2012-09-20T18:26:40.518Z,1348165600.518 [Supervisor](DEBUG): Initializing supervisor.
2012-09-20T18:26:40.530Z,1348165600.530 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-20T18:26:40.531Z,1348165600.531 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-20T18:26:40.542Z,1348165600.542 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-20T18:26:40.546Z,1348165600.546 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-20T18:26:40.569Z,1348165600.569 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-20T18:26:40.578Z,1348165600.578 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-20T18:26:40.579Z,1348165600.579 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-20T18:26:40.580Z,1348165600.580 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-20T18:26:40.583Z,1348165600.583 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-20T18:26:41.287Z,1348165601.287 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-20T18:26:41.289Z,1348165601.289 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-20T18:26:41.635Z,1348165601.635 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-20T18:26:41.636Z,1348165601.636 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-20T18:26:41.784Z,1348165601.784 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-20T18:26:41.786Z,1348165601.786 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-20T18:26:42.166Z,1348165602.166 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-20T18:26:42.166Z,1348165602.166 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-20T18:26:42.412Z,1348165602.412 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-20T18:26:42.414Z,1348165602.414 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-20T18:26:42.913Z,1348165602.913 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-20T18:26:42.914Z,1348165602.914 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-20T18:26:43.304Z,1348165603.304 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-20T18:26:43.306Z,1348165603.306 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-20T18:26:43.800Z,1348165603.800 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-20T18:26:43.803Z,1348165603.803 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-20T18:26:43.980Z,1348165603.980 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-20T18:26:43.980Z,1348165603.980 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-20T18:26:44.793Z,1348165604.793 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-20T18:26:44.794Z,1348165604.794 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-20T18:26:45.003Z,1348165605.003 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-20T18:26:45.004Z,1348165605.004 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-20T18:26:45.153Z,1348165605.153 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-20T18:26:45.157Z,1348165605.157 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-20T18:26:45.345Z,1348165605.345 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-20T18:26:45.606Z,1348165605.606 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-20T18:26:45.757Z,1348165605.757 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-20T18:26:45.936Z,1348165605.936 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-20T18:26:46.145Z,1348165606.145 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-20T18:26:46.423Z,1348165606.423 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-20T18:26:46.897Z,1348165606.897 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-20T18:26:47.804Z,1348165607.804 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-20T18:26:47.817Z,1348165607.817 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-20T18:26:47.873Z,1348165607.873 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-20T18:26:48.163Z,1348165608.163 [InternalSim] Loaded
2012-09-20T18:26:48.163Z,1348165608.163 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-20T18:26:48.164Z,1348165608.164 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-20T18:26:48.165Z,1348165608.165 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-20T18:26:48.298Z,1348165608.297 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-20T18:26:48.323Z,1348165608.323 [SBIT] Loaded
2012-09-20T18:26:48.323Z,1348165608.323 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-20T18:26:48.324Z,1348165608.324 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-20T18:26:48.375Z,1348165608.375 [IBIT] Loaded
2012-09-20T18:26:48.375Z,1348165608.375 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-20T18:26:48.390Z,1348165608.390 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-20T18:26:48.612Z,1348165608.612 [CBIT] Loaded
