2012-09-18T22:34:25.577Z,1348007665.577 [Supervisor](DEBUG): Initializing supervisor.
2012-09-18T22:34:25.580Z,1348007665.580 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-18T22:34:25.581Z,1348007665.581 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-18T22:34:25.581Z,1348007665.582 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-18T22:34:25.585Z,1348007665.585 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-18T22:34:25.596Z,1348007665.596 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-18T22:34:25.597Z,1348007665.597 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-18T22:34:25.598Z,1348007665.598 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-18T22:34:25.598Z,1348007665.598 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-18T22:34:25.599Z,1348007665.599 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-18T22:34:25.893Z,1348007665.893 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-18T22:34:25.894Z,1348007665.894 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-18T22:34:26.074Z,1348007666.074 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-18T22:34:26.074Z,1348007666.074 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-18T22:34:26.160Z,1348007666.159 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-18T22:34:26.160Z,1348007666.160 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-18T22:34:26.360Z,1348007666.360 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-18T22:34:26.361Z,1348007666.361 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-18T22:34:26.495Z,1348007666.495 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-18T22:34:26.496Z,1348007666.496 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-18T22:34:26.735Z,1348007666.735 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-18T22:34:26.735Z,1348007666.735 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-18T22:34:26.986Z,1348007666.986 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-18T22:34:26.986Z,1348007666.986 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-18T22:34:27.282Z,1348007667.282 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-18T22:34:27.282Z,1348007667.282 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-18T22:34:27.380Z,1348007667.380 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-18T22:34:27.381Z,1348007667.381 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-18T22:34:27.779Z,1348007667.779 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-18T22:34:27.780Z,1348007667.780 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-18T22:34:27.892Z,1348007667.892 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-18T22:34:27.892Z,1348007667.892 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-18T22:34:27.978Z,1348007667.978 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-18T22:34:27.979Z,1348007667.979 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-18T22:34:28.080Z,1348007668.080 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-18T22:34:28.209Z,1348007668.209 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-18T22:34:28.294Z,1348007668.294 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-18T22:34:28.396Z,1348007668.396 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-18T22:34:28.496Z,1348007668.496 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-18T22:34:28.613Z,1348007668.613 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-18T22:34:28.703Z,1348007668.703 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-18T22:34:28.794Z,1348007668.794 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-18T22:34:28.803Z,1348007668.803 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-18T22:34:28.834Z,1348007668.834 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-18T22:34:28.973Z,1348007668.973 [InternalSim] Loaded
2012-09-18T22:34:28.973Z,1348007668.973 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-18T22:34:28.974Z,1348007668.974 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-18T22:34:28.974Z,1348007668.974 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-18T22:34:29.074Z,1348007669.074 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-18T22:34:29.087Z,1348007669.087 [SBIT] Loaded
2012-09-18T22:34:29.087Z,1348007669.087 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-18T22:34:29.088Z,1348007669.088 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-18T22:34:29.117Z,1348007669.117 [IBIT] Loaded
2012-09-18T22:34:29.117Z,1348007669.117 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-18T22:34:29.120Z,1348007669.120 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-18T22:34:29.237Z,1348007669.237 [CBIT] Loaded
2012-09-18T22:34:29.237Z,1348007669.237 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-18T22:34:29.238Z,1348007669.238 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-18T22:34:29.238Z,1348007669.239 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-18T22:34:29.382Z,1348007669.382 [BuoyancyServo] Loaded
2012-09-18T22:34:29.382Z,1348007669.382 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-18T22:34:29.395Z,1348007669.395 [RudderServo] Loaded
2012-09-18T22:34:29.395Z,1348007669.395 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-18T22:34:29.407Z,1348007669.407 [ThrusterServo] Loaded
2012-09-18T22:34:29.407Z,1348007669.407 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-18T22:34:29.408Z,1348007669.408 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-18T22:34:29.408Z,1348007669.408 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-18T22:34:29.425Z,1348007669.425 [DepthRateCalculator] Loaded
