2012-09-20T23:19:48.144Z,1348183188.144 [Supervisor](DEBUG): Initializing supervisor.
2012-09-20T23:19:48.150Z,1348183188.150 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-20T23:19:48.151Z,1348183188.151 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-20T23:19:48.154Z,1348183188.154 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-20T23:19:48.158Z,1348183188.158 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-20T23:19:48.169Z,1348183188.169 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-20T23:19:48.174Z,1348183188.174 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-20T23:19:48.175Z,1348183188.175 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-20T23:19:48.176Z,1348183188.176 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-20T23:19:48.178Z,1348183188.178 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-20T23:19:48.490Z,1348183188.490 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-20T23:19:48.492Z,1348183188.492 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-20T23:19:48.695Z,1348183188.695 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-20T23:19:48.696Z,1348183188.696 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-20T23:19:48.790Z,1348183188.790 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-20T23:19:48.792Z,1348183188.792 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-20T23:19:49.011Z,1348183189.011 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-20T23:19:49.012Z,1348183189.012 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-20T23:19:49.163Z,1348183189.163 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-20T23:19:49.165Z,1348183189.165 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-20T23:19:49.428Z,1348183189.428 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-20T23:19:49.428Z,1348183189.428 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-20T23:19:49.619Z,1348183189.619 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-20T23:19:49.621Z,1348183189.621 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-20T23:19:49.904Z,1348183189.904 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-20T23:19:49.906Z,1348183189.906 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-20T23:19:50.019Z,1348183190.019 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-20T23:19:50.019Z,1348183190.019 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-20T23:19:50.483Z,1348183190.483 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-20T23:19:50.484Z,1348183190.484 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-20T23:19:50.604Z,1348183190.604 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-20T23:19:50.604Z,1348183190.604 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-20T23:19:50.699Z,1348183190.699 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-20T23:19:50.703Z,1348183190.703 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-20T23:19:50.814Z,1348183190.814 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-20T23:19:50.960Z,1348183190.960 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-20T23:19:51.054Z,1348183191.054 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-20T23:19:51.166Z,1348183191.166 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-20T23:19:51.280Z,1348183191.280 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-20T23:19:51.415Z,1348183191.415 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-20T23:19:51.518Z,1348183191.518 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-20T23:19:51.667Z,1348183191.667 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-09-20T23:19:51.705Z,1348183191.704 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-20T23:19:51.913Z,1348183191.913 [InternalSim] Loaded
2012-09-20T23:19:51.914Z,1348183191.914 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-20T23:19:51.915Z,1348183191.915 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-20T23:19:51.915Z,1348183191.915 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-20T23:19:55.118Z,1348183195.118 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-20T23:19:55.131Z,1348183195.131 [SBIT] Loaded
2012-09-20T23:19:55.132Z,1348183195.132 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-20T23:19:55.133Z,1348183195.133 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-20T23:19:55.169Z,1348183195.168 [IBIT] Loaded
2012-09-20T23:19:55.169Z,1348183195.169 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-20T23:19:55.172Z,1348183195.172 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-20T23:19:55.302Z,1348183195.302 [CBIT] Loaded
2012-09-20T23:19:55.302Z,1348183195.302 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-20T23:19:55.303Z,1348183195.303 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-20T23:19:55.303Z,1348183195.303 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-20T23:19:55.928Z,1348183195.928 [BuoyancyServo] Loaded
2012-09-20T23:19:55.929Z,1348183195.929 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-20T23:19:55.942Z,1348183195.942 [RudderServo] Loaded
2012-09-20T23:19:55.943Z,1348183195.943 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-20T23:19:55.954Z,1348183195.954 [ThrusterServo] Loaded
2012-09-20T23:19:55.954Z,1348183195.954 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-20T23:19:55.955Z,1348183195.955 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-20T23:19:55.956Z,1348183195.955 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-20T23:19:55.992Z,1348183195.992 [DepthRateCalculator] Loaded
2012-09-20T23:19:55.992Z,1348183195.992 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-20T23:19:58.710Z,1348183198.710 [HFRadarModelCalc] Loaded
2012-09-20T23:19:58.711Z,1348183198.711 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-20T23:19:58.726Z,1348183198.726 [NavChart] Loaded
