2012-09-18T22:08:59.470Z,1348006139.470 [Supervisor](DEBUG): Initializing supervisor.
2012-09-18T22:08:59.475Z,1348006139.475 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-18T22:08:59.476Z,1348006139.476 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-18T22:08:59.479Z,1348006139.479 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-18T22:08:59.482Z,1348006139.482 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-18T22:08:59.495Z,1348006139.495 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-18T22:08:59.499Z,1348006139.499 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-18T22:08:59.500Z,1348006139.500 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-18T22:08:59.500Z,1348006139.500 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-18T22:08:59.503Z,1348006139.503 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-18T22:08:59.828Z,1348006139.828 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-18T22:08:59.830Z,1348006139.830 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-18T22:09:00.036Z,1348006140.036 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-18T22:09:00.036Z,1348006140.036 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-18T22:09:00.134Z,1348006140.134 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-18T22:09:00.137Z,1348006140.136 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-18T22:09:00.360Z,1348006140.360 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-18T22:09:00.361Z,1348006140.361 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-18T22:09:00.511Z,1348006140.511 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-18T22:09:00.514Z,1348006140.514 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-18T22:09:00.784Z,1348006140.784 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-18T22:09:00.785Z,1348006140.785 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-18T22:09:00.975Z,1348006140.976 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-18T22:09:00.978Z,1348006140.978 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-18T22:09:01.272Z,1348006141.272 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-18T22:09:01.274Z,1348006141.274 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-18T22:09:01.388Z,1348006141.388 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-18T22:09:01.388Z,1348006141.388 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-18T22:09:01.834Z,1348006141.834 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-18T22:09:01.835Z,1348006141.835 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-18T22:09:01.964Z,1348006141.964 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-18T22:09:01.965Z,1348006141.964 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-18T22:09:02.060Z,1348006142.060 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-18T22:09:02.064Z,1348006142.064 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-18T22:09:02.175Z,1348006142.175 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-18T22:09:02.320Z,1348006142.320 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-18T22:09:02.419Z,1348006142.419 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-18T22:09:02.531Z,1348006142.531 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-18T22:09:02.643Z,1348006142.643 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-18T22:09:02.776Z,1348006142.776 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-18T22:09:02.879Z,1348006142.879 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-18T22:09:03.023Z,1348006143.023 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-09-18T22:09:03.123Z,1348006143.123 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-18T22:09:04.366Z,1348006144.366 [InternalSim] Loaded
2012-09-18T22:09:04.366Z,1348006144.366 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-18T22:09:04.367Z,1348006144.367 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-18T22:09:04.368Z,1348006144.368 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-18T22:09:05.004Z,1348006145.003 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-18T22:09:05.017Z,1348006145.017 [SBIT] Loaded
2012-09-18T22:09:05.017Z,1348006145.017 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-18T22:09:05.018Z,1348006145.018 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-18T22:09:05.051Z,1348006145.051 [IBIT] Loaded
2012-09-18T22:09:05.051Z,1348006145.051 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-18T22:09:05.055Z,1348006145.055 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-18T22:09:05.187Z,1348006145.187 [CBIT] Loaded
2012-09-18T22:09:05.187Z,1348006145.187 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-18T22:09:05.188Z,1348006145.188 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-18T22:09:05.188Z,1348006145.188 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-18T22:09:05.358Z,1348006145.358 [BuoyancyServo] Loaded
2012-09-18T22:09:05.358Z,1348006145.358 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-18T22:09:05.371Z,1348006145.371 [RudderServo] Loaded
2012-09-18T22:09:05.371Z,1348006145.371 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-18T22:09:05.384Z,1348006145.384 [ThrusterServo] Loaded
2012-09-18T22:09:05.384Z,1348006145.384 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-18T22:09:05.384Z,1348006145.385 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-18T22:09:05.385Z,1348006145.385 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-18T22:09:05.422Z,1348006145.422 [DepthRateCalculator] Loaded
2012-09-18T22:09:05.422Z,1348006145.422 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-18T22:09:07.948Z,1348006147.948 [HFRadarModelCalc] Loaded
2012-09-18T22:09:07.948Z,1348006147.948 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-18T22:09:07.965Z,1348006147.965 [NavChart] Loaded
2012-09-18T22:09:07.965Z,1348006147.965 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-18T22:09:07.971Z,1348006147.971 [PitchRateCalculator] Loaded