2012-09-20T18:26:48.612Z,1348165608.612 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-20T18:26:48.613Z,1348165608.613 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-20T18:26:48.613Z,1348165608.613 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-20T18:26:48.837Z,1348165608.837 [BuoyancyServo] Loaded
2012-09-20T18:26:48.837Z,1348165608.838 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-20T18:26:48.847Z,1348165608.847 [ElevatorServo] Loaded
2012-09-20T18:26:48.847Z,1348165608.847 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-20T18:26:48.858Z,1348165608.858 [MassServo] Loaded
2012-09-20T18:26:48.859Z,1348165608.859 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-20T18:26:48.882Z,1348165608.882 [RudderServo] Loaded
2012-09-20T18:26:48.882Z,1348165608.882 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-20T18:26:48.906Z,1348165608.906 [ThrusterServo] Loaded
2012-09-20T18:26:48.906Z,1348165608.906 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-20T18:26:48.906Z,1348165608.907 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-20T18:26:48.907Z,1348165608.907 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-20T18:26:48.952Z,1348165608.952 [DepthRateCalculator] Loaded
2012-09-20T18:26:48.953Z,1348165608.953 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-20T18:26:54.312Z,1348165614.312 [HFRadarModelCalc] Loaded
2012-09-20T18:26:54.312Z,1348165614.312 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-20T18:26:54.340Z,1348165614.340 [NavChart] Loaded
2012-09-20T18:26:54.340Z,1348165614.340 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-20T18:26:54.358Z,1348165614.358 [PitchRateCalculator] Loaded
2012-09-20T18:26:54.358Z,1348165614.358 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-20T18:26:54.364Z,1348165614.364 [SpeedCalculator] Loaded
2012-09-20T18:26:54.364Z,1348165614.365 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-20T18:26:54.403Z,1348165614.404 [TempGradientCalculator] Loaded
2012-09-20T18:26:54.404Z,1348165614.404 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-20T18:26:54.410Z,1348165614.409 [YawRateCalculator] Loaded
2012-09-20T18:26:54.410Z,1348165614.410 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-20T18:26:54.454Z,1348165614.454 [Navigation] Loaded
2012-09-20T18:26:54.454Z,1348165614.454 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-20T18:26:54.454Z,1348165614.454 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-20T18:26:54.455Z,1348165614.455 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-20T18:26:54.918Z,1348165614.918 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-20T18:26:54.919Z,1348165614.919 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-20T18:26:54.980Z,1348165614.980 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-20T18:26:54.981Z,1348165614.981 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-20T18:26:55.063Z,1348165615.063 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-20T18:26:55.160Z,1348165615.160 [VerticalControl] Loaded
2012-09-20T18:26:55.160Z,1348165615.160 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-20T18:26:55.161Z,1348165615.161 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-20T18:26:55.193Z,1348165615.193 [HorizontalControl] Loaded
2012-09-20T18:26:55.193Z,1348165615.194 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-20T18:26:55.207Z,1348165615.207 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-20T18:26:55.208Z,1348165615.208 [SpeedControl] Loaded
2012-09-20T18:26:55.209Z,1348165615.209 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-20T18:26:55.209Z,1348165615.210 [LoopControl](DEBUG): Construct LoopControl.
2012-09-20T18:26:55.210Z,1348165615.210 [LoopControl] Loaded
2012-09-20T18:26:55.210Z,1348165615.210 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-20T18:26:55.211Z,1348165615.211 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-20T18:26:55.211Z,1348165615.211 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-20T18:26:55.219Z,1348165615.219 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-20T18:26:55.224Z,1348165615.224 [AsyncPiEstimator] Loaded
2012-09-20T18:26:55.224Z,1348165615.224 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-20T18:26:55.230Z,1348165615.230 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-20T18:26:55.231Z,1348165615.231 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-20T18:26:55.232Z,1348165615.232 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-20T18:26:55.494Z,1348165615.494 [AHRS_sp3003D] Loaded
2012-09-20T18:26:55.495Z,1348165615.495 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-20T18:26:55.520Z,1348165615.520 [Depth_Keller] Loaded
2012-09-20T18:26:55.520Z,1348165615.520 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-20T18:26:55.538Z,1348165615.538 [DropWeight] Loaded