2012-09-20T23:19:58.727Z,1348183198.727 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-20T23:19:58.737Z,1348183198.737 [PitchRateCalculator] Loaded
2012-09-20T23:19:58.737Z,1348183198.737 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-20T23:19:58.743Z,1348183198.743 [SpeedCalculator] Loaded
2012-09-20T23:19:58.743Z,1348183198.743 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-20T23:19:58.763Z,1348183198.763 [TempGradientCalculator] Loaded
2012-09-20T23:19:58.763Z,1348183198.763 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-20T23:19:58.769Z,1348183198.769 [YawRateCalculator] Loaded
2012-09-20T23:19:58.769Z,1348183198.769 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-20T23:19:58.789Z,1348183198.789 [Navigation] Loaded
2012-09-20T23:19:58.789Z,1348183198.789 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-20T23:19:58.789Z,1348183198.789 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-20T23:19:58.790Z,1348183198.790 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-20T23:19:59.108Z,1348183199.108 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-20T23:19:59.109Z,1348183199.109 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-20T23:19:59.150Z,1348183199.150 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-20T23:19:59.151Z,1348183199.151 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-20T23:19:59.215Z,1348183199.215 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-20T23:19:59.264Z,1348183199.264 [VerticalControl] Loaded
2012-09-20T23:19:59.264Z,1348183199.264 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-20T23:19:59.266Z,1348183199.266 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-20T23:19:59.290Z,1348183199.290 [HorizontalControl] Loaded
2012-09-20T23:19:59.290Z,1348183199.290 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-20T23:19:59.291Z,1348183199.291 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-20T23:19:59.293Z,1348183199.293 [SpeedControl] Loaded
2012-09-20T23:19:59.293Z,1348183199.293 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-20T23:19:59.294Z,1348183199.294 [LoopControl](DEBUG): Construct LoopControl.
2012-09-20T23:19:59.295Z,1348183199.295 [LoopControl] Loaded
2012-09-20T23:19:59.295Z,1348183199.295 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-20T23:19:59.296Z,1348183199.296 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-20T23:19:59.296Z,1348183199.296 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-20T23:19:59.304Z,1348183199.304 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-20T23:19:59.309Z,1348183199.309 [AsyncPiEstimator] Loaded
2012-09-20T23:19:59.309Z,1348183199.309 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-20T23:19:59.314Z,1348183199.314 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-20T23:19:59.315Z,1348183199.315 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-20T23:19:59.316Z,1348183199.316 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-20T23:19:59.488Z,1348183199.489 [AHRS_sp3003D] Loaded
2012-09-20T23:19:59.489Z,1348183199.489 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-20T23:19:59.507Z,1348183199.507 [Depth_Keller] Loaded
2012-09-20T23:19:59.507Z,1348183199.507 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-20T23:19:59.512Z,1348183199.512 [DropWeight] Loaded
2012-09-20T23:19:59.512Z,1348183199.513 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-20T23:19:59.646Z,1348183199.646 [DVL_micro] Loaded
2012-09-20T23:19:59.646Z,1348183199.646 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-20T23:19:59.650Z,1348183199.650 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-20T23:19:59.742Z,1348183199.741 [NAL9602] Loaded
2012-09-20T23:19:59.742Z,1348183199.742 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-20T23:19:59.797Z,1348183199.797 [Onboard] Loaded
2012-09-20T23:19:59.797Z,1348183199.797 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-20T23:19:59.808Z,1348183199.808 [Radio_Freewave] Loaded
2012-09-20T23:19:59.808Z,1348183199.808 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-20T23:19:59.809Z,1348183199.809 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-20T23:19:59.810Z,1348183199.810 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-20T23:19:59.914Z,1348183199.914 [CTD_NeilBrown] Loaded
2012-09-20T23:19:59.914Z,1348183199.914 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-20T23:19:59.918Z,1348183199.918 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-20T23:19:59.929Z,1348183199.929 [PAR_Licor] Loaded
2012-09-20T23:19:59.929Z,1348183199.929 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-20T23:19:59.950Z,1348183199.950 [Turbulence_NPS] Loaded
2012-09-20T23:19:59.951Z,1348183199.951 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-20T23:19:59.954Z,1348183199.954 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-20T23:19:59.989Z,1348183199.989 [WetLabsBB2FL] Loaded
2012-09-20T23:19:59.990Z,1348183199.990 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-20T23:19:59.994Z,1348183199.994 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-20T23:19:59.995Z,1348183199.995 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-20T23:19:59.997Z,1348183199.997 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-20T23:19:59.998Z,1348183199.998 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-20T23:20:00.004Z,1348183200.004 [NavChartDb](CRITICAL): No configuration setting for: NavChartDb.cycleTimeout
2012-09-20T23:20:00.005Z,1348183200.005 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-20T23:20:00.010Z,1348183200.010 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-20T23:20:00.015Z,1348183200.015 [Supervisor](DEBUG): Running supervisor.
