2012-09-18T23:02:53.874Z,1348009373.874 [Supervisor](DEBUG): Initializing supervisor.
2012-09-18T23:02:53.877Z,1348009373.877 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-18T23:02:53.877Z,1348009373.878 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-18T23:02:53.878Z,1348009373.878 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-18T23:02:53.882Z,1348009373.882 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-18T23:02:53.893Z,1348009373.893 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-18T23:02:53.894Z,1348009373.894 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-18T23:02:53.895Z,1348009373.895 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-18T23:02:53.895Z,1348009373.895 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-18T23:02:53.896Z,1348009373.896 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-18T23:02:54.185Z,1348009374.185 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-18T23:02:54.185Z,1348009374.185 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-18T23:02:54.366Z,1348009374.366 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-18T23:02:54.367Z,1348009374.367 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-18T23:02:54.452Z,1348009374.452 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-18T23:02:54.452Z,1348009374.452 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-18T23:02:54.654Z,1348009374.654 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-18T23:02:54.654Z,1348009374.654 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-18T23:02:54.788Z,1348009374.788 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-18T23:02:54.789Z,1348009374.789 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-18T23:02:55.028Z,1348009375.028 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-18T23:02:55.029Z,1348009375.029 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-18T23:02:55.200Z,1348009375.200 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-18T23:02:55.200Z,1348009375.201 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-18T23:02:55.461Z,1348009375.461 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-18T23:02:55.462Z,1348009375.462 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-18T23:02:55.561Z,1348009375.561 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-18T23:02:55.561Z,1348009375.561 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-18T23:02:55.970Z,1348009375.970 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-18T23:02:55.971Z,1348009375.971 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-18T23:02:56.083Z,1348009376.083 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-18T23:02:56.084Z,1348009376.084 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-18T23:02:56.169Z,1348009376.169 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-18T23:02:56.170Z,1348009376.170 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-18T23:02:56.271Z,1348009376.271 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-18T23:02:56.401Z,1348009376.401 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-18T23:02:56.586Z,1348009376.586 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-18T23:02:56.687Z,1348009376.687 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-18T23:02:56.788Z,1348009376.788 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-18T23:02:56.906Z,1348009376.906 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-18T23:02:56.995Z,1348009376.995 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-18T23:02:57.135Z,1348009377.135 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-18T23:02:57.147Z,1348009377.147 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-18T23:02:57.191Z,1348009377.191 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-18T23:02:57.329Z,1348009377.329 [InternalSim] Loaded
2012-09-18T23:02:57.330Z,1348009377.330 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-18T23:02:57.331Z,1348009377.330 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-18T23:02:57.331Z,1348009377.331 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-18T23:02:57.387Z,1348009377.387 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-18T23:02:57.401Z,1348009377.401 [SBIT] Loaded
2012-09-18T23:02:57.401Z,1348009377.401 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-18T23:02:57.402Z,1348009377.402 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-18T23:02:57.430Z,1348009377.430 [IBIT] Loaded
2012-09-18T23:02:57.430Z,1348009377.430 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-18T23:02:57.434Z,1348009377.434 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-18T23:02:57.551Z,1348009377.551 [CBIT] Loaded
2012-09-18T23:02:57.551Z,1348009377.551 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-18T23:02:57.552Z,1348009377.552 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-18T23:02:57.552Z,1348009377.552 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-18T23:02:57.693Z,1348009377.694 [BuoyancyServo] Loaded
2012-09-18T23:02:57.694Z,1348009377.694 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-18T23:02:57.707Z,1348009377.707 [RudderServo] Loaded
2012-09-18T23:02:57.707Z,1348009377.707 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-18T23:02:57.719Z,1348009377.719 [ThrusterServo] Loaded
2012-09-18T23:02:57.719Z,1348009377.719 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-18T23:02:57.720Z,1348009377.720 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-18T23:02:57.720Z,1348009377.720 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-18T23:02:57.737Z,1348009377.737 [DepthRateCalculator] Loaded
2012-09-18T23:02:57.738Z,1348009377.738 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-18T23:03:00.001Z,1348009380.001 [HFRadarModelCalc] Loaded
