2012-09-20T23:17:48.116Z,1348183068.116 [Supervisor](DEBUG): Initializing supervisor.
2012-09-20T23:17:48.118Z,1348183068.118 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-20T23:17:48.119Z,1348183068.119 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-20T23:17:48.122Z,1348183068.122 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-20T23:17:48.126Z,1348183068.126 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-20T23:17:48.137Z,1348183068.137 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-20T23:17:48.138Z,1348183068.138 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-20T23:17:48.139Z,1348183068.139 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-20T23:17:48.140Z,1348183068.140 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-20T23:17:48.142Z,1348183068.142 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-20T23:17:48.579Z,1348183068.579 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-20T23:17:48.581Z,1348183068.582 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-20T23:17:48.883Z,1348183068.883 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-20T23:17:48.884Z,1348183068.884 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-20T23:17:48.982Z,1348183068.982 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-20T23:17:48.984Z,1348183068.984 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-20T23:17:49.203Z,1348183069.203 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-20T23:17:49.204Z,1348183069.204 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-20T23:17:49.351Z,1348183069.351 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-20T23:17:49.353Z,1348183069.353 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-20T23:17:49.614Z,1348183069.614 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-20T23:17:49.614Z,1348183069.615 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-20T23:17:49.803Z,1348183069.803 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-20T23:17:49.805Z,1348183069.805 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-20T23:17:50.092Z,1348183070.092 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-20T23:17:50.094Z,1348183070.094 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-20T23:17:50.207Z,1348183070.207 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-20T23:17:50.208Z,1348183070.208 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-20T23:17:50.664Z,1348183070.664 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-20T23:17:50.664Z,1348183070.664 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-20T23:17:50.787Z,1348183070.787 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-20T23:17:50.788Z,1348183070.788 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-20T23:17:50.883Z,1348183070.883 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-20T23:17:50.887Z,1348183070.887 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-20T23:17:50.998Z,1348183070.998 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-20T23:17:51.144Z,1348183071.144 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-20T23:17:51.242Z,1348183071.242 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-20T23:17:51.358Z,1348183071.358 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-20T23:17:51.476Z,1348183071.476 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-20T23:17:51.609Z,1348183071.609 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-20T23:17:51.715Z,1348183071.714 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-20T23:17:52.784Z,1348183072.784 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-20T23:17:52.797Z,1348183072.797 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-20T23:17:52.831Z,1348183072.831 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-20T23:17:53.018Z,1348183073.018 [InternalSim] Loaded
2012-09-20T23:17:53.018Z,1348183073.018 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-20T23:17:53.019Z,1348183073.019 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-20T23:17:53.020Z,1348183073.020 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-20T23:17:53.103Z,1348183073.103 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-20T23:17:53.116Z,1348183073.116 [SBIT] Loaded
2012-09-20T23:17:53.116Z,1348183073.116 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-20T23:17:53.117Z,1348183073.118 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-20T23:17:53.148Z,1348183073.148 [IBIT] Loaded
2012-09-20T23:17:53.149Z,1348183073.149 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-20T23:17:53.152Z,1348183073.152 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-20T23:17:53.276Z,1348183073.276 [CBIT] Loaded
