2012-09-18T21:50:10.205Z,1348005010.205 [Supervisor](DEBUG): Initializing supervisor.
2012-09-18T21:50:10.208Z,1348005010.208 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-18T21:50:10.208Z,1348005010.208 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-18T21:50:10.209Z,1348005010.209 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-18T21:50:10.213Z,1348005010.213 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-18T21:50:10.224Z,1348005010.224 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-18T21:50:10.225Z,1348005010.225 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-18T21:50:10.226Z,1348005010.226 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-18T21:50:10.226Z,1348005010.226 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-18T21:50:10.227Z,1348005010.227 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-18T21:50:10.515Z,1348005010.515 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-18T21:50:10.516Z,1348005010.516 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-18T21:50:10.697Z,1348005010.697 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-18T21:50:10.697Z,1348005010.697 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-18T21:50:10.782Z,1348005010.782 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-18T21:50:10.783Z,1348005010.783 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-18T21:50:11.073Z,1348005011.073 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-18T21:50:11.074Z,1348005011.074 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-18T21:50:11.209Z,1348005011.209 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-18T21:50:11.209Z,1348005011.209 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-18T21:50:11.449Z,1348005011.449 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-18T21:50:11.450Z,1348005011.450 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-18T21:50:11.621Z,1348005011.621 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-18T21:50:11.622Z,1348005011.622 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-18T21:50:11.884Z,1348005011.884 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-18T21:50:11.885Z,1348005011.885 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-18T21:50:11.984Z,1348005011.984 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-18T21:50:11.984Z,1348005011.984 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-18T21:50:12.384Z,1348005012.384 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-18T21:50:12.385Z,1348005012.385 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-18T21:50:12.498Z,1348005012.498 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-18T21:50:12.498Z,1348005012.498 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-18T21:50:12.584Z,1348005012.584 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-18T21:50:12.585Z,1348005012.585 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-18T21:50:12.686Z,1348005012.686 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-18T21:50:12.815Z,1348005012.815 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-18T21:50:12.901Z,1348005012.901 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-18T21:50:13.004Z,1348005013.003 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-18T21:50:13.104Z,1348005013.104 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-18T21:50:13.222Z,1348005013.222 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-18T21:50:13.312Z,1348005013.312 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-18T21:50:13.403Z,1348005013.403 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-18T21:50:13.413Z,1348005013.413 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-18T21:50:13.444Z,1348005013.444 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-18T21:50:13.583Z,1348005013.583 [InternalSim] Loaded
2012-09-18T21:50:13.583Z,1348005013.583 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-18T21:50:13.584Z,1348005013.584 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-18T21:50:13.585Z,1348005013.585 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-18T21:50:13.641Z,1348005013.641 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-18T21:50:13.655Z,1348005013.655 [SBIT] Loaded
2012-09-18T21:50:13.655Z,1348005013.655 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-18T21:50:13.656Z,1348005013.656 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-18T21:50:13.684Z,1348005013.684 [IBIT] Loaded
2012-09-18T21:50:13.685Z,1348005013.685 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-18T21:50:13.688Z,1348005013.688 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-18T21:50:13.806Z,1348005013.806 [CBIT] Loaded
2012-09-18T21:50:13.806Z,1348005013.806 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-18T21:50:13.807Z,1348005013.807 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-18T21:50:13.807Z,1348005013.807 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-18T21:50:13.949Z,1348005013.949 [BuoyancyServo] Loaded
2012-09-18T21:50:13.949Z,1348005013.949 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-18T21:50:13.962Z,1348005013.962 [RudderServo] Loaded
2012-09-18T21:50:13.962Z,1348005013.963 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-18T21:50:13.975Z,1348005013.974 [ThrusterServo] Loaded
2012-09-18T21:50:13.975Z,1348005013.975 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-18T21:50:13.975Z,1348005013.975 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-18T21:50:13.976Z,1348005013.976 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-18T21:50:14.033Z,1348005014.033 [DepthRateCalculator] Loaded
