2012-09-18T21:38:25.194Z,1348004305.194 [Supervisor](DEBUG): Initializing supervisor.
2012-09-18T21:38:25.197Z,1348004305.197 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-18T21:38:25.198Z,1348004305.198 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-18T21:38:25.199Z,1348004305.199 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-18T21:38:25.203Z,1348004305.203 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-18T21:38:25.214Z,1348004305.214 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-18T21:38:25.215Z,1348004305.216 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-18T21:38:25.216Z,1348004305.216 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-18T21:38:25.217Z,1348004305.217 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-18T21:38:25.218Z,1348004305.218 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-18T21:38:25.503Z,1348004305.503 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-18T21:38:25.503Z,1348004305.503 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-18T21:38:25.682Z,1348004305.682 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-18T21:38:25.683Z,1348004305.683 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-18T21:38:25.768Z,1348004305.768 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-18T21:38:25.769Z,1348004305.769 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-18T21:38:25.968Z,1348004305.968 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-18T21:38:25.969Z,1348004305.969 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-18T21:38:26.103Z,1348004306.103 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-18T21:38:26.103Z,1348004306.103 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-18T21:38:26.340Z,1348004306.340 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-18T21:38:26.341Z,1348004306.341 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-18T21:38:26.512Z,1348004306.511 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-18T21:38:26.512Z,1348004306.512 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-18T21:38:26.771Z,1348004306.771 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-18T21:38:26.772Z,1348004306.772 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-18T21:38:26.870Z,1348004306.870 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-18T21:38:26.871Z,1348004306.871 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-18T21:38:27.268Z,1348004307.268 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-18T21:38:27.268Z,1348004307.268 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-18T21:38:27.380Z,1348004307.380 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-18T21:38:27.381Z,1348004307.381 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-18T21:38:27.466Z,1348004307.466 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-18T21:38:27.467Z,1348004307.467 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-18T21:38:27.569Z,1348004307.569 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-18T21:38:27.697Z,1348004307.697 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-18T21:38:27.784Z,1348004307.783 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-18T21:38:27.885Z,1348004307.885 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-18T21:38:27.984Z,1348004307.984 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-18T21:38:28.102Z,1348004308.102 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-18T21:38:28.193Z,1348004308.193 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-18T21:38:28.285Z,1348004308.285 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-18T21:38:28.297Z,1348004308.297 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-18T21:38:28.328Z,1348004308.328 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-18T21:38:28.468Z,1348004308.468 [InternalSim] Loaded
2012-09-18T21:38:28.468Z,1348004308.468 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-18T21:38:28.469Z,1348004308.469 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-18T21:38:28.469Z,1348004308.469 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-18T21:38:28.526Z,1348004308.526 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-18T21:38:28.540Z,1348004308.540 [SBIT] Loaded
2012-09-18T21:38:28.540Z,1348004308.540 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-18T21:38:28.541Z,1348004308.541 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-18T21:38:28.569Z,1348004308.569 [IBIT] Loaded
2012-09-18T21:38:28.569Z,1348004308.569 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-18T21:38:28.573Z,1348004308.573 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-18T21:38:28.688Z,1348004308.688 [CBIT] Loaded
2012-09-18T21:38:28.688Z,1348004308.688 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-18T21:38:28.688Z,1348004308.688 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-18T21:38:28.689Z,1348004308.689 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-18T21:38:28.833Z,1348004308.833 [BuoyancyServo] Loaded
2012-09-18T21:38:28.833Z,1348004308.833 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-18T21:38:28.846Z,1348004308.846 [RudderServo] Loaded
2012-09-18T21:38:28.846Z,1348004308.846 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-18T21:38:28.858Z,1348004308.858 [ThrusterServo] Loaded
2012-09-18T21:38:28.859Z,1348004308.859 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-18T21:38:28.859Z,1348004308.859 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-18T21:38:28.859Z,1348004308.859 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-18T21:38:28.878Z,1348004308.878 [DepthRateCalculator] Loaded
