2012-09-18T18:08:34.316Z,1347991714.316 [Supervisor](DEBUG): Initializing supervisor.
2012-09-18T18:08:34.318Z,1347991714.318 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-18T18:08:34.319Z,1347991714.319 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-18T18:08:34.320Z,1347991714.320 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-18T18:08:34.323Z,1347991714.323 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-18T18:08:34.335Z,1347991714.335 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-18T18:08:34.336Z,1347991714.336 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-18T18:08:34.337Z,1347991714.337 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-18T18:08:34.337Z,1347991714.337 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-18T18:08:34.338Z,1347991714.339 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-18T18:08:34.630Z,1347991714.630 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-18T18:08:34.630Z,1347991714.630 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-18T18:08:34.813Z,1347991714.813 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-18T18:08:34.813Z,1347991714.813 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-18T18:08:34.899Z,1347991714.899 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-18T18:08:34.899Z,1347991714.899 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-18T18:08:35.123Z,1347991715.123 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-18T18:08:35.123Z,1347991715.123 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-18T18:08:35.303Z,1347991715.303 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-18T18:08:35.303Z,1347991715.303 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-18T18:08:35.544Z,1347991715.544 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-18T18:08:35.545Z,1347991715.545 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-18T18:08:35.717Z,1347991715.717 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-18T18:08:35.718Z,1347991715.718 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-18T18:08:35.985Z,1347991715.985 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-18T18:08:35.986Z,1347991715.986 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-18T18:08:36.103Z,1347991716.103 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-18T18:08:36.104Z,1347991716.104 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-18T18:08:36.507Z,1347991716.507 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-18T18:08:36.508Z,1347991716.508 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-18T18:08:36.621Z,1347991716.621 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-18T18:08:36.622Z,1347991716.622 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-18T18:08:36.711Z,1347991716.711 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-18T18:08:36.712Z,1347991716.712 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-18T18:08:36.816Z,1347991716.816 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-18T18:08:36.949Z,1347991716.949 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-18T18:08:37.041Z,1347991717.041 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-18T18:08:37.143Z,1347991717.143 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-18T18:08:37.247Z,1347991717.247 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-18T18:08:37.374Z,1347991717.374 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-18T18:08:37.465Z,1347991717.465 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-18T18:08:37.561Z,1347991717.561 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-18T18:08:37.571Z,1347991717.571 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-18T18:08:37.603Z,1347991717.603 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-18T18:08:37.751Z,1347991717.751 [InternalSim] Loaded
2012-09-18T18:08:37.752Z,1347991717.751 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-18T18:08:37.752Z,1347991717.752 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-18T18:08:37.753Z,1347991717.753 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-18T18:08:37.812Z,1347991717.812 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-18T18:08:37.826Z,1347991717.826 [SBIT] Loaded
2012-09-18T18:08:37.826Z,1347991717.826 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-18T18:08:37.827Z,1347991717.827 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-18T18:08:37.857Z,1347991717.857 [IBIT] Loaded
2012-09-18T18:08:37.857Z,1347991717.857 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-18T18:08:37.860Z,1347991717.861 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-18T18:08:37.984Z,1347991717.984 [CBIT] Loaded
2012-09-18T18:08:37.985Z,1347991717.985 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-18T18:08:37.985Z,1347991717.985 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-18T18:08:37.986Z,1347991717.986 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-18T18:08:38.133Z,1347991718.133 [BuoyancyServo] Loaded
2012-09-18T18:08:38.133Z,1347991718.133 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-18T18:08:38.151Z,1347991718.151 [RudderServo] Loaded
2012-09-18T18:08:38.152Z,1347991718.152 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-18T18:08:38.164Z,1347991718.164 [ThrusterServo] Loaded