2012-09-18T21:50:14.033Z,1348005014.033 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-18T21:50:16.283Z,1348005016.283 [HFRadarModelCalc] Loaded
2012-09-18T21:50:16.283Z,1348005016.283 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-18T21:50:16.299Z,1348005016.299 [NavChart] Loaded
2012-09-18T21:50:16.299Z,1348005016.299 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-18T21:50:16.305Z,1348005016.305 [PitchRateCalculator] Loaded
2012-09-18T21:50:16.306Z,1348005016.306 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-18T21:50:16.312Z,1348005016.312 [SpeedCalculator] Loaded
2012-09-18T21:50:16.312Z,1348005016.312 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-18T21:50:16.327Z,1348005016.327 [TempGradientCalculator] Loaded
2012-09-18T21:50:16.328Z,1348005016.328 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-18T21:50:16.334Z,1348005016.334 [YawRateCalculator] Loaded
2012-09-18T21:50:16.334Z,1348005016.334 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-18T21:50:16.354Z,1348005016.354 [Navigation] Loaded
2012-09-18T21:50:16.354Z,1348005016.354 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-18T21:50:16.355Z,1348005016.355 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-18T21:50:16.355Z,1348005016.355 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-18T21:50:16.581Z,1348005016.580 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-18T21:50:16.581Z,1348005016.581 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-18T21:50:16.602Z,1348005016.602 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-18T21:50:16.603Z,1348005016.603 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-18T21:50:16.643Z,1348005016.643 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-18T21:50:16.689Z,1348005016.689 [VerticalControl] Loaded
2012-09-18T21:50:16.690Z,1348005016.690 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-18T21:50:16.691Z,1348005016.691 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-18T21:50:16.712Z,1348005016.712 [HorizontalControl] Loaded
2012-09-18T21:50:16.712Z,1348005016.712 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-18T21:50:16.713Z,1348005016.713 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-18T21:50:16.715Z,1348005016.715 [SpeedControl] Loaded
2012-09-18T21:50:16.715Z,1348005016.715 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-18T21:50:16.716Z,1348005016.716 [LoopControl](DEBUG): Construct LoopControl.
2012-09-18T21:50:16.717Z,1348005016.717 [LoopControl] Loaded
2012-09-18T21:50:16.717Z,1348005016.717 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-18T21:50:16.718Z,1348005016.718 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-18T21:50:16.718Z,1348005016.718 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-18T21:50:16.723Z,1348005016.723 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-18T21:50:16.728Z,1348005016.728 [AsyncPiEstimator] Loaded
2012-09-18T21:50:16.728Z,1348005016.728 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-18T21:50:16.730Z,1348005016.730 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-18T21:50:16.730Z,1348005016.730 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-18T21:50:16.731Z,1348005016.731 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-18T21:50:16.852Z,1348005016.852 [AHRS_sp3003D] Loaded
2012-09-18T21:50:16.852Z,1348005016.852 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-18T21:50:16.865Z,1348005016.865 [Depth_Keller] Loaded
2012-09-18T21:50:16.866Z,1348005016.866 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-18T21:50:16.871Z,1348005016.871 [DropWeight] Loaded
2012-09-18T21:50:16.872Z,1348005016.872 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-18T21:50:16.988Z,1348005016.988 [DVL_micro] Loaded
2012-09-18T21:50:16.988Z,1348005016.988 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-18T21:50:16.989Z,1348005016.989 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-18T21:50:17.128Z,1348005017.128 [NAL9602] Loaded
2012-09-18T21:50:17.128Z,1348005017.128 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-18T21:50:17.245Z,1348005017.245 [Onboard] Loaded
2012-09-18T21:50:17.245Z,1348005017.245 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-18T21:50:17.252Z,1348005017.252 [Radio_Freewave] Loaded
2012-09-18T21:50:17.252Z,1348005017.252 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-18T21:50:17.253Z,1348005017.253 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-18T21:50:17.254Z,1348005017.253 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-18T21:50:17.323Z,1348005017.323 [CTD_NeilBrown] Loaded
2012-09-18T21:50:17.323Z,1348005017.323 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-18T21:50:17.324Z,1348005017.325 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-18T21:50:17.335Z,1348005017.335 [PAR_Licor] Loaded
2012-09-18T21:50:17.336Z,1348005017.336 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-18T21:50:17.352Z,1348005017.352 [Turbulence_NPS] Loaded
2012-09-18T21:50:17.353Z,1348005017.353 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-18T21:50:17.354Z,1348005017.354 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-18T21:50:17.385Z,1348005017.385 [WetLabsBB2FL] Loaded
2012-09-18T21:50:17.385Z,1348005017.385 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-18T21:50:17.386Z,1348005017.386 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-18T21:50:17.387Z,1348005017.387 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-18T21:50:17.389Z,1348005017.389 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-18T21:50:17.390Z,1348005017.390 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-18T21:50:17.394Z,1348005017.394 [Supervisor](DEBUG): Running supervisor.