2012-09-20T23:17:53.276Z,1348183073.276 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-20T23:17:53.276Z,1348183073.276 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-20T23:17:53.277Z,1348183073.277 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-20T23:17:53.444Z,1348183073.444 [BuoyancyServo] Loaded
2012-09-20T23:17:53.445Z,1348183073.445 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-20T23:17:53.457Z,1348183073.457 [RudderServo] Loaded
2012-09-20T23:17:53.458Z,1348183073.457 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-20T23:17:53.468Z,1348183073.468 [ThrusterServo] Loaded
2012-09-20T23:17:53.469Z,1348183073.469 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-20T23:17:53.469Z,1348183073.469 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-20T23:17:53.470Z,1348183073.470 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-20T23:17:53.503Z,1348183073.503 [DepthRateCalculator] Loaded
2012-09-20T23:17:53.503Z,1348183073.503 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-20T23:17:56.277Z,1348183076.277 [HFRadarModelCalc] Loaded
2012-09-20T23:17:56.277Z,1348183076.277 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-20T23:17:56.347Z,1348183076.347 [NavChart] Loaded
2012-09-20T23:17:56.347Z,1348183076.348 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-20T23:17:56.369Z,1348183076.369 [PitchRateCalculator] Loaded
2012-09-20T23:17:56.369Z,1348183076.369 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-20T23:17:56.376Z,1348183076.376 [SpeedCalculator] Loaded
2012-09-20T23:17:56.376Z,1348183076.376 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-20T23:17:56.390Z,1348183076.390 [TempGradientCalculator] Loaded
2012-09-20T23:17:56.391Z,1348183076.391 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-20T23:17:56.396Z,1348183076.396 [YawRateCalculator] Loaded
2012-09-20T23:17:56.396Z,1348183076.396 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-20T23:17:56.420Z,1348183076.420 [Navigation] Loaded
2012-09-20T23:17:56.420Z,1348183076.420 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-20T23:17:56.420Z,1348183076.420 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-20T23:17:56.421Z,1348183076.421 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-20T23:17:56.699Z,1348183076.699 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-20T23:17:56.700Z,1348183076.700 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-20T23:17:56.738Z,1348183076.738 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-20T23:17:56.743Z,1348183076.743 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-20T23:17:56.804Z,1348183076.804 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-20T23:17:56.852Z,1348183076.852 [VerticalControl] Loaded
2012-09-20T23:17:56.852Z,1348183076.852 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-20T23:17:56.853Z,1348183076.853 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-20T23:17:56.873Z,1348183076.873 [HorizontalControl] Loaded
2012-09-20T23:17:56.874Z,1348183076.874 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-20T23:17:56.875Z,1348183076.875 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-20T23:17:56.876Z,1348183076.876 [SpeedControl] Loaded
2012-09-20T23:17:56.877Z,1348183076.876 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-20T23:17:56.877Z,1348183076.877 [LoopControl](DEBUG): Construct LoopControl.
2012-09-20T23:17:56.878Z,1348183076.878 [LoopControl] Loaded
2012-09-20T23:17:56.878Z,1348183076.878 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-20T23:17:56.879Z,1348183076.879 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-20T23:17:56.879Z,1348183076.879 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-20T23:17:56.891Z,1348183076.891 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-20T23:17:56.896Z,1348183076.896 [AsyncPiEstimator] Loaded
2012-09-20T23:17:56.896Z,1348183076.896 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-20T23:17:56.900Z,1348183076.899 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-20T23:17:56.900Z,1348183076.900 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-20T23:17:56.901Z,1348183076.901 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-20T23:17:57.088Z,1348183077.088 [AHRS_sp3003D] Loaded
2012-09-20T23:17:57.089Z,1348183077.089 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-20T23:17:57.101Z,1348183077.101 [Depth_Keller] Loaded
2012-09-20T23:17:57.101Z,1348183077.102 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-20T23:17:57.111Z,1348183077.111 [DropWeight] Loaded