2012-09-20T18:26:55.538Z,1348165615.538 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-20T18:26:55.760Z,1348165615.760 [DVL_micro] Loaded
2012-09-20T18:26:55.760Z,1348165615.760 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-20T18:26:55.767Z,1348165615.767 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-20T18:26:56.064Z,1348165616.064 [NAL9602] Loaded
2012-09-20T18:26:56.064Z,1348165616.064 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-20T18:26:56.161Z,1348165616.161 [Onboard] Loaded
2012-09-20T18:26:56.161Z,1348165616.161 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-20T18:26:56.180Z,1348165616.180 [Radio_Freewave] Loaded
2012-09-20T18:26:56.180Z,1348165616.180 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-20T18:26:56.181Z,1348165616.181 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-20T18:26:56.181Z,1348165616.181 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-20T18:26:56.337Z,1348165616.337 [CTD_NeilBrown] Loaded
2012-09-20T18:26:56.338Z,1348165616.338 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-20T18:26:56.350Z,1348165616.350 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-20T18:26:56.361Z,1348165616.361 [PAR_Licor] Loaded
2012-09-20T18:26:56.361Z,1348165616.361 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-20T18:26:56.402Z,1348165616.402 [Turbulence_NPS] Loaded
2012-09-20T18:26:56.402Z,1348165616.402 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-20T18:26:56.414Z,1348165616.414 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-20T18:26:56.467Z,1348165616.467 [WetLabsBB2FL] Loaded
2012-09-20T18:26:56.468Z,1348165616.468 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-20T18:26:56.478Z,1348165616.478 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-20T18:26:56.479Z,1348165616.479 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-20T18:26:56.481Z,1348165616.481 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-20T18:26:56.482Z,1348165616.482 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-20T18:26:56.488Z,1348165616.488 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-20T18:26:56.495Z,1348165616.495 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-20T18:26:56.499Z,1348165616.499 [Supervisor](DEBUG): Running supervisor.
2012-09-20T18:26:56.507Z,1348165616.507 [CommandLine](INFO): Thread ID is 6670
2012-09-20T18:26:56.510Z,1348165616.510 [controlThread](INFO): Thread ID is 6669
2012-09-20T18:26:56.510Z,1348165616.510 [controlThread](DEBUG): Initializing ControlThread
2012-09-20T18:26:56.511Z,1348165616.511 [CycleStarter](INFO): Thread ID is 6668
2012-09-20T18:26:56.512Z,1348165616.511 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-20T18:26:56.705Z,1348165616.704 [AsyncPiEstimator](INFO): Thread ID is 6731
2012-09-20T18:26:56.705Z,1348165616.705 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-20T18:26:56.825Z,1348165616.825 [DVL_micro](INFO): Thread ID is 6732
2012-09-20T18:26:56.954Z,1348165616.954 [CTD_NeilBrown](INFO): Thread ID is 6733
2012-09-20T18:26:56.955Z,1348165616.955 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-20T18:26:57.020Z,1348165617.020 [DVL_micro](INFO): Initializing
2012-09-20T18:26:57.020Z,1348165617.020 [DVL_micro](INFO): start:Powering up
2012-09-20T18:26:57.023Z,1348165617.023 [Turbulence_NPS](INFO): Thread ID is 6734
2012-09-20T18:26:57.023Z,1348165617.023 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-20T18:26:57.031Z,1348165617.031 [WetLabsBB2FL](INFO): Thread ID is 6735
2012-09-20T18:26:57.032Z,1348165617.032 [WetLabsBB2FL](INFO): Powering down
2012-09-20T18:26:57.057Z,1348165617.057 [SBIT](INFO): Initialize SBIT Component.
2012-09-20T18:26:57.058Z,1348165617.058 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9842
2012-09-20T18:26:57.068Z,1348165617.068 [IBIT](INFO): Initialize IBIT Component.
2012-09-20T18:26:57.068Z,1348165617.069 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-20T18:26:57.069Z,1348165617.069 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2012-09-20T18:26:57.069Z,1348165617.069 [CBIT] Hardware Fault, FailCount= 1
2012-09-20T18:26:57.069Z,1348165617.069 [CBIT](ERROR): Hardware Fault
2012-09-20T18:26:57.096Z,1348165617.096 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-20T18:26:57.100Z,1348165617.099 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-20T18:26:57.100Z,1348165617.100 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-20T18:26:57.100Z,1348165617.100 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-20T18:26:57.101Z,1348165617.101 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-20T18:26:57.102Z,1348165617.102 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-20T18:26:57.103Z,1348165617.103 [Navigation](DEBUG): Initializing Navigation.
