2012-09-18T22:49:57.873Z,1348008597.873 [Supervisor](DEBUG): Initializing supervisor.
2012-09-18T22:49:57.876Z,1348008597.876 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-18T22:49:57.877Z,1348008597.877 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-18T22:49:57.878Z,1348008597.878 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-18T22:49:57.882Z,1348008597.882 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-18T22:49:57.894Z,1348008597.894 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-18T22:49:57.895Z,1348008597.895 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-18T22:49:57.896Z,1348008597.896 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-18T22:49:57.896Z,1348008597.896 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-18T22:49:57.897Z,1348008597.898 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-18T22:49:58.236Z,1348008598.236 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-18T22:49:58.236Z,1348008598.237 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-18T22:49:58.420Z,1348008598.420 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-18T22:49:58.421Z,1348008598.421 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-18T22:49:58.506Z,1348008598.506 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-18T22:49:58.506Z,1348008598.506 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-18T22:49:58.706Z,1348008598.706 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-18T22:49:58.706Z,1348008598.707 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-18T22:49:58.841Z,1348008598.841 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-18T22:49:58.841Z,1348008598.841 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-18T22:49:59.079Z,1348008599.079 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-18T22:49:59.080Z,1348008599.080 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-18T22:49:59.250Z,1348008599.250 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-18T22:49:59.250Z,1348008599.250 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-18T22:49:59.509Z,1348008599.509 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-18T22:49:59.510Z,1348008599.510 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-18T22:49:59.608Z,1348008599.608 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-18T22:49:59.609Z,1348008599.609 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-18T22:50:00.006Z,1348008600.006 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-18T22:50:00.007Z,1348008600.007 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-18T22:50:00.119Z,1348008600.119 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-18T22:50:00.119Z,1348008600.119 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-18T22:50:00.204Z,1348008600.204 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-18T22:50:00.205Z,1348008600.205 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-18T22:50:00.306Z,1348008600.306 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-18T22:50:00.435Z,1348008600.435 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-18T22:50:00.520Z,1348008600.520 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-18T22:50:00.622Z,1348008600.622 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-18T22:50:00.721Z,1348008600.721 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-18T22:50:00.839Z,1348008600.839 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-18T22:50:00.928Z,1348008600.928 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-18T22:50:01.020Z,1348008601.020 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-09-18T22:50:01.050Z,1348008601.050 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-18T22:50:01.280Z,1348008601.280 [InternalSim] Loaded
2012-09-18T22:50:01.280Z,1348008601.280 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-18T22:50:01.281Z,1348008601.281 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-18T22:50:01.282Z,1348008601.282 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-18T22:50:01.340Z,1348008601.340 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-18T22:50:01.353Z,1348008601.353 [SBIT] Loaded
2012-09-18T22:50:01.354Z,1348008601.354 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-18T22:50:01.355Z,1348008601.355 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-18T22:50:01.383Z,1348008601.383 [IBIT] Loaded
2012-09-18T22:50:01.383Z,1348008601.383 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-18T22:50:01.387Z,1348008601.387 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-18T22:50:01.504Z,1348008601.504 [CBIT] Loaded
2012-09-18T22:50:01.504Z,1348008601.504 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-18T22:50:01.505Z,1348008601.505 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-18T22:50:01.505Z,1348008601.505 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-18T22:50:01.650Z,1348008601.649 [BuoyancyServo] Loaded
2012-09-18T22:50:01.650Z,1348008601.650 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-18T22:50:01.663Z,1348008601.663 [RudderServo] Loaded
2012-09-18T22:50:01.663Z,1348008601.663 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-18T22:50:01.675Z,1348008601.675 [ThrusterServo] Loaded
2012-09-18T22:50:01.675Z,1348008601.675 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-18T22:50:01.676Z,1348008601.676 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-18T22:50:01.676Z,1348008601.676 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-18T22:50:01.694Z,1348008601.694 [DepthRateCalculator] Loaded
2012-09-18T22:50:01.695Z,1348008601.695 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-18T22:50:03.969Z,1348008603.969 [HFRadarModelCalc] Loaded