2012-09-18T18:08:38.164Z,1347991718.164 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-18T18:08:38.165Z,1347991718.165 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-18T18:08:38.165Z,1347991718.165 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-18T18:08:38.183Z,1347991718.182 [DepthRateCalculator] Loaded
2012-09-18T18:08:38.183Z,1347991718.183 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-18T18:08:40.526Z,1347991720.526 [HFRadarModelCalc] Loaded
2012-09-18T18:08:40.526Z,1347991720.526 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-18T18:08:40.543Z,1347991720.543 [NavChart] Loaded
2012-09-18T18:08:40.543Z,1347991720.543 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-18T18:08:40.549Z,1347991720.549 [PitchRateCalculator] Loaded
2012-09-18T18:08:40.549Z,1347991720.549 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-18T18:08:40.556Z,1347991720.556 [SpeedCalculator] Loaded
2012-09-18T18:08:40.556Z,1347991720.556 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-18T18:08:40.572Z,1347991720.572 [TempGradientCalculator] Loaded
2012-09-18T18:08:40.572Z,1347991720.572 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-18T18:08:40.578Z,1347991720.578 [YawRateCalculator] Loaded
2012-09-18T18:08:40.579Z,1347991720.579 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-18T18:08:40.599Z,1347991720.599 [Navigation] Loaded
2012-09-18T18:08:40.603Z,1347991720.603 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-18T18:08:40.604Z,1347991720.604 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-18T18:08:40.604Z,1347991720.605 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-18T18:08:40.864Z,1347991720.864 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-18T18:08:40.864Z,1347991720.864 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-18T18:08:40.890Z,1347991720.890 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-18T18:08:40.891Z,1347991720.891 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-18T18:08:40.937Z,1347991720.937 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-18T18:08:40.989Z,1347991720.989 [VerticalControl] Loaded
2012-09-18T18:08:40.989Z,1347991720.989 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-18T18:08:40.990Z,1347991720.990 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-18T18:08:41.016Z,1347991721.016 [HorizontalControl] Loaded
2012-09-18T18:08:41.016Z,1347991721.016 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-18T18:08:41.018Z,1347991721.017 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-18T18:08:41.019Z,1347991721.019 [SpeedControl] Loaded
2012-09-18T18:08:41.020Z,1347991721.020 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-18T18:08:41.021Z,1347991721.021 [LoopControl](DEBUG): Construct LoopControl.
2012-09-18T18:08:41.021Z,1347991721.021 [LoopControl] Loaded
2012-09-18T18:08:41.021Z,1347991721.021 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-18T18:08:41.022Z,1347991721.022 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-18T18:08:41.023Z,1347991721.023 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-18T18:08:41.033Z,1347991721.033 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-18T18:08:41.047Z,1347991721.047 [AsyncPiEstimator] Loaded
2012-09-18T18:08:41.048Z,1347991721.048 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-18T18:08:41.050Z,1347991721.050 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-18T18:08:41.052Z,1347991721.052 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-18T18:08:41.053Z,1347991721.053 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-18T18:08:41.203Z,1347991721.203 [AHRS_sp3003D] Loaded
2012-09-18T18:08:41.203Z,1347991721.203 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-18T18:08:41.217Z,1347991721.217 [Depth_Keller] Loaded
2012-09-18T18:08:41.217Z,1347991721.217 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-18T18:08:41.223Z,1347991721.223 [DropWeight] Loaded
2012-09-18T18:08:41.223Z,1347991721.223 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-18T18:08:41.390Z,1347991721.390 [NAL9602] Loaded
2012-09-18T18:08:41.391Z,1347991721.391 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-18T18:08:41.493Z,1347991721.493 [Onboard] Loaded
2012-09-18T18:08:41.493Z,1347991721.493 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-18T18:08:41.501Z,1347991721.500 [Radio_Freewave] Loaded
2012-09-18T18:08:41.501Z,1347991721.501 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-18T18:08:41.502Z,1347991721.502 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-18T18:08:41.502Z,1347991721.502 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-18T18:08:41.559Z,1347991721.559 [PAR_Licor] Loaded
2012-09-18T18:08:41.559Z,1347991721.559 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-18T18:08:41.560Z,1347991721.560 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-18T18:08:41.563Z,1347991721.563 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-18T18:08:41.564Z,1347991721.564 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-18T18:08:41.568Z,1347991721.568 [Supervisor](DEBUG): Running supervisor.
2012-09-18T18:08:41.571Z,1347991721.571 [controlThread](DEBUG): Initializing ControlThread
2012-09-18T18:08:41.572Z,1347991721.572 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-18T18:08:41.616Z,1347991721.616 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-18T18:08:41.624Z,1347991721.624 [SBIT](INFO): Initialize SBIT Component.