2012-09-20T18:26:57.103Z,1348165617.103 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-20T18:26:57.105Z,1348165617.105 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-20T18:26:57.106Z,1348165617.106 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-20T18:26:57.107Z,1348165617.107 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-20T18:26:57.114Z,1348165617.114 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-20T18:26:57.411Z,1348165617.411 [NavChartDb](INFO): Thread ID is 6736
2012-09-20T18:26:57.424Z,1348165617.424 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T18:26:57.442Z,1348165617.442 [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>


2012-09-20T18:26:57.455Z,1348165617.455 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-20T18:26:57.802Z,1348165617.802 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-20T18:26:57.804Z,1348165617.804 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-20T18:26:57.808Z,1348165617.807 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T18:26:57.828Z,1348165617.828 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-20T18:26:57.831Z,1348165617.831 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T18:26:57.849Z,1348165617.849 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-20T18:26:57.858Z,1348165617.858 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-20T18:26:57.861Z,1348165617.861 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T18:26:57.891Z,1348165617.891 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-20T18:26:57.894Z,1348165617.894 [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>


2012-09-20T18:26:57.899Z,1348165617.898 [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,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-20T18:26:57.943Z,1348165617.943 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-20T18:26:58.427Z,1348165618.427 [Radio_Freewave](INFO): Powering up
2012-09-20T18:26:58.849Z,1348165618.849 [DVL_micro](INFO): Querying output modes
2012-09-20T18:26:58.849Z,1348165618.849 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-20T18:26:58.855Z,1348165618.855 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-09-20T18:26:58.855Z,1348165618.855 [DVL_micro](INFO): NQ1 output enabled
2012-09-20T18:26:58.855Z,1348165618.855 [DVL_micro](INFO): RSSI output enabled
2012-09-20T18:26:58.855Z,1348165618.855 [DVL_micro](INFO): ADCP output enabled
2012-09-20T18:26:58.855Z,1348165618.855 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-20T18:26:58.863Z,1348165618.863 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-20T18:26:58.868Z,1348165618.868 [DVL_micro](INFO): pause:Powering down
2012-09-20T18:26:58.964Z,1348165618.964 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-20T18:26:58.971Z,1348165618.971 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-20T18:26:58.977Z,1348165618.977 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-09-20T18:26:58.983Z,1348165618.983 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-20T18:26:58.988Z,1348165618.989 [MassServo](DEBUG): Initializing MassServo.
2012-09-20T18:26:59.003Z,1348165619.003 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-20T18:26:59.011Z,1348165619.011 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-20T18:26:59.016Z,1348165619.016 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-20T18:26:59.023Z,1348165619.023 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-20T18:26:59.045Z,1348165619.045 [CBIT](DEBUG): Uninitialize CBIT Component.