2012-09-18T21:38:28.878Z,1348004308.878 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-18T21:38:31.218Z,1348004311.217 [HFRadarModelCalc] Loaded
2012-09-18T21:38:31.218Z,1348004311.218 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-18T21:38:31.234Z,1348004311.234 [NavChart] Loaded
2012-09-18T21:38:31.234Z,1348004311.234 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-18T21:38:31.240Z,1348004311.240 [PitchRateCalculator] Loaded
2012-09-18T21:38:31.240Z,1348004311.240 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-18T21:38:31.246Z,1348004311.246 [SpeedCalculator] Loaded
2012-09-18T21:38:31.246Z,1348004311.246 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-18T21:38:31.261Z,1348004311.261 [TempGradientCalculator] Loaded
2012-09-18T21:38:31.262Z,1348004311.261 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-18T21:38:31.267Z,1348004311.267 [YawRateCalculator] Loaded
2012-09-18T21:38:31.268Z,1348004311.268 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-18T21:38:31.288Z,1348004311.288 [Navigation] Loaded
2012-09-18T21:38:31.288Z,1348004311.288 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-18T21:38:31.289Z,1348004311.289 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-18T21:38:31.289Z,1348004311.289 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-18T21:38:31.513Z,1348004311.513 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-18T21:38:31.514Z,1348004311.514 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-18T21:38:31.535Z,1348004311.536 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-18T21:38:31.536Z,1348004311.536 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-18T21:38:31.577Z,1348004311.577 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-18T21:38:31.623Z,1348004311.623 [VerticalControl] Loaded
2012-09-18T21:38:31.623Z,1348004311.623 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-18T21:38:31.624Z,1348004311.625 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-18T21:38:31.646Z,1348004311.645 [HorizontalControl] Loaded
2012-09-18T21:38:31.646Z,1348004311.646 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-18T21:38:31.647Z,1348004311.647 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-18T21:38:31.649Z,1348004311.649 [SpeedControl] Loaded
2012-09-18T21:38:31.649Z,1348004311.649 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-18T21:38:31.650Z,1348004311.650 [LoopControl](DEBUG): Construct LoopControl.
2012-09-18T21:38:31.650Z,1348004311.650 [LoopControl] Loaded
2012-09-18T21:38:31.650Z,1348004311.651 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-18T21:38:31.651Z,1348004311.651 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-18T21:38:31.652Z,1348004311.652 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-18T21:38:31.657Z,1348004311.657 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-18T21:38:31.662Z,1348004311.662 [AsyncPiEstimator] Loaded
2012-09-18T21:38:31.662Z,1348004311.662 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-18T21:38:31.663Z,1348004311.663 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-18T21:38:31.664Z,1348004311.664 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-18T21:38:31.664Z,1348004311.664 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-18T21:38:31.789Z,1348004311.789 [AHRS_sp3003D] Loaded
2012-09-18T21:38:31.789Z,1348004311.789 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-18T21:38:31.802Z,1348004311.802 [Depth_Keller] Loaded
2012-09-18T21:38:31.802Z,1348004311.802 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-18T21:38:31.808Z,1348004311.808 [DropWeight] Loaded
2012-09-18T21:38:31.808Z,1348004311.808 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-18T21:38:31.922Z,1348004311.922 [DVL_micro] Loaded
2012-09-18T21:38:31.922Z,1348004311.922 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-18T21:38:31.923Z,1348004311.923 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-18T21:38:32.003Z,1348004312.003 [NAL9602] Loaded
2012-09-18T21:38:32.003Z,1348004312.003 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-18T21:38:32.052Z,1348004312.052 [Onboard] Loaded
2012-09-18T21:38:32.052Z,1348004312.052 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-18T21:38:32.059Z,1348004312.059 [Radio_Freewave] Loaded
2012-09-18T21:38:32.059Z,1348004312.059 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-18T21:38:32.060Z,1348004312.060 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-18T21:38:32.061Z,1348004312.061 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-18T21:38:32.131Z,1348004312.131 [CTD_NeilBrown] Loaded
2012-09-18T21:38:32.131Z,1348004312.131 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-18T21:38:32.132Z,1348004312.132 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-18T21:38:32.143Z,1348004312.143 [PAR_Licor] Loaded
2012-09-18T21:38:32.143Z,1348004312.143 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-18T21:38:32.160Z,1348004312.160 [Turbulence_NPS] Loaded
2012-09-18T21:38:32.160Z,1348004312.160 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-18T21:38:32.162Z,1348004312.162 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-18T21:38:32.191Z,1348004312.191 [WetLabsBB2FL] Loaded
2012-09-18T21:38:32.192Z,1348004312.192 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-18T21:38:32.193Z,1348004312.193 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-18T21:38:32.194Z,1348004312.194 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-18T21:38:32.196Z,1348004312.196 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-18T21:38:32.197Z,1348004312.197 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-18T21:38:32.201Z,1348004312.201 [Supervisor](DEBUG): Running supervisor.
