2012-09-18T17:56:38.130Z,1347990998.130 [Supervisor](DEBUG): Initializing supervisor.
2012-09-18T17:56:38.132Z,1347990998.132 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-18T17:56:38.133Z,1347990998.133 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-18T17:56:38.134Z,1347990998.134 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-18T17:56:38.137Z,1347990998.137 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-18T17:56:38.148Z,1347990998.148 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-18T17:56:38.149Z,1347990998.149 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-18T17:56:38.150Z,1347990998.150 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-18T17:56:38.151Z,1347990998.151 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-18T17:56:38.152Z,1347990998.152 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-18T17:56:38.440Z,1347990998.440 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-18T17:56:38.440Z,1347990998.440 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-18T17:56:38.620Z,1347990998.620 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-18T17:56:38.621Z,1347990998.621 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-18T17:56:38.706Z,1347990998.706 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-18T17:56:38.707Z,1347990998.707 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-18T17:56:38.907Z,1347990998.907 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-18T17:56:38.908Z,1347990998.908 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-18T17:56:39.042Z,1347990999.042 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-18T17:56:39.042Z,1347990999.042 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-18T17:56:39.312Z,1347990999.312 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-18T17:56:39.313Z,1347990999.313 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-18T17:56:39.546Z,1347990999.546 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-18T17:56:39.546Z,1347990999.546 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-18T17:56:39.806Z,1347990999.806 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-18T17:56:39.806Z,1347990999.806 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-18T17:56:39.905Z,1347990999.905 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-18T17:56:39.906Z,1347990999.906 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-18T17:56:40.305Z,1347991000.305 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-18T17:56:40.306Z,1347991000.306 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-18T17:56:40.418Z,1347991000.418 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-18T17:56:40.419Z,1347991000.419 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-18T17:56:40.504Z,1347991000.504 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-18T17:56:40.505Z,1347991000.505 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-18T17:56:40.607Z,1347991000.606 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-18T17:56:40.735Z,1347991000.735 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-18T17:56:40.821Z,1347991000.821 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-18T17:56:40.922Z,1347991000.922 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-18T17:56:41.022Z,1347991001.022 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-18T17:56:41.140Z,1347991001.140 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-18T17:56:41.230Z,1347991001.230 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-18T17:56:41.320Z,1347991001.320 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-18T17:56:41.329Z,1347991001.329 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-18T17:56:41.361Z,1347991001.361 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-18T17:56:41.501Z,1347991001.501 [InternalSim] Loaded
2012-09-18T17:56:41.501Z,1347991001.501 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-18T17:56:41.502Z,1347991001.502 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-18T17:56:41.503Z,1347991001.503 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-18T17:56:41.560Z,1347991001.560 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-18T17:56:41.573Z,1347991001.573 [SBIT] Loaded
2012-09-18T17:56:41.574Z,1347991001.574 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-18T17:56:41.575Z,1347991001.575 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-18T17:56:41.603Z,1347991001.603 [IBIT] Loaded
2012-09-18T17:56:41.604Z,1347991001.603 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-18T17:56:41.607Z,1347991001.607 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-18T17:56:41.726Z,1347991001.726 [CBIT] Loaded
2012-09-18T17:56:41.726Z,1347991001.726 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-18T17:56:41.726Z,1347991001.727 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-18T17:56:41.727Z,1347991001.727 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-18T17:56:41.869Z,1347991001.869 [BuoyancyServo] Loaded
2012-09-18T17:56:41.869Z,1347991001.869 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-18T17:56:41.882Z,1347991001.882 [RudderServo] Loaded
2012-09-18T17:56:41.882Z,1347991001.882 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-18T17:56:41.895Z,1347991001.895 [ThrusterServo] Loaded
2012-09-18T17:56:41.895Z,1347991001.895 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-18T17:56:41.895Z,1347991001.895 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-18T17:56:41.896Z,1347991001.896 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-18T17:56:41.913Z,1347991001.913 [DepthRateCalculator] Loaded