2012-09-18T23:03:00.001Z,1348009380.001 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-18T23:03:00.017Z,1348009380.017 [NavChart] Loaded
2012-09-18T23:03:00.017Z,1348009380.017 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-18T23:03:00.023Z,1348009380.023 [PitchRateCalculator] Loaded
2012-09-18T23:03:00.023Z,1348009380.023 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-18T23:03:00.030Z,1348009380.030 [SpeedCalculator] Loaded
2012-09-18T23:03:00.030Z,1348009380.030 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-18T23:03:00.045Z,1348009380.045 [TempGradientCalculator] Loaded
2012-09-18T23:03:00.045Z,1348009380.045 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-18T23:03:00.051Z,1348009380.051 [YawRateCalculator] Loaded
2012-09-18T23:03:00.052Z,1348009380.052 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-18T23:03:00.072Z,1348009380.072 [Navigation] Loaded
2012-09-18T23:03:00.072Z,1348009380.072 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-18T23:03:00.073Z,1348009380.073 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-18T23:03:00.073Z,1348009380.073 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-18T23:03:00.296Z,1348009380.296 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-18T23:03:00.297Z,1348009380.297 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-18T23:03:00.318Z,1348009380.318 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-18T23:03:00.318Z,1348009380.318 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-18T23:03:00.358Z,1348009380.358 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-18T23:03:00.405Z,1348009380.405 [VerticalControl] Loaded
2012-09-18T23:03:00.405Z,1348009380.405 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-18T23:03:00.406Z,1348009380.406 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-18T23:03:00.427Z,1348009380.427 [HorizontalControl] Loaded
2012-09-18T23:03:00.427Z,1348009380.427 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-18T23:03:00.428Z,1348009380.428 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-18T23:03:00.430Z,1348009380.430 [SpeedControl] Loaded
2012-09-18T23:03:00.431Z,1348009380.431 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-18T23:03:00.431Z,1348009380.431 [LoopControl](DEBUG): Construct LoopControl.
2012-09-18T23:03:00.432Z,1348009380.432 [LoopControl] Loaded
2012-09-18T23:03:00.432Z,1348009380.432 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-18T23:03:00.433Z,1348009380.433 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-18T23:03:00.433Z,1348009380.433 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-18T23:03:00.438Z,1348009380.438 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-18T23:03:00.443Z,1348009380.443 [AsyncPiEstimator] Loaded
2012-09-18T23:03:00.443Z,1348009380.443 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-18T23:03:00.445Z,1348009380.445 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-18T23:03:00.445Z,1348009380.445 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-18T23:03:00.446Z,1348009380.446 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-18T23:03:00.566Z,1348009380.566 [AHRS_sp3003D] Loaded
2012-09-18T23:03:00.567Z,1348009380.567 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-18T23:03:00.580Z,1348009380.580 [Depth_Keller] Loaded
2012-09-18T23:03:00.581Z,1348009380.580 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-18T23:03:00.664Z,1348009380.664 [NAL9602] Loaded
2012-09-18T23:03:00.664Z,1348009380.664 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-18T23:03:00.715Z,1348009380.715 [Onboard] Loaded
2012-09-18T23:03:00.715Z,1348009380.715 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-18T23:03:00.722Z,1348009380.722 [Radio_Freewave] Loaded
2012-09-18T23:03:00.722Z,1348009380.722 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-18T23:03:00.723Z,1348009380.723 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-18T23:03:00.724Z,1348009380.724 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-18T23:03:00.793Z,1348009380.793 [CTD_NeilBrown] Loaded
2012-09-18T23:03:00.793Z,1348009380.793 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-18T23:03:00.794Z,1348009380.795 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406B24E0
2012-09-18T23:03:00.805Z,1348009380.805 [PAR_Licor] Loaded
2012-09-18T23:03:00.805Z,1348009380.805 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-18T23:03:00.822Z,1348009380.822 [Turbulence_NPS] Loaded
2012-09-18T23:03:00.822Z,1348009380.822 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-18T23:03:00.823Z,1348009380.823 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-18T23:03:00.854Z,1348009380.854 [WetLabsBB2FL] Loaded
2012-09-18T23:03:00.854Z,1348009380.854 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-18T23:03:00.855Z,1348009380.855 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-18T23:03:00.856Z,1348009380.856 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-18T23:03:00.858Z,1348009380.858 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-18T23:03:00.859Z,1348009380.859 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-18T23:03:00.863Z,1348009380.863 [Supervisor](DEBUG): Running supervisor.
2012-09-18T23:03:00.866Z,1348009380.866 [controlThread](DEBUG): Initializing ControlThread
2012-09-18T23:03:00.867Z,1348009380.867 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-18T23:03:00.903Z,1348009380.903 [SBIT](INFO): Initialize SBIT Component.
2012-09-18T23:03:00.904Z,1348009380.904 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-18T23:03:00.904Z,1348009380.904 [IBIT](INFO): Initialize IBIT Component.