2012-09-18T21:38:32.205Z,1348004312.205 [controlThread](DEBUG): Initializing ControlThread
2012-09-18T21:38:32.206Z,1348004312.206 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-18T21:38:32.239Z,1348004312.239 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-18T21:38:32.250Z,1348004312.250 [SBIT](INFO): Initialize SBIT Component.
2012-09-18T21:38:32.250Z,1348004312.250 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-18T21:38:32.251Z,1348004312.251 [IBIT](INFO): Initialize IBIT Component.
2012-09-18T21:38:32.252Z,1348004312.252 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-18T21:38:32.252Z,1348004312.252 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2012-09-18T21:38:32.252Z,1348004312.252 [CBIT] Hardware Fault, FailCount= 1
2012-09-18T21:38:32.252Z,1348004312.252 [CBIT](ERROR): Hardware Fault
2012-09-18T21:38:32.262Z,1348004312.262 [DVL_micro](INFO): Initializing
2012-09-18T21:38:32.262Z,1348004312.262 [DVL_micro](INFO): start:Powering up
2012-09-18T21:38:32.279Z,1348004312.279 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T21:38:32.280Z,1348004312.280 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-18T21:38:32.280Z,1348004312.280 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-18T21:38:32.280Z,1348004312.280 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-18T21:38:32.281Z,1348004312.281 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-18T21:38:32.282Z,1348004312.282 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-18T21:38:32.283Z,1348004312.283 [Navigation](DEBUG): Initializing Navigation.
2012-09-18T21:38:32.283Z,1348004312.283 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-18T21:38:32.285Z,1348004312.285 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-18T21:38:32.286Z,1348004312.286 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-18T21:38:32.286Z,1348004312.286 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-18T21:38:32.291Z,1348004312.291 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-18T21:38:32.297Z,1348004312.297 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-18T21:38:32.308Z,1348004312.308 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-18T21:38:32.327Z,1348004312.328 [WetLabsBB2FL](INFO): Powering down
2012-09-18T21:38:32.346Z,1348004312.346 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T21:38:32.361Z,1348004312.361 [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>


2012-09-18T21:38:32.363Z,1348004312.362 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-18T21:38:32.432Z,1348004312.432 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-18T21:38:32.434Z,1348004312.434 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-18T21:38:32.437Z,1348004312.437 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T21:38:32.446Z,1348004312.446 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-18T21:38:32.449Z,1348004312.449 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T21:38:32.456Z,1348004312.455 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-18T21:38:32.464Z,1348004312.464 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-18T21:38:32.468Z,1348004312.467 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T21:38:32.472Z,1348004312.473 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-18T21:38:32.476Z,1348004312.476 [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>


2012-09-18T21:38:32.480Z,1348004312.480 [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,
2012-09-18T21:38:32.501Z,1348004312.501 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-18T21:38:32.613Z,1348004312.613 [Radio_Freewave](INFO): Powering up
2012-09-18T21:38:32.620Z,1348004312.620 [PAR_Licor](ERROR): PAR reading out of range: -1.432136 uMol/s/m2
2012-09-18T21:38:32.696Z,1348004312.696 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-18T21:38:32.697Z,1348004312.697 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-18T21:38:32.704Z,1348004312.704 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-18T21:38:32.705Z,1348004312.705 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-18T21:38:32.711Z,1348004312.711 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-18T21:38:32.712Z,1348004312.712 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-18T21:38:32.728Z,1348004312.728 [CBIT](DEBUG): Uninitialize CBIT Component.