2012-09-20T23:20:00.016Z,1348183200.016 [CommandLine](INFO): Thread ID is 750
2012-09-20T23:20:00.019Z,1348183200.019 [controlThread](INFO): Thread ID is 749
2012-09-20T23:20:00.019Z,1348183200.019 [controlThread](DEBUG): Initializing ControlThread
2012-09-20T23:20:00.020Z,1348183200.020 [CycleStarter](INFO): Thread ID is 748
2012-09-20T23:20:00.020Z,1348183200.020 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-20T23:20:00.131Z,1348183200.131 [AsyncPiEstimator](INFO): Thread ID is 811
2012-09-20T23:20:00.132Z,1348183200.132 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-20T23:20:00.203Z,1348183200.203 [DVL_micro](INFO): Thread ID is 812
2012-09-20T23:20:01.012Z,1348183201.012 [SBIT](INFO): Initialize SBIT Component.
2012-09-20T23:20:01.012Z,1348183201.012 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-20T23:20:01.013Z,1348183201.013 [IBIT](INFO): Initialize IBIT Component.
2012-09-20T23:20:01.014Z,1348183201.014 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-20T23:20:01.014Z,1348183201.014 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-09-20T23:20:01.014Z,1348183201.014 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-20T23:20:01.015Z,1348183201.015 [CTD_NeilBrown](INFO): Thread ID is 813
2012-09-20T23:20:01.015Z,1348183201.015 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-20T23:20:01.032Z,1348183201.032 [Turbulence_NPS](INFO): Thread ID is 814
2012-09-20T23:20:01.032Z,1348183201.032 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-20T23:20:01.039Z,1348183201.039 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-20T23:20:01.040Z,1348183201.039 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-20T23:20:01.040Z,1348183201.040 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-20T23:20:01.040Z,1348183201.040 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-20T23:20:01.040Z,1348183201.040 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-20T23:20:01.042Z,1348183201.042 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-20T23:20:01.042Z,1348183201.042 [Navigation](DEBUG): Initializing Navigation.
2012-09-20T23:20:01.042Z,1348183201.042 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-20T23:20:01.044Z,1348183201.044 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-20T23:20:01.045Z,1348183201.045 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-20T23:20:01.045Z,1348183201.045 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-20T23:20:01.053Z,1348183201.053 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-20T23:20:01.060Z,1348183201.060 [WetLabsBB2FL](INFO): Thread ID is 815
2012-09-20T23:20:01.061Z,1348183201.061 [WetLabsBB2FL](INFO): Powering down
2012-09-20T23:20:01.072Z,1348183201.072 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T23:20:01.083Z,1348183201.083 [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>


2012-09-20T23:20:01.084Z,1348183201.084 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-20T23:20:01.115Z,1348183201.115 [NavChartDb](INFO): Thread ID is 816
2012-09-20T23:20:01.122Z,1348183201.122 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-20T23:20:01.138Z,1348183201.138 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-20T23:20:01.141Z,1348183201.141 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T23:20:01.190Z,1348183201.190 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-20T23:20:01.193Z,1348183201.193 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T23:20:01.207Z,1348183201.207 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-20T23:20:01.216Z,1348183201.216 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-20T23:20:01.219Z,1348183201.219 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T23:20:01.224Z,1348183201.224 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-20T23:20:01.228Z,1348183201.228 [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>


2012-09-20T23:20:01.232Z,1348183201.232 [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,
2012-09-20T23:20:01.257Z,1348183201.257 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-20T23:20:01.499Z,1348183201.499 [Radio_Freewave](INFO): Powering up
2012-09-20T23:20:01.515Z,1348183201.515 [PAR_Licor](ERROR): PAR reading out of range: 6665.399414 uMol/s/m2
2012-09-20T23:20:01.615Z,1348183201.615 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-20T23:20:01.618Z,1348183201.618 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-20T23:20:01.625Z,1348183201.625 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-20T23:20:01.627Z,1348183201.626 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-20T23:20:01.632Z,1348183201.632 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-20T23:20:01.635Z,1348183201.635 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-20T23:20:02.825Z,1348183202.825 [DVL_micro](INFO): Initializing
2012-09-20T23:20:02.825Z,1348183202.825 [DVL_micro](INFO): start:Powering up
2012-09-20T23:20:05.032Z,1348183205.032 [NAL9602](INFO): Powering up NAL9602
2012-09-20T23:20:05.666Z,1348183205.666 [ThrusterServo](FAULT): Thruster initialization uart error:serial timeout
