:03.609Z,1347990363.609 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-18T17:46:03.695Z,1347990363.695 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-18T17:46:03.696Z,1347990363.695 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-18T17:46:03.899Z,1347990363.899 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-18T17:46:03.899Z,1347990363.899 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-18T17:46:04.034Z,1347990364.034 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-18T17:46:04.035Z,1347990364.035 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-18T17:46:04.268Z,1347990364.268 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-18T17:46:04.268Z,1347990364.268 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-18T17:46:04.440Z,1347990364.440 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-18T17:46:04.440Z,1347990364.440 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-18T17:46:04.694Z,1347990364.694 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-18T17:46:04.695Z,1347990364.695 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-18T17:46:04.794Z,1347990364.794 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-18T17:46:04.795Z,1347990364.795 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-18T17:46:05.220Z,1347990365.220 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-18T17:46:05.221Z,1347990365.221 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-18T17:46:05.394Z,1347990365.394 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-18T17:46:05.394Z,1347990365.395 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-18T17:46:05.480Z,1347990365.480 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-18T17:46:05.481Z,1347990365.481 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-18T17:46:05.581Z,1347990365.581 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-18T17:46:05.710Z,1347990365.710 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-18T17:46:05.796Z,1347990365.796 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-18T17:46:05.897Z,1347990365.898 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-18T17:46:05.997Z,1347990365.997 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-18T17:46:06.116Z,1347990366.115 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-18T17:46:06.205Z,1347990366.205 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-18T17:46:06.296Z,1347990366.296 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-18T17:46:06.305Z,1347990366.305 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-18T17:46:06.336Z,1347990366.336 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-18T17:46:06.474Z,1347990366.474 [InternalSim] Loaded
2012-09-18T17:46:06.475Z,1347990366.475 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-18T17:46:06.475Z,1347990366.475 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-18T17:46:06.476Z,1347990366.476 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-18T17:46:06.533Z,1347990366.533 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-18T17:46:06.547Z,1347990366.546 [SBIT] Loaded
2012-09-18T17:46:06.547Z,1347990366.547 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-18T17:46:06.548Z,1347990366.548 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-18T17:46:06.576Z,1347990366.576 [IBIT] Loaded
2012-09-18T17:46:06.576Z,1347990366.576 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-18T17:46:06.580Z,1347990366.580 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-18T17:46:06.697Z,1347990366.697 [CBIT] Loaded
2012-09-18T17:46:06.698Z,1347990366.698 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-18T17:46:06.698Z,1347990366.698 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-18T17:46:06.699Z,1347990366.699 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-18T17:46:06.760Z,1347990366.760 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-18T17:46:06.761Z,1347990366.761 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-18T17:46:06.778Z,1347990366.778 [DepthRateCalculator] Loaded
2012-09-18T17:46:06.778Z,1347990366.778 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-18T17:46:09.147Z,1347990369.147 [HFRadarModelCalc] Loaded
2012-09-18T17:46:09.147Z,1347990369.147 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-18T17:46:09.163Z,1347990369.163 [NavChart] Loaded
2012-09-18T17:46:09.164Z,1347990369.164 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-18T17:46:09.169Z,1347990369.169 [PitchRateCalculator] Loaded
2012-09-18T17:46:09.170Z,1347990369.170 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-18T17:46:09.176Z,1347990369.176 [SpeedCalculator] Loaded
2012-09-18T17:46:09.176Z,1347990369.177 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-18T17:46:09.191Z,1347990369.191 [TempGradientCalculator] Loaded
2012-09-18T17:46:09.192Z,1347990369.192 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-18T17:46:09.197Z,1347990369.197 [YawRateCalculator] Loaded
2012-09-18T17:46:09.198Z,1347990369.197 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-18T17:46:09.217Z,1347990369.217 [Navigation] Loaded
2012-09-18T17:46:09.218Z,1347990369.218 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-18T17:46:09.218Z,1347990369.218 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-18T17:46:09.219Z,1347990369.219 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-18T17:46:09.445Z,1347990369.445 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-18T17:46:09.446Z,1347990369.446 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-18T17:46:09.565Z,1347990369.565 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-18T17:46:09.565Z,1347990369.565 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-18T17:46:09.606Z,1347990369.606 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-18T17:46:09.653Z,1347990369.653 [VerticalControl] Loaded
2012-09-18T17:46:09.653Z,1347990369.653 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-18T17:46:09.654Z,1347990369.654 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-18T17:46:09.675Z,1347990369.675 [HorizontalControl] Loaded
2012-09-18T17:46:09.676Z,1347990369.676 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-18T17:46:09.677Z,1347990369.677 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-18T17:46:09.678Z,1347990369.678 [SpeedControl] Loaded
2012-09-18T17:46:09.679Z,1347990369.679 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-18T17:46:09.680Z,1347990369.680 [LoopControl](DEBUG): Construct LoopControl.