2012-09-18T21:38:33.830Z,1348004313.830 [DVL_micro](INFO): Querying output modes
2012-09-18T21:38:33.831Z,1348004313.831 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T21:38:34.723Z,1348004314.723 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-18T21:38:34.723Z,1348004314.723 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-09-18T21:38:34.723Z,1348004314.723 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-18T21:38:35.254Z,1348004315.254 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2012-09-18T21:38:35.255Z,1348004315.254 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2012-09-18T21:38:35.255Z,1348004315.255 [BuoyancyServo] Communications Fault, FailCount= 1
2012-09-18T21:38:35.255Z,1348004315.255 [BuoyancyServo](ERROR): Communications Fault
2012-09-18T21:38:35.762Z,1348004315.762 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2012-09-18T21:38:35.762Z,1348004315.762 [RudderServo](FAULT): Rudder failed to initialize
2012-09-18T21:38:35.762Z,1348004315.763 [RudderServo] Communications Fault, FailCount= 1
2012-09-18T21:38:35.763Z,1348004315.763 [RudderServo](ERROR): Communications Fault
2012-09-18T21:38:35.834Z,1348004315.834 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:38:35.834Z,1348004315.834 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T21:38:35.835Z,1348004315.835 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T21:38:36.270Z,1348004316.270 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-09-18T21:38:36.270Z,1348004316.270 [ThrusterServo](FAULT): Thruster failed to initialize
2012-09-18T21:38:36.270Z,1348004316.270 [ThrusterServo] Communications Fault, FailCount= 1
2012-09-18T21:38:36.271Z,1348004316.270 [ThrusterServo](ERROR): Communications Fault
2012-09-18T21:38:36.383Z,1348004316.383 [AHRS_sp3003D](INFO): Powering down
2012-09-18T21:38:36.492Z,1348004316.492 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-18T21:38:36.493Z,1348004316.493 [BuoyancyServo](INFO): Powering down
2012-09-18T21:38:36.517Z,1348004316.517 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-18T21:38:36.517Z,1348004316.517 [RudderServo](INFO): Powering down
2012-09-18T21:38:36.537Z,1348004316.537 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-18T21:38:36.537Z,1348004316.537 [ThrusterServo](INFO): Powering down
2012-09-18T21:38:37.151Z,1348004317.151 [NAL9602](INFO): Powering up NAL9602
2012-09-18T21:38:37.838Z,1348004317.838 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:38:37.843Z,1348004317.843 [DVL_micro](INFO): pause:Powering down
2012-09-18T21:38:37.845Z,1348004317.845 [DVL_micro](INFO): NQ1 requested
2012-09-18T21:38:37.845Z,1348004317.845 [DVL_micro](INFO): resume:Powering up
2012-09-18T21:38:39.350Z,1348004319.350 [DVL_micro](INFO): Querying output modes
2012-09-18T21:38:39.350Z,1348004319.350 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T21:38:41.354Z,1348004321.354 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:38:41.354Z,1348004321.354 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T21:38:41.354Z,1348004321.355 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T21:38:43.358Z,1348004323.358 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:38:43.360Z,1348004323.360 [DVL_micro](INFO): NQ1 requested
2012-09-18T21:38:44.866Z,1348004324.866 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-18T21:38:46.870Z,1348004326.870 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:38:46.870Z,1348004326.870 [DVL_micro](INFO): Enabling NQ1 output
2012-09-18T21:38:46.871Z,1348004326.871 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-18T21:38:48.874Z,1348004328.874 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:38:48.874Z,1348004328.874 [DVL_micro](INFO): Querying output modes
2012-09-18T21:38:48.874Z,1348004328.875 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T21:38:49.954Z,1348004329.954 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2012-09-18T21:38:49.954Z,1348004329.954 [NAL9602] Communications Fault, FailCount= 1
2012-09-18T21:38:49.955Z,1348004329.954 [NAL9602](ERROR): Communications Fault
2012-09-18T21:38:49.974Z,1348004329.974 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-18T21:38:50.047Z,1348004330.047 [NAL9602](INFO): Powering down
2012-09-18T21:38:50.878Z,1348004330.878 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:38:50.878Z,1348004330.878 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T21:38:50.878Z,1348004330.878 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T21:38:52.882Z,1348004332.882 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:38:54.887Z,1348004334.887 [DVL_micro](INFO): NQ1 requested
2012-09-18T21:38:56.394Z,1348004336.394 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-18T21:38:58.398Z,1348004338.398 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:38:58.398Z,1348004338.398 [DVL_micro](INFO): Enabling NQ1 output
2012-09-18T21:38:58.398Z,1348004338.398 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-18T21:39:00.402Z,1348004340.402 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:39:00.402Z,1348004340.402 [DVL_micro](INFO): Querying output modes
2012-09-18T21:39:00.403Z,1348004340.403 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T21:39:02.406Z,1348004342.406 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:39:02.406Z,1348004342.406 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T21:39:02.407Z,1348004342.407 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T21:39:03.246Z,1348004343.246 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.000759
2012-09-18T21:39:04.420Z,1348004344.420 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:39:04.420Z,1348004344.420 [DVL_micro](ERROR): No DVL communication! Re-initializing
2012-09-18T21:39:04.420Z,1348004344.420 [DVL_micro] Communications Fault, FailCount= 1
2012-09-18T21:39:04.420Z,1348004344.420 [DVL_micro](ERROR): Communications Fault
2012-09-18T21:39:04.422Z,1348004344.422 [DVL_micro](INFO): uninitialize:Powering down
2012-09-18T21:39:38.895Z,1348004378.895 [CommandLine](IMPORTANT): got command show stack
2012-09-18T21:39:38.895Z,1348004378.895 [CommandLine](INFO): Behavior Stack:

2012-09-18T21:39:38.895Z,1348004378.895 [MissionManager](INFO): Mission loaded, but not running.