2012-09-18T22:50:03.969Z,1348008603.969 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-18T22:50:03.985Z,1348008603.985 [NavChart] Loaded
2012-09-18T22:50:03.985Z,1348008603.986 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-18T22:50:03.991Z,1348008603.991 [PitchRateCalculator] Loaded
2012-09-18T22:50:03.992Z,1348008603.992 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-18T22:50:03.998Z,1348008603.998 [SpeedCalculator] Loaded
2012-09-18T22:50:03.998Z,1348008603.998 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-18T22:50:04.013Z,1348008604.013 [TempGradientCalculator] Loaded
2012-09-18T22:50:04.013Z,1348008604.013 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-18T22:50:04.019Z,1348008604.019 [YawRateCalculator] Loaded
2012-09-18T22:50:04.020Z,1348008604.020 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-18T22:50:04.040Z,1348008604.040 [Navigation] Loaded
2012-09-18T22:50:04.040Z,1348008604.040 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-18T22:50:04.041Z,1348008604.041 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-18T22:50:04.041Z,1348008604.041 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-18T22:50:04.338Z,1348008604.338 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-18T22:50:04.338Z,1348008604.338 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-18T22:50:04.360Z,1348008604.360 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-18T22:50:04.361Z,1348008604.361 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-18T22:50:04.402Z,1348008604.402 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-18T22:50:04.448Z,1348008604.448 [VerticalControl] Loaded
2012-09-18T22:50:04.449Z,1348008604.449 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-18T22:50:04.450Z,1348008604.450 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-18T22:50:04.471Z,1348008604.471 [HorizontalControl] Loaded
2012-09-18T22:50:04.471Z,1348008604.471 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-18T22:50:04.472Z,1348008604.472 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-18T22:50:04.474Z,1348008604.474 [SpeedControl] Loaded
2012-09-18T22:50:04.474Z,1348008604.474 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-18T22:50:04.475Z,1348008604.475 [LoopControl](DEBUG): Construct LoopControl.
2012-09-18T22:50:04.475Z,1348008604.476 [LoopControl] Loaded
2012-09-18T22:50:04.476Z,1348008604.476 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-18T22:50:04.476Z,1348008604.476 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-18T22:50:04.477Z,1348008604.477 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-18T22:50:04.482Z,1348008604.482 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-18T22:50:04.487Z,1348008604.487 [AsyncPiEstimator] Loaded
2012-09-18T22:50:04.487Z,1348008604.487 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-18T22:50:04.488Z,1348008604.489 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-18T22:50:04.489Z,1348008604.489 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-18T22:50:04.490Z,1348008604.490 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-18T22:50:04.615Z,1348008604.615 [AHRS_sp3003D] Loaded
2012-09-18T22:50:04.615Z,1348008604.615 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-18T22:50:04.629Z,1348008604.629 [Depth_Keller] Loaded
2012-09-18T22:50:04.629Z,1348008604.629 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-18T22:50:04.634Z,1348008604.634 [DropWeight] Loaded
2012-09-18T22:50:04.635Z,1348008604.635 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-18T22:50:04.749Z,1348008604.750 [DVL_micro] Loaded
2012-09-18T22:50:04.750Z,1348008604.750 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-18T22:50:04.751Z,1348008604.751 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-18T22:50:04.832Z,1348008604.832 [NAL9602] Loaded
2012-09-18T22:50:04.833Z,1348008604.833 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-18T22:50:04.882Z,1348008604.882 [Onboard] Loaded
2012-09-18T22:50:04.883Z,1348008604.883 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-18T22:50:04.890Z,1348008604.890 [Radio_Freewave] Loaded
2012-09-18T22:50:04.890Z,1348008604.890 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-18T22:50:04.891Z,1348008604.891 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-18T22:50:04.891Z,1348008604.891 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-18T22:50:04.963Z,1348008604.963 [CTD_NeilBrown] Loaded
2012-09-18T22:50:04.963Z,1348008604.963 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-18T22:50:04.965Z,1348008604.964 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-18T22:50:04.975Z,1348008604.975 [PAR_Licor] Loaded
2012-09-18T22:50:04.975Z,1348008604.975 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-18T22:50:04.992Z,1348008604.992 [Turbulence_NPS] Loaded
2012-09-18T22:50:04.993Z,1348008604.993 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-18T22:50:04.994Z,1348008604.994 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-18T22:50:05.024Z,1348008605.024 [WetLabsBB2FL] Loaded
2012-09-18T22:50:05.024Z,1348008605.024 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-18T22:50:05.025Z,1348008605.025 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-18T22:50:05.026Z,1348008605.026 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-18T22:50:05.028Z,1348008605.028 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-18T22:50:05.029Z,1348008605.029 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-18T22:50:05.034Z,1348008605.034 [Supervisor](DEBUG): Running supervisor.