2012-09-18T17:46:09.680Z,1347990369.680 [LoopControl] Loaded
2012-09-18T17:46:09.680Z,1347990369.681 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-18T17:46:09.681Z,1347990369.681 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-18T17:46:09.682Z,1347990369.682 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-18T17:46:09.687Z,1347990369.687 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-18T17:46:09.692Z,1347990369.692 [AsyncPiEstimator] Loaded
2012-09-18T17:46:09.692Z,1347990369.692 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-18T17:46:09.699Z,1347990369.699 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-18T17:46:09.700Z,1347990369.700 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-18T17:46:09.701Z,1347990369.701 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-18T17:46:09.895Z,1347990369.895 [AHRS_sp3003D] Loaded
2012-09-18T17:46:09.895Z,1347990369.895 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-18T17:46:09.908Z,1347990369.908 [Depth_Keller] Loaded
2012-09-18T17:46:09.909Z,1347990369.909 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-18T17:46:09.991Z,1347990369.991 [NAL9602] Loaded
2012-09-18T17:46:09.991Z,1347990369.991 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-18T17:46:09.998Z,1347990369.998 [Radio_Freewave] Loaded
2012-09-18T17:46:09.998Z,1347990369.998 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-18T17:46:09.999Z,1347990369.999 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-18T17:46:09.000Z,1347990370.000 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-18T17:46:10.039Z,1347990370.039 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-18T17:46:10.041Z,1347990370.042 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-18T17:46:10.042Z,1347990370.042 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-18T17:46:10.048Z,1347990370.048 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-18T17:46:10.049Z,1347990370.049 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 406B24E0
2012-09-18T17:46:10.054Z,1347990370.054 [Supervisor](DEBUG): Running supervisor.
2012-09-18T17:46:10.057Z,1347990370.057 [controlThread](DEBUG): Initializing ControlThread
2012-09-18T17:46:10.058Z,1347990370.058 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-18T17:46:10.091Z,1347990370.091 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-18T17:46:10.101Z,1347990370.101 [SBIT](INFO): Initialize SBIT Component.
2012-09-18T17:46:10.101Z,1347990370.102 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9842
2012-09-18T17:46:10.102Z,1347990370.102 [IBIT](INFO): Initialize IBIT Component.
2012-09-18T17:46:10.103Z,1347990370.103 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-18T17:46:10.104Z,1347990370.103 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-18T17:46:10.131Z,1347990370.131 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T17:46:10.131Z,1347990370.131 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-18T17:46:10.132Z,1347990370.132 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-18T17:46:10.132Z,1347990370.132 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-18T17:46:10.132Z,1347990370.132 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-18T17:46:10.134Z,1347990370.134 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-18T17:46:10.134Z,1347990370.134 [Navigation](DEBUG): Initializing Navigation.