2012-09-20T23:17:57.111Z,1348183077.111 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-20T23:17:57.231Z,1348183077.231 [DVL_micro] Loaded
2012-09-20T23:17:57.231Z,1348183077.231 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-20T23:17:57.235Z,1348183077.235 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-20T23:17:57.317Z,1348183077.318 [NAL9602] Loaded
2012-09-20T23:17:57.318Z,1348183077.318 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-20T23:17:57.370Z,1348183077.370 [Onboard] Loaded
2012-09-20T23:17:57.370Z,1348183077.371 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-20T23:17:57.377Z,1348183077.377 [Radio_Freewave] Loaded
2012-09-20T23:17:57.377Z,1348183077.377 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-20T23:17:57.378Z,1348183077.378 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-20T23:17:57.379Z,1348183077.379 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-20T23:17:57.476Z,1348183077.476 [CTD_NeilBrown] Loaded
2012-09-20T23:17:57.476Z,1348183077.476 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-20T23:17:57.478Z,1348183077.478 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-20T23:17:57.488Z,1348183077.489 [PAR_Licor] Loaded
2012-09-20T23:17:57.489Z,1348183077.489 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-20T23:17:57.509Z,1348183077.509 [Turbulence_NPS] Loaded
2012-09-20T23:17:57.510Z,1348183077.510 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-20T23:17:57.514Z,1348183077.514 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-20T23:17:57.548Z,1348183077.548 [WetLabsBB2FL] Loaded
2012-09-20T23:17:57.549Z,1348183077.549 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-20T23:17:57.550Z,1348183077.550 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-20T23:17:57.551Z,1348183077.551 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-20T23:17:57.553Z,1348183077.553 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-20T23:17:57.554Z,1348183077.554 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-20T23:17:57.560Z,1348183077.560 [NavChartDb](CRITICAL): No configuration setting for: NavChartDb.cycleTimeout
2012-09-20T23:17:57.561Z,1348183077.561 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-20T23:17:57.562Z,1348183077.562 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-20T23:17:57.567Z,1348183077.567 [Supervisor](DEBUG): Running supervisor.
2012-09-20T23:17:57.568Z,1348183077.568 [CommandLine](INFO): Thread ID is 755
2012-09-20T23:17:57.571Z,1348183077.571 [controlThread](INFO): Thread ID is 754
2012-09-20T23:17:57.571Z,1348183077.571 [controlThread](DEBUG): Initializing ControlThread
2012-09-20T23:17:57.572Z,1348183077.572 [CycleStarter](INFO): Thread ID is 753
2012-09-20T23:17:57.572Z,1348183077.572 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-20T23:17:57.684Z,1348183077.684 [AsyncPiEstimator](INFO): Thread ID is 818
2012-09-20T23:17:57.684Z,1348183077.684 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-20T23:17:57.757Z,1348183077.757 [DVL_micro](INFO): Thread ID is 819
2012-09-20T23:17:57.957Z,1348183077.957 [CTD_NeilBrown](INFO): Thread ID is 820
2012-09-20T23:17:57.957Z,1348183077.957 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-20T23:17:58.076Z,1348183078.076 [Turbulence_NPS](INFO): Thread ID is 821
2012-09-20T23:17:58.076Z,1348183078.076 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-20T23:17:58.086Z,1348183078.086 [SBIT](INFO): Initialize SBIT Component.
2012-09-20T23:17:58.091Z,1348183078.091 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-20T23:17:58.091Z,1348183078.092 [IBIT](INFO): Initialize IBIT Component.
2012-09-20T23:17:58.092Z,1348183078.092 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-20T23:17:58.093Z,1348183078.093 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-20T23:17:58.095Z,1348183078.095 [WetLabsBB2FL](INFO): Thread ID is 822
2012-09-20T23:17:58.096Z,1348183078.096 [WetLabsBB2FL](INFO): Powering down
2012-09-20T23:17:58.107Z,1348183078.107 [NavChartDb](INFO): Thread ID is 823
2012-09-20T23:17:58.143Z,1348183078.143 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-20T23:17:58.144Z,1348183078.144 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-20T23:17:58.144Z,1348183078.144 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-20T23:17:58.145Z,1348183078.145 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-20T23:17:58.145Z,1348183078.145 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-20T23:17:58.150Z,1348183078.150 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-20T23:17:58.151Z,1348183078.151 [Navigation](DEBUG): Initializing Navigation.