2012-09-18T22:09:07.971Z,1348006147.971 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-18T22:09:07.978Z,1348006147.978 [SpeedCalculator] Loaded
2012-09-18T22:09:07.978Z,1348006147.978 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-18T22:09:07.997Z,1348006147.997 [TempGradientCalculator] Loaded
2012-09-18T22:09:07.998Z,1348006147.998 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-18T22:09:08.004Z,1348006148.004 [YawRateCalculator] Loaded
2012-09-18T22:09:08.004Z,1348006148.004 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-18T22:09:08.029Z,1348006148.029 [Navigation] Loaded
2012-09-18T22:09:08.029Z,1348006148.029 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-18T22:09:08.029Z,1348006148.029 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-18T22:09:08.030Z,1348006148.030 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-18T22:09:08.328Z,1348006148.328 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-18T22:09:08.329Z,1348006148.329 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-18T22:09:08.375Z,1348006148.375 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-18T22:09:08.376Z,1348006148.376 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-18T22:09:08.444Z,1348006148.444 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-18T22:09:08.495Z,1348006148.494 [VerticalControl] Loaded
2012-09-18T22:09:08.495Z,1348006148.495 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-18T22:09:08.496Z,1348006148.496 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-18T22:09:08.521Z,1348006148.522 [HorizontalControl] Loaded
2012-09-18T22:09:08.522Z,1348006148.522 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-18T22:09:08.523Z,1348006148.523 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-18T22:09:08.525Z,1348006148.525 [SpeedControl] Loaded
2012-09-18T22:09:08.525Z,1348006148.525 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-18T22:09:08.526Z,1348006148.526 [LoopControl](DEBUG): Construct LoopControl.
2012-09-18T22:09:08.526Z,1348006148.526 [LoopControl] Loaded
2012-09-18T22:09:08.527Z,1348006148.527 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-18T22:09:08.527Z,1348006148.527 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-18T22:09:08.528Z,1348006148.528 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-18T22:09:08.536Z,1348006148.536 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-18T22:09:08.541Z,1348006148.541 [AsyncPiEstimator] Loaded
2012-09-18T22:09:08.541Z,1348006148.541 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-18T22:09:08.543Z,1348006148.543 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-18T22:09:08.544Z,1348006148.543 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-18T22:09:08.544Z,1348006148.544 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-18T22:09:08.726Z,1348006148.726 [AHRS_sp3003D] Loaded
2012-09-18T22:09:08.726Z,1348006148.727 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-18T22:09:08.744Z,1348006148.744 [Depth_Keller] Loaded
2012-09-18T22:09:08.745Z,1348006148.745 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-18T22:09:08.750Z,1348006148.750 [DropWeight] Loaded
2012-09-18T22:09:08.751Z,1348006148.750 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-18T22:09:08.881Z,1348006148.881 [DVL_micro] Loaded
2012-09-18T22:09:08.881Z,1348006148.881 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-18T22:09:08.883Z,1348006148.883 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-18T22:09:08.975Z,1348006148.975 [NAL9602] Loaded
2012-09-18T22:09:08.975Z,1348006148.975 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-18T22:09:09.031Z,1348006149.030 [Onboard] Loaded
2012-09-18T22:09:09.031Z,1348006149.031 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-18T22:09:09.042Z,1348006149.042 [Radio_Freewave] Loaded
2012-09-18T22:09:09.042Z,1348006149.042 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-18T22:09:09.043Z,1348006149.043 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-18T22:09:09.044Z,1348006149.044 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-18T22:09:09.147Z,1348006149.147 [CTD_NeilBrown] Loaded
2012-09-18T22:09:09.148Z,1348006149.148 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-18T22:09:09.151Z,1348006149.151 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-18T22:09:09.161Z,1348006149.161 [PAR_Licor] Loaded
2012-09-18T22:09:09.162Z,1348006149.162 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-18T22:09:09.183Z,1348006149.183 [Turbulence_NPS] Loaded
2012-09-18T22:09:09.183Z,1348006149.183 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-18T22:09:09.187Z,1348006149.187 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-18T22:09:09.222Z,1348006149.222 [WetLabsBB2FL] Loaded
2012-09-18T22:09:09.222Z,1348006149.222 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-18T22:09:09.227Z,1348006149.227 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-18T22:09:09.228Z,1348006149.227 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-18T22:09:09.230Z,1348006149.230 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-18T22:09:09.231Z,1348006149.231 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-18T22:09:09.235Z,1348006149.235 [Supervisor](DEBUG): Running supervisor.
2012-09-18T22:09:09.240Z,1348006149.240 [controlThread](DEBUG): Initializing ControlThread
2012-09-18T22:09:09.240Z,1348006149.240 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-18T22:09:09.353Z,1348006149.353 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-18T22:09:09.509Z,1348006149.509 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-18T22:09:09.535Z,1348006149.534 [DVL_micro](INFO): Initializing
2012-09-18T22:09:09.541Z,1348006149.541 [DVL_micro](INFO): start:Powering up
2012-09-18T22:09:09.564Z,1348006149.564 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-18T22:09:09.579Z,1348006149.579 [SBIT](INFO): Initialize SBIT Component.