2012-09-18T17:46:10.134Z,1347990370.134 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-18T17:46:10.136Z,1347990370.136 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-18T17:46:10.137Z,1347990370.137 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-18T17:46:10.137Z,1347990370.137 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-18T17:46:10.144Z,1347990370.144 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-18T17:46:10.158Z,1347990370.158 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T17:46:10.191Z,1347990370.191 [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>


2012-09-18T17:46:10.192Z,1347990370.192 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-18T17:46:10.232Z,1347990370.232 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-18T17:46:10.234Z,1347990370.234 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-18T17:46:10.237Z,1347990370.237 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T17:46:10.266Z,1347990370.266 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-18T17:46:10.270Z,1347990370.270 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-18T17:46:10.273Z,1347990370.273 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T17:46:10.283Z,1347990370.283 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-18T17:46:10.287Z,1347990370.287 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-18T17:46:10.292Z,1347990370.292 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-18T17:46:10.300Z,1347990370.300 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-18T17:46:10.303Z,1347990370.303 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-18T17:46:10.307Z,1347990370.307 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-18T17:46:10.309Z,1347990370.309 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T17:46:10.314Z,1347990370.314 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-18T17:46:10.317Z,1347990370.317 [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>


2012-09-18T17:46:10.318Z,1347990370.318 [NavChartDb](INFO): Creating index for Soundings
2012-09-18T17:46:10.322Z,1347990370.322 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-18T17:46:10.324Z,1347990370.324 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-18T17:46:10.326Z,1347990370.326 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-18T17:46:10.330Z,1347990370.330 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,NAL9602,Radio_Freewave,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-18T17:46:10.347Z,1347990370.346 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-18T17:46:10.349Z,1347990370.349 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-18T17:46:10.350Z,1347990370.351 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-18T17:46:10.352Z,1347990370.352 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-18T17:46:10.355Z,1347990370.355 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-18T17:46:10.356Z,1347990370.356 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-18T17:46:10.358Z,1347990370.358 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-18T17:46:10.360Z,1347990370.360 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-18T17:46:10.362Z,1347990370.362 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-18T17:46:10.364Z,1347990370.364 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-18T17:46:10.366Z,1347990370.366 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-18T17:46:10.371Z,1347990370.372 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-18T17:46:10.373Z,1347990370.374 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-18T17:46:10.376Z,1347990370.376 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-18T17:46:10.377Z,1347990370.377 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-18T17:46:10.379Z,1347990370.379 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-18T17:46:10.381Z,1347990370.381 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-18T17:46:10.389Z,1347990370.389 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-18T17:46:10.392Z,1347990370.392 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-18T17:46:10.394Z,1347990370.394 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-18T17:46:10.400Z,1347990370.400 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-18T17:46:10.402Z,1347990370.402 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-18T17:46:10.404Z,1347990370.404 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-18T17:46:10.406Z,1347990370.406 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-18T17:46:10.408Z,1347990370.408 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-18T17:46:10.410Z,1347990370.410 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-18T17:46:10.416Z,1347990370.416 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-18T17:46:10.418Z,1347990370.418 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-18T17:46:10.420Z,1347990370.420 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-18T17:46:10.477Z,1347990370.477 [Radio_Freewave](INFO): Powering up