2012-09-20T18:27:04.042Z,1348165624.042 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-20T18:27:04.043Z,1348165624.043 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xA4A0
2012-09-20T18:27:04.043Z,1348165624.043 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-20T18:27:04.043Z,1348165624.043 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-09-20T18:27:04.043Z,1348165624.043 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-20T18:27:04.047Z,1348165624.047 [NAL9602](INFO): Powering up NAL9602
2012-09-20T18:27:04.119Z,1348165624.119 [DVL_micro](INFO): RSSI unrequested
2012-09-20T18:27:04.119Z,1348165624.119 [DVL_micro](INFO): ADCP unrequested
2012-09-20T18:27:04.119Z,1348165624.119 [DVL_micro](INFO): resume:Powering up
2012-09-20T18:27:04.678Z,1348165624.678 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2012-09-20T18:27:04.679Z,1348165624.679 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2012-09-20T18:27:04.679Z,1348165624.679 [BuoyancyServo] Communications Fault, FailCount= 1
2012-09-20T18:27:04.679Z,1348165624.679 [BuoyancyServo](ERROR): Communications Fault
2012-09-20T18:27:05.627Z,1348165625.626 [DVL_micro](INFO): Querying output modes
2012-09-20T18:27:05.627Z,1348165625.627 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-20T18:27:05.639Z,1348165625.639 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2012-09-20T18:27:05.639Z,1348165625.639 [ElevatorServo](FAULT): Elevator failed to initialize
2012-09-20T18:27:05.639Z,1348165625.639 [ElevatorServo] Communications Fault, FailCount= 1
2012-09-20T18:27:05.639Z,1348165625.639 [ElevatorServo](ERROR): Communications Fault
2012-09-20T18:27:06.192Z,1348165626.192 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2012-09-20T18:27:06.192Z,1348165626.192 [RudderServo](FAULT): Rudder failed to initialize
2012-09-20T18:27:06.192Z,1348165626.192 [RudderServo] Communications Fault, FailCount= 1
2012-09-20T18:27:06.192Z,1348165626.193 [RudderServo](ERROR): Communications Fault
2012-09-20T18:27:07.051Z,1348165627.051 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-09-20T18:27:07.051Z,1348165627.051 [ThrusterServo](FAULT): Thruster failed to initialize
2012-09-20T18:27:07.051Z,1348165627.051 [ThrusterServo] Communications Fault, FailCount= 1
2012-09-20T18:27:07.051Z,1348165627.051 [ThrusterServo](ERROR): Communications Fault
2012-09-20T18:27:07.387Z,1348165627.387 [AHRS_sp3003D](INFO): Powering down
2012-09-20T18:27:07.631Z,1348165627.631 [DVL_micro](DEBUG): cmdResponse: 
2012-09-20T18:27:07.631Z,1348165627.631 [DVL_micro](INFO): Output Modes: No Response
2012-09-20T18:27:07.631Z,1348165627.631 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-20T18:27:07.656Z,1348165627.656 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-20T18:27:07.656Z,1348165627.656 [BuoyancyServo](INFO): Powering down
2012-09-20T18:27:07.708Z,1348165627.708 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-20T18:27:07.708Z,1348165627.708 [ElevatorServo](INFO): Powering down
2012-09-20T18:27:07.755Z,1348165627.755 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-20T18:27:07.755Z,1348165627.755 [RudderServo](INFO): Powering down
2012-09-20T18:27:07.796Z,1348165627.796 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-20T18:27:07.796Z,1348165627.796 [ThrusterServo](INFO): Powering down
2012-09-20T18:27:09.635Z,1348165629.635 [DVL_micro](DEBUG): cmdResponse: 
2012-09-20T18:27:09.640Z,1348165629.640 [DVL_micro](INFO): RSSI unrequested
2012-09-20T18:27:09.640Z,1348165629.640 [DVL_micro](INFO): ADCP unrequested
2012-09-20T18:27:11.147Z,1348165631.147 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-20T18:27:12.655Z,1348165632.655 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-20T18:27:13.183Z,1348165633.182 [DVL_micro](DEBUG): cmdResponse: 
2012-09-20T18:27:13.183Z,1348165633.183 [DVL_micro](INFO): Enabling NQ1 output
2012-09-20T18:27:13.183Z,1348165633.183 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-20T18:27:14.999Z,1348165634.999 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-20T18:27:15.366Z,1348165635.366 [DVL_micro](DEBUG): cmdResponse: 
2012-09-20T18:27:15.367Z,1348165635.367 [DVL_micro](INFO): Querying output modes
2012-09-20T18:27:15.367Z,1348165635.367 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-20T18:27:15.421Z,1348165635.421 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-20T18:27:15.945Z,1348165635.945 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-20T18:27:16.635Z,1348165636.635 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2012-09-20T18:27:16.635Z,1348165636.635 [NAL9602] Communications Fault, FailCount= 1
2012-09-20T18:27:16.635Z,1348165636.635 [NAL9602](ERROR): Communications Fault
2012-09-20T18:27:16.970Z,1348165636.970 [NAL9602](INFO): Powering down