2012-09-18T22:09:09.580Z,1348006149.580 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-18T22:09:09.580Z,1348006149.580 [IBIT](INFO): Initialize IBIT Component.
2012-09-18T22:09:09.581Z,1348006149.581 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-18T22:09:09.581Z,1348006149.581 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-09-18T22:09:09.582Z,1348006149.582 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-18T22:09:09.582Z,1348006149.582 [WetLabsBB2FL](INFO): Powering down
2012-09-18T22:09:09.608Z,1348006149.608 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T22:09:09.609Z,1348006149.609 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-18T22:09:09.609Z,1348006149.609 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-18T22:09:09.609Z,1348006149.609 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-18T22:09:09.610Z,1348006149.610 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-18T22:09:09.612Z,1348006149.612 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-18T22:09:09.612Z,1348006149.612 [Navigation](DEBUG): Initializing Navigation.
2012-09-18T22:09:09.612Z,1348006149.612 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-18T22:09:09.614Z,1348006149.614 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-18T22:09:09.623Z,1348006149.623 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-18T22:09:09.624Z,1348006149.624 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-18T22:09:09.632Z,1348006149.632 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-18T22:09:09.672Z,1348006149.672 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T22:09:09.682Z,1348006149.682 [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>


2012-09-18T22:09:09.683Z,1348006149.683 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-18T22:09:09.742Z,1348006149.742 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-18T22:09:09.744Z,1348006149.744 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-18T22:09:09.751Z,1348006149.751 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T22:09:09.760Z,1348006149.760 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-18T22:09:09.763Z,1348006149.763 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T22:09:09.769Z,1348006149.769 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-18T22:09:09.778Z,1348006149.778 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-18T22:09:09.781Z,1348006149.781 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T22:09:09.786Z,1348006149.786 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-18T22:09:09.794Z,1348006149.794 [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>


2012-09-18T22:09:09.798Z,1348006149.798 [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,
2012-09-18T22:09:09.818Z,1348006149.818 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-18T22:09:09.963Z,1348006149.963 [Radio_Freewave](INFO): Powering up
2012-09-18T22:09:10.071Z,1348006150.071 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-18T22:09:10.075Z,1348006150.075 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-18T22:09:10.082Z,1348006150.082 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-18T22:09:10.083Z,1348006150.083 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-18T22:09:10.089Z,1348006150.089 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-18T22:09:10.091Z,1348006150.091 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-18T22:09:11.123Z,1348006151.123 [DVL_micro](INFO): Querying output modes
2012-09-18T22:09:11.123Z,1348006151.123 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T22:09:11.127Z,1348006151.127 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-09-18T22:09:11.127Z,1348006151.127 [DVL_micro](INFO): NQ1 output enabled
2012-09-18T22:09:11.127Z,1348006151.127 [DVL_micro](INFO): RSSI output enabled
2012-09-18T22:09:11.128Z,1348006151.128 [DVL_micro](INFO): ADCP output enabled
2012-09-18T22:09:11.128Z,1348006151.128 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T22:09:11.135Z,1348006151.135 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-18T22:09:11.140Z,1348006151.140 [DVL_micro](INFO): pause:Powering down
2012-09-18T22:09:14.353Z,1348006154.353 [NAL9602](INFO): Powering up NAL9602
2012-09-18T22:09:24.791Z,1348006164.791 [NAL9602](INFO): NAL9602 initialized
2012-09-18T22:09:25.221Z,1348006165.221 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-18T22:09:25.223Z,1348006165.223 [CBIT](IMPORTANT): Beginning GF scan
2012-09-18T22:09:26.373Z,1348006166.373 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2012-09-18T22:09:26.373Z,1348006166.373 [DropWeight] Hardware Fault, FailCount= 1
2012-09-18T22:09:26.373Z,1348006166.373 [DropWeight](ERROR): Hardware Fault
2012-09-18T22:09:26.471Z,1348006166.471 [CBIT](ERROR): Hardware Fault in component: DropWeight