2012-09-18T17:56:41.913Z,1347991001.913 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-18T17:56:44.225Z,1347991004.225 [HFRadarModelCalc] Loaded
2012-09-18T17:56:44.225Z,1347991004.225 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-18T17:56:44.242Z,1347991004.242 [NavChart] Loaded
2012-09-18T17:56:44.242Z,1347991004.242 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-18T17:56:44.248Z,1347991004.248 [PitchRateCalculator] Loaded
2012-09-18T17:56:44.248Z,1347991004.248 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-18T17:56:44.254Z,1347991004.254 [SpeedCalculator] Loaded
2012-09-18T17:56:44.255Z,1347991004.255 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-18T17:56:44.270Z,1347991004.270 [TempGradientCalculator] Loaded
2012-09-18T17:56:44.270Z,1347991004.270 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-18T17:56:44.276Z,1347991004.276 [YawRateCalculator] Loaded
2012-09-18T17:56:44.277Z,1347991004.277 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-18T17:56:44.297Z,1347991004.297 [Navigation] Loaded
2012-09-18T17:56:44.297Z,1347991004.297 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-18T17:56:44.297Z,1347991004.297 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-18T17:56:44.298Z,1347991004.298 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-18T17:56:44.525Z,1347991004.525 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-18T17:56:44.526Z,1347991004.526 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-18T17:56:44.547Z,1347991004.547 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-18T17:56:44.548Z,1347991004.548 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-18T17:56:44.589Z,1347991004.589 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-18T17:56:44.635Z,1347991004.635 [VerticalControl] Loaded
2012-09-18T17:56:44.635Z,1347991004.635 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-18T17:56:44.636Z,1347991004.636 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-18T17:56:44.657Z,1347991004.657 [HorizontalControl] Loaded
2012-09-18T17:56:44.658Z,1347991004.658 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-18T17:56:44.659Z,1347991004.659 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-18T17:56:44.660Z,1347991004.660 [SpeedControl] Loaded
2012-09-18T17:56:44.661Z,1347991004.661 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-18T17:56:44.661Z,1347991004.661 [LoopControl](DEBUG): Construct LoopControl.
2012-09-18T17:56:44.662Z,1347991004.662 [LoopControl] Loaded
2012-09-18T17:56:44.662Z,1347991004.662 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-18T17:56:44.663Z,1347991004.663 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-18T17:56:44.663Z,1347991004.663 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-18T17:56:44.669Z,1347991004.669 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-18T17:56:44.673Z,1347991004.673 [AsyncPiEstimator] Loaded
2012-09-18T17:56:44.674Z,1347991004.674 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-18T17:56:44.675Z,1347991004.675 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-18T17:56:44.676Z,1347991004.676 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-18T17:56:44.676Z,1347991004.676 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-18T17:56:44.798Z,1347991004.798 [AHRS_sp3003D] Loaded
2012-09-18T17:56:44.798Z,1347991004.798 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-18T17:56:44.812Z,1347991004.812 [Depth_Keller] Loaded
2012-09-18T17:56:44.812Z,1347991004.812 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-18T17:56:44.818Z,1347991004.818 [DropWeight] Loaded
2012-09-18T17:56:44.818Z,1347991004.818 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-18T17:56:44.902Z,1347991004.902 [NAL9602] Loaded
2012-09-18T17:56:44.903Z,1347991004.903 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-18T17:56:44.954Z,1347991004.954 [Onboard] Loaded
2012-09-18T17:56:44.955Z,1347991004.955 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-18T17:56:44.961Z,1347991004.961 [Radio_Freewave] Loaded
2012-09-18T17:56:44.962Z,1347991004.962 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-18T17:56:44.963Z,1347991004.963 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-18T17:56:44.963Z,1347991004.963 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-18T17:56:45.010Z,1347991005.010 [PAR_Licor] Loaded
2012-09-18T17:56:45.011Z,1347991005.011 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-18T17:56:45.012Z,1347991005.012 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-18T17:56:45.014Z,1347991005.014 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-18T17:56:45.015Z,1347991005.015 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-18T17:56:45.019Z,1347991005.019 [Supervisor](DEBUG): Running supervisor.
2012-09-18T17:56:45.022Z,1347991005.022 [controlThread](DEBUG): Initializing ControlThread
2012-09-18T17:56:45.023Z,1347991005.023 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-18T17:56:45.058Z,1347991005.058 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-18T17:56:45.066Z,1347991005.066 [SBIT](INFO): Initialize SBIT Component.
2012-09-18T17:56:45.066Z,1347991005.066 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-18T17:56:45.067Z,1347991005.067 [IBIT](INFO): Initialize IBIT Component.