2012-09-18T22:50:05.037Z,1348008605.037 [controlThread](DEBUG): Initializing ControlThread
2012-09-18T22:50:05.038Z,1348008605.038 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-18T22:50:05.071Z,1348008605.071 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-18T22:50:05.083Z,1348008605.083 [SBIT](INFO): Initialize SBIT Component.
2012-09-18T22:50:05.083Z,1348008605.083 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-18T22:50:05.084Z,1348008605.084 [IBIT](INFO): Initialize IBIT Component.
2012-09-18T22:50:05.085Z,1348008605.085 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-18T22:50:05.085Z,1348008605.085 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-09-18T22:50:05.085Z,1348008605.085 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2012-09-18T22:50:05.085Z,1348008605.085 [CBIT] Hardware Fault, FailCount= 1
2012-09-18T22:50:05.085Z,1348008605.085 [CBIT](ERROR): Hardware Fault
2012-09-18T22:50:05.096Z,1348008605.096 [DVL_micro](INFO): Initializing
2012-09-18T22:50:05.096Z,1348008605.096 [DVL_micro](INFO): start:Powering up
2012-09-18T22:50:05.112Z,1348008605.112 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T22:50:05.112Z,1348008605.112 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-18T22:50:05.113Z,1348008605.113 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-18T22:50:05.113Z,1348008605.113 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-18T22:50:05.113Z,1348008605.113 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-18T22:50:05.115Z,1348008605.115 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-18T22:50:05.115Z,1348008605.115 [Navigation](DEBUG): Initializing Navigation.
2012-09-18T22:50:05.116Z,1348008605.116 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-18T22:50:05.118Z,1348008605.118 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-18T22:50:05.118Z,1348008605.118 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-18T22:50:05.119Z,1348008605.119 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-18T22:50:05.124Z,1348008605.124 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-18T22:50:05.144Z,1348008605.144 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-18T22:50:05.154Z,1348008605.154 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-18T22:50:05.157Z,1348008605.157 [WetLabsBB2FL](INFO): Powering down
2012-09-18T22:50:05.188Z,1348008605.188 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T22:50:05.200Z,1348008605.200 [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>


2012-09-18T22:50:05.200Z,1348008605.200 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-18T22:50:05.251Z,1348008605.251 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-18T22:50:05.253Z,1348008605.253 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-18T22:50:05.257Z,1348008605.257 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T22:50:05.265Z,1348008605.265 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-18T22:50:05.269Z,1348008605.269 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T22:50:05.276Z,1348008605.276 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-18T22:50:05.286Z,1348008605.286 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-18T22:50:05.289Z,1348008605.289 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T22:50:05.294Z,1348008605.295 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-18T22:50:05.299Z,1348008605.299 [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>


2012-09-18T22:50:05.303Z,1348008605.303 [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,
2012-09-18T22:50:05.325Z,1348008605.325 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-18T22:50:05.439Z,1348008605.439 [Radio_Freewave](INFO): Powering up
2012-09-18T22:50:05.446Z,1348008605.446 [PAR_Licor](ERROR): PAR reading out of range: 6665.399414 uMol/s/m2
2012-09-18T22:50:05.526Z,1348008605.526 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-18T22:50:05.527Z,1348008605.527 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-18T22:50:05.534Z,1348008605.534 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-18T22:50:05.535Z,1348008605.535 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-18T22:50:05.541Z,1348008605.541 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-18T22:50:05.542Z,1348008605.542 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-18T22:50:05.580Z,1348008605.579 [CBIT](DEBUG): Uninitialize CBIT Component.