2012-09-20T18:27:17.371Z,1348165637.371 [DVL_micro](DEBUG): cmdResponse: 
2012-09-20T18:27:17.371Z,1348165637.371 [DVL_micro](INFO): Output Modes: No Response
2012-09-20T18:27:17.371Z,1348165637.371 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-20T18:27:17.433Z,1348165637.433 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-20T18:27:17.950Z,1348165637.950 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-20T18:27:18.435Z,1348165638.435 [NavChartDb](INFO): Creating index for Soundings
2012-09-20T18:27:19.035Z,1348165639.035 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-20T18:27:19.037Z,1348165639.037 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-20T18:27:19.550Z,1348165639.550 [DVL_micro](DEBUG): cmdResponse: 
2012-09-20T18:27:19.588Z,1348165639.588 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-20T18:27:19.590Z,1348165639.589 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-20T18:27:20.352Z,1348165640.352 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-20T18:27:20.354Z,1348165640.354 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-20T18:27:20.816Z,1348165640.816 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-20T18:27:21.155Z,1348165641.155 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-20T18:27:21.156Z,1348165641.157 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-20T18:27:21.667Z,1348165641.667 [DVL_micro](INFO): RSSI unrequested
2012-09-20T18:27:21.667Z,1348165641.667 [DVL_micro](INFO): ADCP unrequested
2012-09-20T18:27:21.695Z,1348165641.695 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-20T18:27:21.697Z,1348165641.697 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-20T18:27:21.698Z,1348165641.698 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-20T18:27:21.700Z,1348165641.700 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-20T18:27:22.127Z,1348165642.127 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-20T18:27:22.129Z,1348165642.129 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-20T18:27:22.131Z,1348165642.131 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-20T18:27:22.132Z,1348165642.132 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-20T18:27:22.134Z,1348165642.135 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-20T18:27:22.136Z,1348165642.136 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-20T18:27:22.790Z,1348165642.790 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-20T18:27:22.792Z,1348165642.792 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-20T18:27:23.175Z,1348165643.174 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-20T18:27:23.359Z,1348165643.359 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-20T18:27:23.361Z,1348165643.361 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-20T18:27:24.095Z,1348165644.095 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-20T18:27:24.097Z,1348165644.097 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-20T18:27:24.571Z,1348165644.571 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-20T18:27:24.573Z,1348165644.573 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-20T18:27:24.968Z,1348165644.968 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-20T18:27:24.970Z,1348165644.970 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-20T18:27:25.394Z,1348165645.394 [DVL_micro](DEBUG): cmdResponse: 
2012-09-20T18:27:25.394Z,1348165645.395 [DVL_micro](INFO): Enabling NQ1 output
2012-09-20T18:27:25.395Z,1348165645.395 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-20T18:27:25.424Z,1348165645.424 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-20T18:27:25.426Z,1348165645.426 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-20T18:27:25.965Z,1348165645.965 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.000691
2012-09-20T18:27:27.398Z,1348165647.398 [DVL_micro](DEBUG): cmdResponse: 
2012-09-20T18:27:27.399Z,1348165647.399 [DVL_micro](INFO): Querying output modes
2012-09-20T18:27:27.399Z,1348165647.399 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-20T18:27:29.403Z,1348165649.403 [DVL_micro](DEBUG): cmdResponse: 
2012-09-20T18:27:29.403Z,1348165649.403 [DVL_micro](INFO): Output Modes: No Response
2012-09-20T18:27:29.403Z,1348165649.403 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-20T18:27:31.406Z,1348165651.406 [DVL_micro](DEBUG): cmdResponse: 
2012-09-20T18:27:31.407Z,1348165651.407 [DVL_micro](ERROR): No DVL communication! Re-initializing
2012-09-20T18:27:31.407Z,1348165651.407 [DVL_micro] Communications Fault, FailCount= 1
2012-09-20T18:27:31.407Z,1348165651.407 [DVL_micro](ERROR): Communications Fault
2012-09-20T18:27:31.408Z,1348165651.408 [DVL_micro](INFO): uninitialize:Powering down