2012-09-18T22:09:26.472Z,1348006166.472 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2012-09-18T22:09:51.597Z,1348006191.597 [CBIT](FAULT): Low side GF detected
mA:
CHAN 5 (24V): 0.391695
CHAN 4 (Batt): 0.391695
CHAN 2 (12V): 0.391695
CHAN 1 (5V): 0.391695
CHAN 0 (3.3V): 0.333539
OPEN: 0.000765
Full Scale Calc: 0.392
2012-09-18T22:10:13.154Z,1348006213.154 [NAL9602](IMPORTANT): GPS fix at: 1348006146.00
2012-09-18T22:10:19.209Z,1348006219.209 [SBIT](IMPORTANT): SBIT PASSED
2012-09-18T22:10:19.570Z,1348006219.570 [MissionManager](IMPORTANT): Started mission Startup
2012-09-18T22:10:19.570Z,1348006219.570 [Startup] Running Loop=1
2012-09-18T22:10:19.570Z,1348006219.570 [Startup](INFO): Aggregate::initialize Startup
2012-09-18T22:10:19.570Z,1348006219.570 [Startup:A.GoToSurface] Running Loop=1
2012-09-18T22:10:19.570Z,1348006219.570 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-18T22:10:19.576Z,1348006219.576 [Startup:StartupSatComms] Running Loop=1
2012-09-18T22:10:19.576Z,1348006219.576 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-18T22:10:19.577Z,1348006219.577 [Startup:StartupSatComms:A] Running Loop=1
2012-09-18T22:10:19.970Z,1348006219.970 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-18T22:10:21.558Z,1348006221.558 [NAL9602](IMPORTANT): GPS fix at: 1348006154.00
2012-09-18T22:10:21.573Z,1348006221.573 [Startup:StartupSatComms:A] Stopped
2012-09-18T22:10:21.573Z,1348006221.573 [Startup:StartupSatComms:B] Running Loop=1
2012-09-18T22:10:21.976Z,1348006221.976 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-18T22:10:44.859Z,1348006244.859 [CommandLine](IMPORTANT): got command restart application
2012-09-18T22:10:46.019Z,1348006246.019 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-18T22:10:46.019Z,1348006246.019 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-18T22:10:46.195Z,1348006246.195 [WetLabsBB2FL](INFO): Powering down
2012-09-18T22:10:46.211Z,1348006246.211 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-18T22:10:46.295Z,1348006246.295 [Turbulence_NPS](INFO): Powering down
2012-09-18T22:10:46.311Z,1348006246.311 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-18T22:10:46.387Z,1348006246.387 [CTD_NeilBrown](INFO): Powering down
2012-09-18T22:10:46.395Z,1348006246.395 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-18T22:10:46.507Z,1348006246.507 [DVL_micro](INFO): uninitialize:Powering down
2012-09-18T22:10:46.515Z,1348006246.515 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-18T22:10:46.691Z,1348006246.691 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-18T22:10:46.696Z,1348006246.696 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-18T22:10:46.697Z,1348006246.697 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-18T22:10:46.739Z,1348006246.739 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-18T22:10:46.740Z,1348006246.740 [AHRS_sp3003D](INFO): Powering down
2012-09-18T22:10:46.828Z,1348006246.828 [NAL9602](INFO): Powering down
2012-09-18T22:10:46.830Z,1348006246.830 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T22:10:46.830Z,1348006246.830 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-18T22:10:46.835Z,1348006246.835 [Startup] Stopped
2012-09-18T22:10:46.835Z,1348006246.835 [Startup](INFO): Aggregate::uninitialize Startup
2012-09-18T22:10:46.835Z,1348006246.835 [Startup:A.GoToSurface] Stopped
2012-09-18T22:10:46.835Z,1348006246.835 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-18T22:10:46.835Z,1348006246.835 [Startup:StartupSatComms] Stopped
2012-09-18T22:10:46.835Z,1348006246.835 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-09-18T22:10:46.835Z,1348006246.835 [Startup:StartupSatComms:B] Stopped
2012-09-18T22:10:46.837Z,1348006246.837 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-18T22:10:46.837Z,1348006246.837 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-18T22:10:46.837Z,1348006246.838 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-18T22:10:46.838Z,1348006246.838 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-18T22:10:46.838Z,1348006246.838 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-18T22:10:46.838Z,1348006246.838 [BuoyancyServo](INFO): Powering down
2012-09-18T22:10:46.840Z,1348006246.840 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-18T22:10:46.840Z,1348006246.840 [RudderServo](INFO): Powering down
2012-09-18T22:10:46.841Z,1348006246.841 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-18T22:10:46.841Z,1348006246.841 [ThrusterServo](INFO): Powering down
2012-09-18T22:10:46.842Z,1348006246.842 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-18T22:10:46.842Z,1348006246.842 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-18T22:10:46.842Z,1348006246.842 [CBIT](DEBUG): Uninitialize CBIT Component.