2012-09-18T22:50:06.676Z,1348008606.676 [DVL_micro](INFO): Querying output modes
2012-09-18T22:50:06.677Z,1348008606.677 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T22:50:07.661Z,1348008607.661 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-18T22:50:07.662Z,1348008607.662 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-09-18T22:50:07.662Z,1348008607.662 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-18T22:50:08.191Z,1348008608.191 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2012-09-18T22:50:08.191Z,1348008608.191 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2012-09-18T22:50:08.191Z,1348008608.191 [BuoyancyServo] Communications Fault, FailCount= 1
2012-09-18T22:50:08.191Z,1348008608.191 [BuoyancyServo](ERROR): Communications Fault
2012-09-18T22:50:08.679Z,1348008608.679 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:50:08.679Z,1348008608.679 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T22:50:08.679Z,1348008608.679 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T22:50:08.699Z,1348008608.699 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2012-09-18T22:50:08.699Z,1348008608.699 [RudderServo](FAULT): Rudder failed to initialize
2012-09-18T22:50:08.699Z,1348008608.699 [RudderServo] Communications Fault, FailCount= 1
2012-09-18T22:50:08.699Z,1348008608.699 [RudderServo](ERROR): Communications Fault
2012-09-18T22:50:09.207Z,1348008609.207 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-09-18T22:50:09.207Z,1348008609.207 [ThrusterServo](FAULT): Thruster failed to initialize
2012-09-18T22:50:09.207Z,1348008609.207 [ThrusterServo] Communications Fault, FailCount= 1
2012-09-18T22:50:09.207Z,1348008609.207 [ThrusterServo](ERROR): Communications Fault
2012-09-18T22:50:09.303Z,1348008609.303 [AHRS_sp3003D](INFO): Powering down
2012-09-18T22:50:09.415Z,1348008609.415 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-18T22:50:09.415Z,1348008609.415 [BuoyancyServo](INFO): Powering down
2012-09-18T22:50:09.438Z,1348008609.438 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-18T22:50:09.438Z,1348008609.438 [RudderServo](INFO): Powering down
2012-09-18T22:50:09.458Z,1348008609.458 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-18T22:50:09.458Z,1348008609.458 [ThrusterServo](INFO): Powering down
2012-09-18T22:50:10.088Z,1348008610.088 [NAL9602](INFO): Powering up NAL9602
2012-09-18T22:50:10.683Z,1348008610.683 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:50:10.688Z,1348008610.688 [DVL_micro](INFO): pause:Powering down
2012-09-18T22:50:10.689Z,1348008610.689 [DVL_micro](INFO): NQ1 requested
2012-09-18T22:50:10.690Z,1348008610.690 [DVL_micro](INFO): resume:Powering up
2012-09-18T22:50:12.199Z,1348008612.199 [DVL_micro](INFO): Querying output modes
2012-09-18T22:50:12.199Z,1348008612.199 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T22:50:14.203Z,1348008614.203 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:50:14.203Z,1348008614.203 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T22:50:14.203Z,1348008614.203 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T22:50:16.207Z,1348008616.207 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:50:16.209Z,1348008616.209 [DVL_micro](INFO): NQ1 requested
2012-09-18T22:50:17.715Z,1348008617.715 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-18T22:50:19.719Z,1348008619.719 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:50:19.719Z,1348008619.719 [DVL_micro](INFO): Enabling NQ1 output
2012-09-18T22:50:19.719Z,1348008619.719 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-18T22:50:21.723Z,1348008621.723 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:50:21.723Z,1348008621.723 [DVL_micro](INFO): Querying output modes
2012-09-18T22:50:21.723Z,1348008621.723 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T22:50:22.487Z,1348008622.487 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2012-09-18T22:50:22.487Z,1348008622.487 [NAL9602] Communications Fault, FailCount= 1
2012-09-18T22:50:22.487Z,1348008622.487 [NAL9602](ERROR): Communications Fault
2012-09-18T22:50:22.506Z,1348008622.506 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-18T22:50:22.579Z,1348008622.579 [NAL9602](INFO): Powering down
2012-09-18T22:50:23.727Z,1348008623.727 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:50:23.727Z,1348008623.727 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T22:50:23.727Z,1348008623.727 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T22:50:25.731Z,1348008625.731 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:50:27.735Z,1348008627.735 [DVL_micro](INFO): NQ1 requested
2012-09-18T22:50:29.243Z,1348008629.243 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-18T22:50:31.247Z,1348008631.247 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:50:31.247Z,1348008631.247 [DVL_micro](INFO): Enabling NQ1 output
2012-09-18T22:50:31.247Z,1348008631.247 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-18T22:50:33.251Z,1348008633.251 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:50:33.251Z,1348008633.251 [DVL_micro](INFO): Querying output modes
2012-09-18T22:50:33.251Z,1348008633.251 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-18T22:50:35.255Z,1348008635.255 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:50:35.255Z,1348008635.255 [DVL_micro](INFO): Output Modes: No Response
2012-09-18T22:50:35.255Z,1348008635.255 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-18T22:50:37.259Z,1348008637.259 [DVL_micro](DEBUG): cmdResponse: 
2012-09-18T22:50:37.259Z,1348008637.259 [DVL_micro](ERROR): No DVL communication! Re-initializing
2012-09-18T22:50:37.259Z,1348008637.259 [DVL_micro] Communications Fault, FailCount= 1
2012-09-18T22:50:37.259Z,1348008637.259 [DVL_micro](ERROR): Communications Fault
2012-09-18T22:50:37.261Z,1348008637.261 [DVL_micro](INFO): uninitialize:Powering down