2012-09-18T17:46:15.007Z,1347990375.007 [NAL9602](INFO): Powering up NAL9602
2012-09-18T17:46:25.831Z,1347990385.831 [NAL9602](INFO): NAL9602 initialized
2012-09-18T17:46:25.843Z,1347990385.843 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-18T17:46:25.845Z,1347990385.845 [CBIT](IMPORTANT): Beginning GF scan
2012-09-18T17:46:39.010Z,1347990399.010 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.001040
2012-09-18T17:46:52.213Z,1347990412.213 [CBIT](IMPORTANT): No ground fault detected
2012-09-18T17:47:19.812Z,1347990439.812 [SBIT](CRITICAL): SBIT FAILED
2012-09-18T17:47:20.205Z,1347990440.205 [MissionManager](IMPORTANT): Started mission Startup
2012-09-18T17:47:20.205Z,1347990440.205 [Startup] Running Loop=1
2012-09-18T17:47:20.205Z,1347990440.205 [Startup](INFO): Aggregate::initialize Startup
2012-09-18T17:47:20.205Z,1347990440.205 [Startup:A.GoToSurface] Running Loop=1
2012-09-18T17:47:20.205Z,1347990440.205 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-18T17:47:20.211Z,1347990440.211 [Startup:StartupSatComms] Running Loop=1
2012-09-18T17:47:20.211Z,1347990440.211 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-18T17:47:20.212Z,1347990440.212 [Startup:StartupSatComms:A] Running Loop=1
2012-09-18T17:47:20.605Z,1347990440.605 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-18T17:47:42.431Z,1347990462.431 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.900002 degree
2012-09-18T17:47:42.432Z,1347990462.432 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2012-09-18T17:47:42.433Z,1347990462.433 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.930000 degree
2012-09-18T17:47:42.434Z,1347990462.434 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2012-09-18T17:47:42.435Z,1347990462.435 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-18T17:47:42.644Z,1347990462.644 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,NAL9602,Radio_Freewave,Depth_Keller,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-18T17:47:43.012Z,1347990463.012 [Startup:StartupSatComms:A] Stopped
2012-09-18T17:47:43.012Z,1347990463.012 [Startup:StartupSatComms:B] Running Loop=1
2012-09-18T17:47:43.414Z,1347990463.414 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-18T17:47:43.522Z,1347990463.523 [NavChartDb](INFO): Charting Soundings
2012-09-18T17:47:45.123Z,1347990465.122 [NavChartDb](INFO): Charting 0p0
2012-09-18T17:48:13.797Z,1347990493.797 [NAL9602](INFO): SBD MO Status=2, MOMSN=1285, MT Status=2, MTMSN=0
2012-09-18T17:48:13.797Z,1347990493.797 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2012-09-18T17:48:43.347Z,1347990523.348 [Startup:StartupSatComms:B](INFO): Timed out from 2012-09-18T17:47:43.0Z
2012-09-18T17:48:43.348Z,1347990523.348 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-09-18T17:48:43.348Z,1347990523.348 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-09-18T17:48:43.348Z,1347990523.348 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-09-18T17:48:43.348Z,1347990523.348 [Startup:StartupSatComms:B] Stopped
2012-09-18T17:48:43.348Z,1347990523.348 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-09-18T17:48:43.348Z,1347990523.348 [Startup:StartupSatComms] Stopped
2012-09-18T17:48:43.349Z,1347990523.349 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-09-18T17:48:43.349Z,1347990523.349 [Startup](INFO): Completed Startup
2012-09-18T17:48:43.349Z,1347990523.349 [Startup] Stopped
2012-09-18T17:48:43.350Z,1347990523.350 [Startup](INFO): Aggregate::uninitialize Startup
2012-09-18T17:48:43.350Z,1347990523.350 [Startup:A.GoToSurface] Stopped
2012-09-18T17:48:43.350Z,1347990523.350 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-18T17:48:43.785Z,1347990523.785 [MissionManager](IMPORTANT): Started mission Default
2012-09-18T17:48:43.785Z,1347990523.785 [Default] Running Loop=1
2012-09-18T17:48:43.785Z,1347990523.785 [Default](INFO): Aggregate::initialize Default
2012-09-18T17:48:43.785Z,1347990523.785 [Default:D.SetSpeed] Running Loop=1
2012-09-18T17:48:43.785Z,1347990523.785 [Default:D.SetSpeed](DEBUG): Initialize.
2012-09-18T17:48:43.786Z,1347990523.786 [Default:E.GoToSurface] Running Loop=1
2012-09-18T17:48:43.786Z,1347990523.786 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-18T17:48:43.786Z,1347990523.786 [Default:Iridium] Running Loop=1
2012-09-18T17:48:43.786Z,1347990523.786 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-09-18T17:48:43.786Z,1347990523.786 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-18T17:48:43.786Z,1347990523.786 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-09-18T17:48:43.786Z,1347990523.786 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-09-18T17:48:43.787Z,1347990523.787 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-18T17:48:43.787Z,1347990523.787 [Default:E.GoToSurface] Running Loop=1