2012-09-18T17:56:45.068Z,1347991005.068 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-18T17:56:45.068Z,1347991005.068 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2012-09-18T17:56:45.068Z,1347991005.068 [CBIT] Hardware Fault, FailCount= 1
2012-09-18T17:56:45.068Z,1347991005.068 [CBIT](ERROR): Hardware Fault
2012-09-18T17:56:45.095Z,1347991005.095 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T17:56:45.096Z,1347991005.096 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-18T17:56:45.096Z,1347991005.096 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-18T17:56:45.096Z,1347991005.096 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-18T17:56:45.097Z,1347991005.097 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-18T17:56:45.098Z,1347991005.098 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-18T17:56:45.098Z,1347991005.099 [Navigation](DEBUG): Initializing Navigation.
2012-09-18T17:56:45.099Z,1347991005.099 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-18T17:56:45.101Z,1347991005.101 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-18T17:56:45.101Z,1347991005.101 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-18T17:56:45.102Z,1347991005.102 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-18T17:56:45.107Z,1347991005.107 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-18T17:56:45.117Z,1347991005.117 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T17:56:45.128Z,1347991005.128 [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>


2012-09-18T17:56:45.128Z,1347991005.128 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-18T17:56:45.156Z,1347991005.156 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-18T17:56:45.159Z,1347991005.159 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-18T17:56:45.162Z,1347991005.162 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T17:56:45.169Z,1347991005.170 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-18T17:56:45.172Z,1347991005.172 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T17:56:45.179Z,1347991005.179 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-18T17:56:45.187Z,1347991005.187 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-18T17:56:45.190Z,1347991005.190 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T17:56:45.195Z,1347991005.195 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-18T17:56:45.199Z,1347991005.199 [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>


2012-09-18T17:56:45.203Z,1347991005.203 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-18T17:56:45.223Z,1347991005.223 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-18T17:56:45.337Z,1347991005.337 [Radio_Freewave](INFO): Powering up
2012-09-18T17:56:45.420Z,1347991005.420 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-18T17:56:45.421Z,1347991005.421 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-18T17:56:45.428Z,1347991005.428 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-18T17:56:45.429Z,1347991005.429 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-18T17:56:45.435Z,1347991005.435 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-18T17:56:45.436Z,1347991005.436 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-18T17:56:45.451Z,1347991005.451 [CBIT](DEBUG): Uninitialize CBIT Component.
2012-09-18T17:56:47.073Z,1347991007.073 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-18T17:56:47.073Z,1347991007.073 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-09-18T17:56:47.073Z,1347991007.073 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-18T17:56:47.606Z,1347991007.606 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2012-09-18T17:56:47.606Z,1347991007.606 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2012-09-18T17:56:47.607Z,1347991007.606 [BuoyancyServo] Communications Fault, FailCount= 1
2012-09-18T17:56:47.607Z,1347991007.607 [BuoyancyServo](ERROR): Communications Fault
2012-09-18T17:56:48.114Z,1347991008.114 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2012-09-18T17:56:48.114Z,1347991008.114 [RudderServo](FAULT): Rudder failed to initialize
2012-09-18T17:56:48.114Z,1347991008.114 [RudderServo] Communications Fault, FailCount= 1
2012-09-18T17:56:48.115Z,1347991008.115 [RudderServo](ERROR): Communications Fault
2012-09-18T17:56:48.622Z,1347991008.622 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-09-18T17:56:48.623Z,1347991008.622 [ThrusterServo](FAULT): Thruster failed to initialize
2012-09-18T17:56:48.623Z,1347991008.623 [ThrusterServo] Communications Fault, FailCount= 1
2012-09-18T17:56:48.623Z,1347991008.623 [ThrusterServo](ERROR): Communications Fault
2012-09-18T17:56:48.742Z,1347991008.742 [AHRS_sp3003D](INFO): Powering down
2012-09-18T17:56:48.858Z,1347991008.858 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-18T17:56:48.859Z,1347991008.859 [BuoyancyServo](INFO): Powering down
2012-09-18T17:56:48.880Z,1347991008.880 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-18T17:56:48.881Z,1347991008.881 [RudderServo](INFO): Powering down
2012-09-18T17:56:48.900Z,1347991008.900 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-18T17:56:48.900Z,1347991008.900 [ThrusterServo](INFO): Powering down
2012-09-18T17:56:49.933Z,1347991009.933 [NAL9602](INFO): Powering up NAL9602
2012-09-18T17:57:02.738Z,1347991022.738 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2012-09-18T17:57:02.738Z,1347991022.738 [NAL9602] Communications Fault, FailCount= 1
2012-09-18T17:57:02.738Z,1347991022.739 [NAL9602](ERROR): Communications Fault
2012-09-18T17:57:02.757Z,1347991022.757 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-18T17:57:02.823Z,1347991022.823 [NAL9602](INFO): Powering down