2012-09-18T23:03:00.905Z,1348009380.905 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-18T23:03:00.905Z,1348009380.905 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2012-09-18T23:03:00.906Z,1348009380.906 [CBIT] Hardware Fault, FailCount= 1
2012-09-18T23:03:00.906Z,1348009380.906 [CBIT](ERROR): Hardware Fault
2012-09-18T23:03:00.906Z,1348009380.906 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-18T23:03:00.915Z,1348009380.915 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-18T23:03:00.923Z,1348009380.923 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-18T23:03:00.932Z,1348009380.932 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-18T23:03:00.933Z,1348009380.933 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-18T23:03:00.933Z,1348009380.933 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-18T23:03:00.933Z,1348009380.933 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-18T23:03:00.934Z,1348009380.934 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-18T23:03:00.935Z,1348009380.935 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-18T23:03:00.936Z,1348009380.936 [Navigation](DEBUG): Initializing Navigation.
2012-09-18T23:03:00.936Z,1348009380.936 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-18T23:03:00.938Z,1348009380.938 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-18T23:03:00.939Z,1348009380.939 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-18T23:03:00.940Z,1348009380.940 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-18T23:03:00.948Z,1348009380.948 [WetLabsBB2FL](INFO): Powering down
2012-09-18T23:03:00.972Z,1348009380.972 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-18T23:03:01.001Z,1348009381.001 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T23:03:01.032Z,1348009381.032 [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>


2012-09-18T23:03:01.033Z,1348009381.033 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-18T23:03:01.085Z,1348009381.085 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-18T23:03:01.087Z,1348009381.087 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-18T23:03:01.090Z,1348009381.090 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T23:03:01.099Z,1348009381.099 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-18T23:03:01.102Z,1348009381.102 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T23:03:01.109Z,1348009381.109 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-18T23:03:01.118Z,1348009381.118 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-18T23:03:01.121Z,1348009381.121 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-18T23:03:01.126Z,1348009381.126 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-18T23:03:01.130Z,1348009381.130 [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>


2012-09-18T23:03:01.134Z,1348009381.134 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,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,
2012-09-18T23:03:01.154Z,1348009381.155 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-18T23:03:01.264Z,1348009381.263 [Radio_Freewave](INFO): Powering up
2012-09-18T23:03:01.428Z,1348009381.428 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-18T23:03:01.429Z,1348009381.429 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-18T23:03:01.436Z,1348009381.436 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-18T23:03:01.437Z,1348009381.437 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-18T23:03:01.443Z,1348009381.443 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-18T23:03:01.444Z,1348009381.444 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-18T23:03:01.461Z,1348009381.461 [CBIT](DEBUG): Uninitialize CBIT Component.
2012-09-18T23:03:03.466Z,1348009383.466 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-18T23:03:03.466Z,1348009383.466 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-09-18T23:03:03.466Z,1348009383.466 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-18T23:03:03.995Z,1348009383.995 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2012-09-18T23:03:03.995Z,1348009383.995 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2012-09-18T23:03:03.995Z,1348009383.995 [BuoyancyServo] Communications Fault, FailCount= 1
2012-09-18T23:03:03.995Z,1348009383.995 [BuoyancyServo](ERROR): Communications Fault
2012-09-18T23:03:04.503Z,1348009384.503 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2012-09-18T23:03:04.503Z,1348009384.503 [RudderServo](FAULT): Rudder failed to initialize
2012-09-18T23:03:04.503Z,1348009384.503 [RudderServo] Communications Fault, FailCount= 1
2012-09-18T23:03:04.503Z,1348009384.503 [RudderServo](ERROR): Communications Fault
2012-09-18T23:03:05.011Z,1348009385.011 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-09-18T23:03:05.011Z,1348009385.011 [ThrusterServo](FAULT): Thruster failed to initialize
2012-09-18T23:03:05.011Z,1348009385.011 [ThrusterServo] Communications Fault, FailCount= 1
2012-09-18T23:03:05.011Z,1348009385.011 [ThrusterServo](ERROR): Communications Fault
2012-09-18T23:03:05.100Z,1348009385.100 [AHRS_sp3003D](INFO): Powering down
2012-09-18T23:03:05.214Z,1348009385.214 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-18T23:03:05.215Z,1348009385.215 [BuoyancyServo](INFO): Powering down
2012-09-18T23:03:05.238Z,1348009385.238 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-18T23:03:05.238Z,1348009385.238 [RudderServo](INFO): Powering down
2012-09-18T23:03:05.260Z,1348009385.260 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-18T23:03:05.260Z,1348009385.260 [ThrusterServo](INFO): Powering down
2012-09-18T23:03:05.881Z,1348009385.881 [NAL9602](INFO): Powering up NAL9602
2012-09-18T23:03:16.419Z,1348009396.419 [NAL9602](INFO): NAL9602 initialized
2012-09-18T23:03:16.438Z,1348009396.438 [SBIT](IMPORTANT): Beginning Startup BIT