2012-09-18T22:34:29.426Z,1348007669.425 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-18T22:34:31.700Z,1348007671.700 [HFRadarModelCalc] Loaded
2012-09-18T22:34:31.700Z,1348007671.700 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-18T22:34:31.716Z,1348007671.716 [NavChart] Loaded
2012-09-18T22:34:31.716Z,1348007671.716 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-18T22:34:31.722Z,1348007671.722 [PitchRateCalculator] Loaded
2012-09-18T22:34:31.722Z,1348007671.722 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-18T22:34:31.729Z,1348007671.729 [SpeedCalculator] Loaded
2012-09-18T22:34:31.729Z,1348007671.729 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-18T22:34:31.744Z,1348007671.744 [TempGradientCalculator] Loaded
2012-09-18T22:34:31.745Z,1348007671.745 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-18T22:34:31.751Z,1348007671.751 [YawRateCalculator] Loaded
2012-09-18T22:34:31.751Z,1348007671.751 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-18T22:34:31.772Z,1348007671.772 [Navigation] Loaded
2012-09-18T22:34:31.772Z,1348007671.772 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-18T22:34:31.772Z,1348007671.773 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-18T22:34:31.773Z,1348007671.773 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-18T22:34:31.996Z,1348007671.996 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-18T22:34:31.997Z,1348007671.997 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-18T22:34:32.018Z,1348007672.018 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-18T22:34:32.018Z,1348007672.018 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-18T22:34:32.058Z,1348007672.058 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-18T22:34:32.105Z,1348007672.105 [VerticalControl] Loaded
2012-09-18T22:34:32.105Z,1348007672.105 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-18T22:34:32.106Z,1348007672.106 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-18T22:34:32.127Z,1348007672.127 [HorizontalControl] Loaded
2012-09-18T22:34:32.127Z,1348007672.127 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-18T22:34:32.128Z,1348007672.128 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-18T22:34:32.130Z,1348007672.130 [SpeedControl] Loaded
2012-09-18T22:34:32.130Z,1348007672.130 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-18T22:34:32.131Z,1348007672.131 [LoopControl](DEBUG): Construct LoopControl.
2012-09-18T22:34:32.132Z,1348007672.132 [LoopControl] Loaded
2012-09-18T22:34:32.132Z,1348007672.132 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-18T22:34:32.132Z,1348007672.132 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-18T22:34:32.133Z,1348007672.133 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-18T22:34:32.138Z,1348007672.138 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-18T22:34:32.143Z,1348007672.143 [AsyncPiEstimator] Loaded
2012-09-18T22:34:32.143Z,1348007672.143 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-18T22:34:32.145Z,1348007672.145 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-18T22:34:32.145Z,1348007672.145 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-18T22:34:32.146Z,1348007672.146 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-18T22:34:32.267Z,1348007672.267 [AHRS_sp3003D] Loaded
2012-09-18T22:34:32.267Z,1348007672.267 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-18T22:34:32.280Z,1348007672.280 [Depth_Keller] Loaded
2012-09-18T22:34:32.281Z,1348007672.281 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-18T22:34:32.286Z,1348007672.286 [DropWeight] Loaded
2012-09-18T22:34:32.287Z,1348007672.286 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-18T22:34:32.402Z,1348007672.402 [DVL_micro] Loaded
2012-09-18T22:34:32.402Z,1348007672.402 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-18T22:34:32.404Z,1348007672.404 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-18T22:34:32.485Z,1348007672.485 [NAL9602] Loaded
2012-09-18T22:34:32.485Z,1348007672.485 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-18T22:34:32.535Z,1348007672.535 [Onboard] Loaded
2012-09-18T22:34:32.535Z,1348007672.535 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-18T22:34:32.542Z,1348007672.542 [Radio_Freewave] Loaded
2012-09-18T22:34:32.542Z,1348007672.542 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-18T22:34:32.543Z,1348007672.543 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-18T22:34:32.544Z,1348007672.544 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-18T22:34:32.590Z,1348007672.590 [PAR_Licor] Loaded
2012-09-18T22:34:32.590Z,1348007672.590 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-18T22:34:32.592Z,1348007672.592 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-18T22:34:32.594Z,1348007672.594 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-18T22:34:32.595Z,1348007672.595 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-18T22:34:32.599Z,1348007672.599 [Supervisor](DEBUG): Running supervisor.
2012-09-18T22:34:32.602Z,1348007672.602 [controlThread](DEBUG): Initializing ControlThread
2012-09-18T22:34:32.603Z,1348007672.603 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-18T22:34:32.639Z,1348007672.639 [SBIT](INFO): Initialize SBIT Component.
2012-09-18T22:34:32.640Z,1348007672.639 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-18T22:34:32.640Z,1348007672.640 [IBIT](INFO): Initialize IBIT Component.