2012-09-20T23:17:58.151Z,1348183078.151 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-20T23:17:58.153Z,1348183078.153 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-20T23:17:58.154Z,1348183078.154 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-20T23:17:58.154Z,1348183078.154 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-20T23:17:58.163Z,1348183078.163 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-20T23:17:58.208Z,1348183078.208 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T23:17:58.232Z,1348183078.232 [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>


2012-09-20T23:17:58.233Z,1348183078.233 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-20T23:17:58.323Z,1348183078.323 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-20T23:17:58.325Z,1348183078.325 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-20T23:17:58.326Z,1348183078.326 [DVL_micro](INFO): Initializing
2012-09-20T23:17:58.326Z,1348183078.326 [DVL_micro](INFO): start:Powering up
2012-09-20T23:17:58.336Z,1348183078.336 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T23:17:58.348Z,1348183078.348 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-20T23:17:58.352Z,1348183078.352 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T23:17:58.361Z,1348183078.361 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-20T23:17:58.375Z,1348183078.375 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-20T23:17:58.379Z,1348183078.379 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T23:17:58.383Z,1348183078.383 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-20T23:17:58.387Z,1348183078.387 [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>


2012-09-20T23:17:58.398Z,1348183078.398 [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,
2012-09-20T23:17:58.436Z,1348183078.436 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-20T23:17:58.623Z,1348183078.623 [Radio_Freewave](INFO): Powering up
2012-09-20T23:17:58.723Z,1348183078.723 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-20T23:17:58.727Z,1348183078.727 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-20T23:17:58.733Z,1348183078.733 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-20T23:17:58.735Z,1348183078.735 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-20T23:17:58.740Z,1348183078.740 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-20T23:17:58.743Z,1348183078.743 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-20T23:18:02.437Z,1348183082.437 [NAL9602](INFO): Powering up NAL9602
2012-09-20T23:18:05.866Z,1348183085.866 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-20T23:18:06.040Z,1348183086.040 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-20T23:18:06.597Z,1348183086.597 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-20T23:18:06.617Z,1348183086.617 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-20T23:18:06.641Z,1348183086.641 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-20T23:18:06.642Z,1348183086.642 [NavChartDb](INFO): Creating index for Soundings
2012-09-20T23:18:06.665Z,1348183086.665 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-20T23:18:07.047Z,1348183087.047 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-20T23:18:07.049Z,1348183087.049 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-20T23:18:07.123Z,1348183087.123 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-20T23:18:07.125Z,1348183087.125 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-20T23:18:07.160Z,1348183087.160 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-20T23:18:07.162Z,1348183087.162 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-20T23:18:07.241Z,1348183087.241 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-20T23:18:07.407Z,1348183087.407 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-20T23:18:07.409Z,1348183087.409 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-20T23:18:07.499Z,1348183087.499 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-20T23:18:07.501Z,1348183087.501 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-20T23:18:07.579Z,1348183087.579 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-20T23:18:07.581Z,1348183087.581 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-20T23:18:07.628Z,1348183087.628 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-20T23:18:07.629Z,1348183087.629 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-20T23:18:07.920Z,1348183087.920 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-20T23:18:07.922Z,1348183087.922 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-20T23:18:08.196Z,1348183088.196 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-20T23:18:08.198Z,1348183088.198 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-20T23:18:08.352Z,1348183088.352 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-20T23:18:08.354Z,1348183088.354 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-20T23:18:08.504Z,1348183088.504 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-20T23:18:08.506Z,1348183088.506 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-20T23:18:08.965Z,1348183088.964 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-20T23:18:08.967Z,1348183088.967 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-20T23:18:08.969Z,1348183088.968 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-20T23:18:08.970Z,1348183088.970 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-20T23:18:08.972Z,1348183088.972 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-20T23:18:09.911Z,1348183089.911 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-20T23:18:09.928Z,1348183089.928 [NavChartDb](INFO): Creating index for Contour 3657p6