2012-09-18T18:08:41.625Z,1347991721.625 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-18T18:08:41.625Z,1347991721.625 [IBIT](INFO): Initialize IBIT Component.
2012-09-18T18:08:41.626Z,1347991721.626 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-18T18:08:41.627Z,1347991721.626 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-18T18:08:41.651Z,1347991721.651 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T18:08:41.652Z,1347991721.652 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-18T18:08:41.652Z,1347991721.652 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-18T18:08:41.652Z,1347991721.652 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-18T18:08:41.653Z,1347991721.653 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-18T18:08:41.654Z,1347991721.654 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-18T18:08:41.655Z,1347991721.655 [Navigation](DEBUG): Initializing Navigation.
2012-09-18T18:08:41.655Z,1347991721.655 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-18T18:08:41.657Z,1347991721.657 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-18T18:08:41.657Z,1347991721.657 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-18T18:08:41.658Z,1347991721.658 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-18T18:08:41.667Z,1347991721.667 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-18T18:08:41.678Z,1347991721.678 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T18:08:41.688Z,1347991721.688 [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>


2012-09-18T18:08:41.689Z,1347991721.689 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-18T18:08:41.722Z,1347991721.722 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-18T18:08:41.724Z,1347991721.724 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-18T18:08:41.727Z,1347991721.727 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T18:08:41.735Z,1347991721.735 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-18T18:08:41.743Z,1347991721.743 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T18:08:41.749Z,1347991721.749 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-18T18:08:41.758Z,1347991721.758 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-18T18:08:41.761Z,1347991721.761 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T18:08:41.766Z,1347991721.766 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-18T18:08:41.770Z,1347991721.770 [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>


2012-09-18T18:08:41.774Z,1347991721.774 [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,
2012-09-18T18:08:41.799Z,1347991721.799 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-18T18:08:41.917Z,1347991721.917 [Radio_Freewave](INFO): Powering up
2012-09-18T18:08:41.924Z,1347991721.924 [PAR_Licor](ERROR): PAR reading out of range: 6665.399414 uMol/s/m2
2012-09-18T18:08:42.007Z,1347991722.007 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-18T18:08:42.008Z,1347991722.008 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-18T18:08:42.015Z,1347991722.015 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-18T18:08:42.016Z,1347991722.016 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-18T18:08:42.022Z,1347991722.022 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-18T18:08:42.023Z,1347991722.023 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-18T18:08:46.419Z,1347991726.419 [NAL9602](INFO): Powering up NAL9602
2012-09-18T18:08:54.167Z,1347991734.167 [CommandLine](IMPORTANT): got command restart application
2012-09-18T18:08:55.302Z,1347991735.302 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-18T18:08:55.302Z,1347991735.302 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-18T18:08:55.618Z,1347991735.618 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-18T18:08:55.626Z,1347991735.626 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-18T18:08:55.639Z,1347991735.639 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-18T18:08:55.686Z,1347991735.686 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-18T18:08:55.687Z,1347991735.687 [AHRS_sp3003D](INFO): Powering down
2012-09-18T18:08:55.775Z,1347991735.775 [NAL9602](INFO): Powering down
2012-09-18T18:08:55.795Z,1347991735.795 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T18:08:55.795Z,1347991735.795 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-18T18:08:55.801Z,1347991735.801 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-18T18:08:55.801Z,1347991735.801 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-18T18:08:55.802Z,1347991735.802 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-18T18:08:55.802Z,1347991735.802 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-18T18:08:55.802Z,1347991735.802 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-18T18:08:55.803Z,1347991735.803 [BuoyancyServo](INFO): Powering down
2012-09-18T18:08:55.804Z,1347991735.804 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-18T18:08:55.804Z,1347991735.804 [RudderServo](INFO): Powering down
2012-09-18T18:08:55.805Z,1347991735.805 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-18T18:08:55.805Z,1347991735.805 [ThrusterServo](INFO): Powering down
2012-09-18T18:08:55.805Z,1347991735.806 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-18T18:08:55.806Z,1347991735.806 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-18T18:08:55.806Z,1347991735.806 [CBIT](DEBUG): Uninitialize CBIT Component.