2012-09-18T22:34:32.641Z,1348007672.641 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-18T22:34:32.641Z,1348007672.641 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2012-09-18T22:34:32.641Z,1348007672.641 [CBIT] Hardware Fault, FailCount= 1
2012-09-18T22:34:32.641Z,1348007672.641 [CBIT](ERROR): Hardware Fault
2012-09-18T22:34:32.642Z,1348007672.642 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-18T22:34:32.651Z,1348007672.651 [DVL_micro](INFO): Start
2012-09-18T22:34:32.660Z,1348007672.660 [DVL_micro](INFO): Initializing
2012-09-18T22:34:32.660Z,1348007672.660 [DVL_micro](INFO): start:Powering up
2012-09-18T22:34:32.672Z,1348007672.672 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T22:34:32.673Z,1348007672.673 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-18T22:34:32.673Z,1348007672.673 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-18T22:34:32.673Z,1348007672.673 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-18T22:34:32.674Z,1348007672.674 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-18T22:34:32.675Z,1348007672.675 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-18T22:34:32.675Z,1348007672.675 [Navigation](DEBUG): Initializing Navigation.
2012-09-18T22:34:32.676Z,1348007672.676 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-18T22:34:32.678Z,1348007672.678 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-18T22:34:32.678Z,1348007672.678 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-18T22:34:32.679Z,1348007672.679 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-18T22:34:32.690Z,1348007672.690 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-18T22:34:32.706Z,1348007672.706 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T22:34:32.716Z,1348007672.717 [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>


2012-09-18T22:34:32.717Z,1348007672.717 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-18T22:34:32.746Z,1348007672.746 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-18T22:34:32.748Z,1348007672.748 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-18T22:34:32.752Z,1348007672.751 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T22:34:32.760Z,1348007672.760 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-18T22:34:32.763Z,1348007672.763 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T22:34:32.770Z,1348007672.770 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-18T22:34:32.779Z,1348007672.779 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-18T22:34:32.782Z,1348007672.782 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T22:34:32.787Z,1348007672.787 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-18T22:34:32.790Z,1348007672.790 [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>


2012-09-18T22:34:32.795Z,1348007672.795 [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,
2012-09-18T22:34:32.815Z,1348007672.815 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-18T22:34:32.925Z,1348007672.925 [Radio_Freewave](INFO): Powering up
2012-09-18T22:34:32.932Z,1348007672.932 [PAR_Licor](ERROR): PAR reading out of range: -1.432136 uMol/s/m2
2012-09-18T22:34:33.010Z,1348007673.010 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-18T22:34:33.012Z,1348007673.011 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-18T22:34:33.018Z,1348007673.018 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-18T22:34:33.019Z,1348007673.019 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-18T22:34:33.025Z,1348007673.025 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-18T22:34:33.026Z,1348007673.026 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-18T22:34:33.042Z,1348007673.042 [CBIT](DEBUG): Uninitialize CBIT Component.
2012-09-18T22:34:34.303Z,1348007674.303 [DVL_micro](INFO): Querying output modes
2012-09-18T22:34:34.304Z,1348007674.304 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T22:34:34.926Z,1348007674.926 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-18T22:34:34.926Z,1348007674.926 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-09-18T22:34:34.927Z,1348007674.927 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-18T22:34:35.455Z,1348007675.455 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2012-09-18T22:34:35.455Z,1348007675.455 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2012-09-18T22:34:35.455Z,1348007675.455 [BuoyancyServo] Communications Fault, FailCount= 1
2012-09-18T22:34:35.455Z,1348007675.455 [BuoyancyServo](ERROR): Communications Fault
2012-09-18T22:34:35.963Z,1348007675.963 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2012-09-18T22:34:35.963Z,1348007675.963 [RudderServo](FAULT): Rudder failed to initialize
2012-09-18T22:34:35.963Z,1348007675.963 [RudderServo] Communications Fault, FailCount= 1
2012-09-18T22:34:35.963Z,1348007675.963 [RudderServo](ERROR): Communications Fault
2012-09-18T22:34:36.307Z,1348007676.307 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:34:36.307Z,1348007676.307 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T22:34:36.307Z,1348007676.307 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T22:34:36.471Z,1348007676.471 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-09-18T22:34:36.471Z,1348007676.471 [ThrusterServo](FAULT): Thruster failed to initialize