2012-09-18T21:50:17.398Z,1348005017.398 [controlThread](DEBUG): Initializing ControlThread
2012-09-18T21:50:17.398Z,1348005017.398 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-18T21:50:17.435Z,1348005017.434 [SBIT](INFO): Initialize SBIT Component.
2012-09-18T21:50:17.435Z,1348005017.435 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-18T21:50:17.436Z,1348005017.436 [IBIT](INFO): Initialize IBIT Component.
2012-09-18T21:50:17.437Z,1348005017.437 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-18T21:50:17.437Z,1348005017.437 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2012-09-18T21:50:17.437Z,1348005017.437 [CBIT] Hardware Fault, FailCount= 1
2012-09-18T21:50:17.437Z,1348005017.437 [CBIT](ERROR): Hardware Fault
2012-09-18T21:50:17.438Z,1348005017.438 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-18T21:50:17.455Z,1348005017.455 [DVL_micro](INFO): Initializing
2012-09-18T21:50:17.456Z,1348005017.456 [DVL_micro](INFO): start:Powering up
2012-09-18T21:50:17.463Z,1348005017.463 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-18T21:50:17.467Z,1348005017.467 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T21:50:17.468Z,1348005017.468 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-18T21:50:17.468Z,1348005017.468 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-18T21:50:17.469Z,1348005017.469 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-18T21:50:17.469Z,1348005017.469 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-18T21:50:17.471Z,1348005017.471 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-18T21:50:17.471Z,1348005017.471 [Navigation](DEBUG): Initializing Navigation.
2012-09-18T21:50:17.471Z,1348005017.471 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-18T21:50:17.473Z,1348005017.473 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-18T21:50:17.474Z,1348005017.474 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-18T21:50:17.475Z,1348005017.475 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-18T21:50:17.490Z,1348005017.490 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-18T21:50:17.491Z,1348005017.491 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-18T21:50:17.512Z,1348005017.511 [WetLabsBB2FL](INFO): Powering down
2012-09-18T21:50:17.544Z,1348005017.543 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T21:50:17.557Z,1348005017.557 [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>


2012-09-18T21:50:17.558Z,1348005017.557 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-18T21:50:17.609Z,1348005017.609 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-18T21:50:17.611Z,1348005017.611 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-18T21:50:17.614Z,1348005017.614 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T21:50:17.623Z,1348005017.623 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-18T21:50:17.627Z,1348005017.627 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T21:50:17.634Z,1348005017.634 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-18T21:50:17.643Z,1348005017.643 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-18T21:50:17.647Z,1348005017.647 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T21:50:17.652Z,1348005017.652 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-18T21:50:17.656Z,1348005017.656 [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>


2012-09-18T21:50:17.661Z,1348005017.661 [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,
2012-09-18T21:50:17.682Z,1348005017.682 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-18T21:50:17.797Z,1348005017.797 [Radio_Freewave](INFO): Powering up
2012-09-18T21:50:17.804Z,1348005017.804 [PAR_Licor](ERROR): PAR reading out of range: -1.432136 uMol/s/m2
2012-09-18T21:50:17.884Z,1348005017.884 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-18T21:50:17.885Z,1348005017.885 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-18T21:50:17.908Z,1348005017.908 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-18T21:50:17.914Z,1348005017.914 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-18T21:50:17.920Z,1348005017.920 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-18T21:50:17.921Z,1348005017.921 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-18T21:50:17.937Z,1348005017.937 [CBIT](DEBUG): Uninitialize CBIT Component.