2012-09-18T21:39:42.091Z,1348004382.091 [CommandLine](IMPORTANT): got command restart application
2012-09-18T21:39:43.254Z,1348004383.254 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-18T21:39:43.254Z,1348004383.254 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-18T21:39:43.482Z,1348004383.483 [WetLabsBB2FL](INFO): Powering down
2012-09-18T21:39:43.494Z,1348004383.494 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-18T21:39:43.550Z,1348004383.550 [Turbulence_NPS](INFO): Powering down
2012-09-18T21:39:43.566Z,1348004383.566 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-18T21:39:43.663Z,1348004383.662 [CTD_NeilBrown](INFO): Powering down
2012-09-18T21:39:43.671Z,1348004383.671 [SBIT](CRITICAL): SBIT FAILED
2012-09-18T21:39:43.678Z,1348004383.678 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-18T21:39:43.679Z,1348004383.679 [DVL_micro](INFO): uninitialize:Powering down
2012-09-18T21:39:43.682Z,1348004383.682 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-18T21:39:43.906Z,1348004383.907 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-18T21:39:43.911Z,1348004383.911 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-18T21:39:43.913Z,1348004383.913 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-18T21:39:44.010Z,1348004384.010 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-18T21:39:44.011Z,1348004384.011 [AHRS_sp3003D](INFO): Powering down
2012-09-18T21:39:44.012Z,1348004384.012 [NAL9602](INFO): Powering down
2012-09-18T21:39:44.013Z,1348004384.013 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T21:39:44.013Z,1348004384.013 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-18T21:39:44.019Z,1348004384.019 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-18T21:39:44.019Z,1348004384.019 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-18T21:39:44.019Z,1348004384.019 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-18T21:39:44.020Z,1348004384.020 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-18T21:39:44.020Z,1348004384.020 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-18T21:39:44.020Z,1348004384.020 [BuoyancyServo](INFO): Powering down
2012-09-18T21:39:44.021Z,1348004384.021 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-18T21:39:44.021Z,1348004384.021 [RudderServo](INFO): Powering down
2012-09-18T21:39:44.022Z,1348004384.022 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-18T21:39:44.022Z,1348004384.022 [ThrusterServo](INFO): Powering down
2012-09-18T21:39:44.023Z,1348004384.023 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-18T21:39:44.023Z,1348004384.023 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-18T21:39:44.023Z,1348004384.023 [CBIT](DEBUG): Uninitialize CBIT Component.
2012-09-18T21:39:44.058Z,1348004384.058 [CBIT](CRITICAL): run-time exception #7
2012-09-18T21:39:44.058Z,1348004384.058 [CBIT](CRITICAL): Bad address: 0x40309004
2012-09-18T21:39:44.058Z,1348004384.058 [CBIT](CRITICAL): Backtrace: 
./bin/LRAUV(_ZN7PCaller20DefaultSignalHandlerEiP7siginfoPv+0x20) [0x190de4]
/lib/libc.so.6(__default_rt_sa_restorer+0) [0x40203510]

2012-09-18T21:39:44.058Z,1348004384.059 [CBIT] Software Fault, FailCount= 1
2012-09-18T21:39:44.058Z,1348004384.059 [CBIT](ERROR): Software Fault
2012-09-18T21:39:44.060Z,1348004384.060 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0