2012-09-18T17:48:43.792Z,1347990523.792 [Default:D.SetSpeed] Running Loop=1
2012-09-18T17:48:43.814Z,1347990523.814 [Default:Iridium:B.GoToSurface] Stopped
2012-09-18T17:48:43.814Z,1347990523.814 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-18T17:48:43.814Z,1347990523.814 [Default:Iridium:Read_Iridium] Running Loop=1
2012-09-18T17:48:43.814Z,1347990523.815 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-18T17:48:43.831Z,1347990523.831 [Default:GPS] Running Loop=1
2012-09-18T17:48:43.831Z,1347990523.832 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-09-18T17:48:43.832Z,1347990523.832 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-18T17:48:43.832Z,1347990523.832 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-09-18T17:48:43.832Z,1347990523.832 [Default:GPS:B.GoToSurface] Running Loop=1
2012-09-18T17:48:43.832Z,1347990523.832 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-18T17:48:43.837Z,1347990523.837 [Default:GPS:B.GoToSurface] Stopped
2012-09-18T17:48:43.837Z,1347990523.837 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-18T17:48:43.837Z,1347990523.837 [Default:GPS:Read_GPS] Running Loop=1
2012-09-18T17:48:43.837Z,1347990523.838 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-18T17:48:44.216Z,1347990524.216 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-18T17:48:44.223Z,1347990524.223 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-18T17:48:44.225Z,1347990524.225 [Default:GPS:Read_GPS] Stopped
2012-09-18T17:48:44.225Z,1347990524.225 [Default:GPS:D] Running Loop=1
2012-09-18T17:48:44.554Z,1347990524.554 [Default:GPS:D] Stopped
2012-09-18T17:48:44.555Z,1347990524.555 [Default:GPS](INFO): Completed Default:GPS
2012-09-18T17:48:44.555Z,1347990524.555 [Default:GPS] Stopped
2012-09-18T17:48:44.555Z,1347990524.555 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-09-18T17:48:44.555Z,1347990524.555 [Default:GPS:A.SetSpeed] Stopped
2012-09-18T17:48:44.555Z,1347990524.555 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-09-18T17:48:52.931Z,1347990532.931 [NAL9602](INFO): SBD MO Status=2, MOMSN=1285, MT Status=2, MTMSN=0
2012-09-18T17:48:52.931Z,1347990532.931 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2012-09-18T17:49:25.271Z,1347990565.271 [NAL9602](INFO): SBD MO Status=2, MOMSN=1285, MT Status=2, MTMSN=0
2012-09-18T17:49:25.271Z,1347990565.271 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2012-09-18T17:51:02.995Z,1347990662.995 [CommandLine](IMPORTANT): got command quit
2012-09-18T17:51:04.098Z,1347990664.098 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-18T17:51:04.098Z,1347990664.098 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-18T17:51:04.238Z,1347990664.238 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-18T17:51:04.426Z,1347990664.427 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-18T17:51:04.438Z,1347990664.438 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-18T17:51:04.439Z,1347990664.439 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-18T17:51:04.650Z,1347990664.651 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-18T17:51:04.651Z,1347990664.651 [AHRS_sp3003D](INFO): Powering down
2012-09-18T17:51:04.739Z,1347990664.739 [NAL9602](INFO): Powering down
2012-09-18T17:51:04.741Z,1347990664.741 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T17:51:04.741Z,1347990664.741 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-18T17:51:04.742Z,1347990664.742 [Default] Stopped
2012-09-18T17:51:04.743Z,1347990664.743 [Default](INFO): Aggregate::uninitialize Default
2012-09-18T17:51:04.743Z,1347990664.743 [Default:Iridium] Stopped
2012-09-18T17:51:04.743Z,1347990664.743 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-09-18T17:51:04.743Z,1347990664.743 [Default:Iridium:A.SetSpeed] Stopped
2012-09-18T17:51:04.743Z,1347990664.743 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-09-18T17:51:04.743Z,1347990664.743 [Default:Iridium:Read_Iridium] Stopped
2012-09-18T17:51:04.743Z,1347990664.743 [Default:D.SetSpeed] Stopped
2012-09-18T17:51:04.743Z,1347990664.743 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-09-18T17:51:04.743Z,1347990664.743 [Default:E.GoToSurface] Stopped
2012-09-18T17:51:04.743Z,1347990664.743 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-18T17:51:04.748Z,1347990664.748 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-18T17:51:04.748Z,1347990664.748 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-18T17:51:04.748Z,1347990664.749 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-18T17:51:04.749Z,1347990664.749 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-18T17:51:04.749Z,1347990664.749 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-18T17:51:04.749Z,1347990664.749 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-18T17:51:04.750Z,1347990664.750 [CBIT](DEBUG): Uninitialize CBIT Component.