2012-09-18T21:50:19.127Z,1348005019.127 [DVL_micro](INFO): Querying output modes
2012-09-18T21:50:19.127Z,1348005019.127 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T21:50:19.777Z,1348005019.777 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-18T21:50:19.777Z,1348005019.777 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-09-18T21:50:19.777Z,1348005019.777 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-18T21:50:20.310Z,1348005020.310 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2012-09-18T21:50:20.311Z,1348005020.311 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2012-09-18T21:50:20.311Z,1348005020.311 [BuoyancyServo] Communications Fault, FailCount= 1
2012-09-18T21:50:20.311Z,1348005020.311 [BuoyancyServo](ERROR): Communications Fault
2012-09-18T21:50:20.814Z,1348005020.814 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2012-09-18T21:50:20.814Z,1348005020.814 [RudderServo](FAULT): Rudder failed to initialize
2012-09-18T21:50:20.814Z,1348005020.815 [RudderServo] Communications Fault, FailCount= 1
2012-09-18T21:50:20.815Z,1348005020.815 [RudderServo](ERROR): Communications Fault
2012-09-18T21:50:21.130Z,1348005021.130 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:50:21.130Z,1348005021.130 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T21:50:21.131Z,1348005021.131 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T21:50:21.322Z,1348005021.322 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-09-18T21:50:21.322Z,1348005021.322 [ThrusterServo](FAULT): Thruster failed to initialize
2012-09-18T21:50:21.322Z,1348005021.322 [ThrusterServo] Communications Fault, FailCount= 1
2012-09-18T21:50:21.322Z,1348005021.322 [ThrusterServo](ERROR): Communications Fault
2012-09-18T21:50:21.423Z,1348005021.423 [AHRS_sp3003D](INFO): Powering down
2012-09-18T21:50:21.533Z,1348005021.533 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-18T21:50:21.534Z,1348005021.533 [BuoyancyServo](INFO): Powering down
2012-09-18T21:50:21.557Z,1348005021.556 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-18T21:50:21.557Z,1348005021.557 [RudderServo](INFO): Powering down
2012-09-18T21:50:21.577Z,1348005021.577 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-18T21:50:21.577Z,1348005021.577 [ThrusterServo](INFO): Powering down
2012-09-18T21:50:22.204Z,1348005022.204 [NAL9602](INFO): Powering up NAL9602
2012-09-18T21:50:23.134Z,1348005023.134 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:50:23.139Z,1348005023.139 [DVL_micro](INFO): pause:Powering down
2012-09-18T21:50:23.141Z,1348005023.141 [DVL_micro](INFO): NQ1 requested
2012-09-18T21:50:23.141Z,1348005023.141 [DVL_micro](INFO): resume:Powering up
2012-09-18T21:50:24.646Z,1348005024.646 [DVL_micro](INFO): Querying output modes
2012-09-18T21:50:24.646Z,1348005024.646 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T21:50:26.650Z,1348005026.650 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:50:26.650Z,1348005026.650 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T21:50:26.651Z,1348005026.651 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T21:50:28.654Z,1348005028.654 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:50:28.656Z,1348005028.656 [DVL_micro](INFO): NQ1 requested
2012-09-18T21:50:30.162Z,1348005030.162 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-18T21:50:32.166Z,1348005032.166 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:50:32.167Z,1348005032.167 [DVL_micro](INFO): Enabling NQ1 output
2012-09-18T21:50:32.167Z,1348005032.167 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-18T21:50:34.170Z,1348005034.170 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:50:34.170Z,1348005034.170 [DVL_micro](INFO): Querying output modes
2012-09-18T21:50:34.170Z,1348005034.171 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T21:50:35.006Z,1348005035.006 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2012-09-18T21:50:35.006Z,1348005035.006 [NAL9602] Communications Fault, FailCount= 1
2012-09-18T21:50:35.007Z,1348005035.007 [NAL9602](ERROR): Communications Fault
2012-09-18T21:50:35.026Z,1348005035.026 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-18T21:50:35.103Z,1348005035.103 [NAL9602](INFO): Powering down
2012-09-18T21:50:36.175Z,1348005036.174 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:50:36.175Z,1348005036.175 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T21:50:36.175Z,1348005036.175 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T21:50:38.178Z,1348005038.178 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:50:40.183Z,1348005040.183 [DVL_micro](INFO): NQ1 requested
2012-09-18T21:50:41.690Z,1348005041.690 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-18T21:50:43.694Z,1348005043.694 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:50:43.694Z,1348005043.694 [DVL_micro](INFO): Enabling NQ1 output
2012-09-18T21:50:43.695Z,1348005043.694 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-18T21:50:45.698Z,1348005045.698 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:50:45.698Z,1348005045.698 [DVL_micro](INFO): Querying output modes
2012-09-18T21:50:45.699Z,1348005045.699 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T21:50:47.702Z,1348005047.702 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:50:47.702Z,1348005047.702 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T21:50:47.702Z,1348005047.703 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T21:50:48.299Z,1348005048.299 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.000758
2012-09-18T21:50:49.706Z,1348005049.706 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T21:50:49.706Z,1348005049.706 [DVL_micro](ERROR): No DVL communication! Re-initializing
2012-09-18T21:50:49.706Z,1348005049.706 [DVL_micro] Communications Fault, FailCount= 1
2012-09-18T21:50:49.706Z,1348005049.707 [DVL_micro](ERROR): Communications Fault
2012-09-18T21:50:49.708Z,1348005049.708 [DVL_micro](INFO): uninitialize:Powering down