2012-09-18T22:34:36.471Z,1348007676.471 [ThrusterServo] Communications Fault, FailCount= 1
2012-09-18T22:34:36.471Z,1348007676.471 [ThrusterServo](ERROR): Communications Fault
2012-09-18T22:34:36.562Z,1348007676.562 [AHRS_sp3003D](INFO): Powering down
2012-09-18T22:34:36.669Z,1348007676.669 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-18T22:34:36.669Z,1348007676.669 [BuoyancyServo](INFO): Powering down
2012-09-18T22:34:36.693Z,1348007676.693 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-18T22:34:36.693Z,1348007676.693 [RudderServo](INFO): Powering down
2012-09-18T22:34:36.714Z,1348007676.714 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-18T22:34:36.714Z,1348007676.714 [ThrusterServo](INFO): Powering down
2012-09-18T22:34:37.748Z,1348007677.748 [NAL9602](INFO): Powering up NAL9602
2012-09-18T22:34:38.313Z,1348007678.313 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:34:38.313Z,1348007678.313 [DVL_micro](INFO): No Response to Enable Data Flow
2012-09-18T22:34:38.318Z,1348007678.318 [DVL_micro](INFO): Pause
2012-09-18T22:34:38.318Z,1348007678.318 [DVL_micro](INFO): pause:Powering down
2012-09-18T22:34:38.320Z,1348007678.320 [DVL_micro](INFO): Paused
2012-09-18T22:34:38.320Z,1348007678.320 [DVL_micro](INFO): NQ1 requested
2012-09-18T22:34:38.320Z,1348007678.320 [DVL_micro](INFO): Resume
2012-09-18T22:34:38.321Z,1348007678.321 [DVL_micro](INFO): resume:Powering up
2012-09-18T22:34:39.827Z,1348007679.827 [DVL_micro](INFO): Querying output modes
2012-09-18T22:34:39.827Z,1348007679.827 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T22:34:41.831Z,1348007681.831 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:34:41.831Z,1348007681.831 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T22:34:41.831Z,1348007681.831 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T22:34:43.835Z,1348007683.835 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:34:43.835Z,1348007683.835 [DVL_micro](INFO): No Response to Enable Data Flow
2012-09-18T22:34:43.836Z,1348007683.836 [DVL_micro](INFO): Resuming
2012-09-18T22:34:43.836Z,1348007683.836 [DVL_micro](INFO): Triggering...
2012-09-18T22:34:43.837Z,1348007683.837 [DVL_micro](INFO): Runnable
2012-09-18T22:34:43.837Z,1348007683.837 [DVL_micro](INFO): NQ1 requested
2012-09-18T22:34:45.343Z,1348007685.343 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-18T22:34:47.345Z,1348007687.345 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:34:47.345Z,1348007687.345 [DVL_micro](INFO): Enabling NQ1 output
2012-09-18T22:34:47.345Z,1348007687.345 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-18T22:34:48.166Z,1348007688.166 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-18T22:34:49.347Z,1348007689.347 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:34:49.347Z,1348007689.347 [DVL_micro](INFO): Querying output modes
2012-09-18T22:34:49.347Z,1348007689.347 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T22:34:50.551Z,1348007690.551 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2012-09-18T22:34:50.551Z,1348007690.551 [NAL9602] Communications Fault, FailCount= 1
2012-09-18T22:34:50.551Z,1348007690.551 [NAL9602](ERROR): Communications Fault
2012-09-18T22:34:50.655Z,1348007690.655 [NAL9602](INFO): Powering down
2012-09-18T22:34:51.351Z,1348007691.351 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:34:51.351Z,1348007691.351 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T22:34:51.351Z,1348007691.351 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T22:34:53.355Z,1348007693.355 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:34:53.355Z,1348007693.355 [DVL_micro](INFO): No Response to Enable Data Flow
2012-09-18T22:34:55.359Z,1348007695.359 [DVL_micro](INFO): Runnable
2012-09-18T22:34:55.359Z,1348007695.359 [DVL_micro](INFO): NQ1 requested
2012-09-18T22:34:56.867Z,1348007696.867 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-18T22:34:58.871Z,1348007698.871 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:34:58.871Z,1348007698.871 [DVL_micro](INFO): Enabling NQ1 output
2012-09-18T22:34:58.871Z,1348007698.871 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-18T22:35:00.875Z,1348007700.875 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:35:00.875Z,1348007700.875 [DVL_micro](INFO): Querying output modes
2012-09-18T22:35:00.875Z,1348007700.875 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T22:35:01.441Z,1348007701.441 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.000990
2012-09-18T22:35:02.879Z,1348007702.879 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:35:02.879Z,1348007702.879 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T22:35:02.879Z,1348007702.879 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T22:35:04.883Z,1348007704.883 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:35:04.883Z,1348007704.883 [DVL_micro](INFO): No Response to Enable Data Flow
2012-09-18T22:35:04.883Z,1348007704.883 [DVL_micro](ERROR): No DVL communication! Re-initializing
2012-09-18T22:35:04.883Z,1348007704.883 [DVL_micro] Communications Fault, FailCount= 1
2012-09-18T22:35:04.883Z,1348007704.883 [DVL_micro](ERROR): Communications Fault
2012-09-18T22:35:04.885Z,1348007704.885 [DVL_micro](INFO): Stop
2012-09-18T22:35:04.885Z,1348007704.885 [DVL_micro](INFO): uninitialize:Powering down