2012-09-20T23:20:05.666Z,1348183205.666 [ThrusterServo] Communications Fault, FailCount= 1
2012-09-20T23:20:05.666Z,1348183205.666 [ThrusterServo](ERROR): Communications Fault
2012-09-20T23:20:05.669Z,1348183205.669 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-09-20T23:20:06.111Z,1348183206.111 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-20T23:20:06.112Z,1348183206.112 [ThrusterServo](INFO): Powering down
2012-09-20T23:20:06.132Z,1348183206.132 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-09-20T23:20:06.132Z,1348183206.132 [ThrusterServo] No Fault, FailCount= 1
2012-09-20T23:20:06.173Z,1348183206.173 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-20T23:20:06.459Z,1348183206.459 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-20T23:20:06.487Z,1348183206.487 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-20T23:20:06.527Z,1348183206.527 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-20T23:20:06.539Z,1348183206.539 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-20T23:20:06.540Z,1348183206.540 [NavChartDb](INFO): Creating index for Soundings
2012-09-20T23:20:06.672Z,1348183206.672 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-20T23:20:06.858Z,1348183206.858 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-20T23:20:06.906Z,1348183206.906 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-20T23:20:06.908Z,1348183206.908 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-20T23:20:06.990Z,1348183206.990 [ThrusterServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-20T23:20:06.991Z,1348183206.991 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-20T23:20:07.190Z,1348183207.190 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-20T23:20:07.192Z,1348183207.192 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-20T23:20:07.462Z,1348183207.462 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-20T23:20:07.464Z,1348183207.464 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-20T23:20:07.486Z,1348183207.486 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-20T23:20:07.488Z,1348183207.488 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-20T23:20:07.751Z,1348183207.751 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-20T23:20:07.783Z,1348183207.783 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-20T23:20:07.785Z,1348183207.785 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-20T23:20:08.396Z,1348183208.396 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-20T23:20:08.398Z,1348183208.398 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-20T23:20:08.588Z,1348183208.588 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-20T23:20:08.590Z,1348183208.590 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-20T23:20:08.928Z,1348183208.928 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-20T23:20:08.930Z,1348183208.930 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-20T23:20:09.280Z,1348183209.280 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-20T23:20:09.418Z,1348183209.418 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-20T23:20:09.420Z,1348183209.420 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-20T23:20:09.718Z,1348183209.718 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-20T23:20:09.720Z,1348183209.720 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-20T23:20:09.722Z,1348183209.722 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-20T23:20:09.792Z,1348183209.792 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-20T23:20:09.854Z,1348183209.854 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-20T23:20:09.856Z,1348183209.856 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-20T23:20:09.962Z,1348183209.962 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-20T23:20:09.965Z,1348183209.965 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-20T23:20:10.138Z,1348183210.138 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-20T23:20:10.156Z,1348183210.156 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-20T23:20:15.606Z,1348183215.606 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:pCopyright(c) 2010
NAL Research Corporation
2012-09-20T23:20:15.606Z,1348183215.606 [NAL9602] Communications Fault, FailCount= 1
2012-09-20T23:20:15.606Z,1348183215.606 [NAL9602](ERROR): Communications Fault
2012-09-20T23:20:15.639Z,1348183215.639 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-09-20T23:20:15.742Z,1348183215.742 [DVL_micro](INFO): Querying output modes
2012-09-20T23:20:15.743Z,1348183215.743 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-20T23:20:15.976Z,1348183215.976 [NAL9602](INFO): Powering down
2012-09-20T23:20:16.047Z,1348183216.047 [CBIT](INFO): Clearing failed state for component NAL9602
2012-09-20T23:20:16.047Z,1348183216.047 [NAL9602] No Fault, FailCount= 1
2012-09-20T23:20:16.417Z,1348183216.417 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-20T23:20:16.419Z,1348183216.419 [CBIT](IMPORTANT): Beginning GF scan
2012-09-20T23:20:17.240Z,1348183217.240 [Radio_Freewave](INFO): Powering down
2012-09-20T23:20:17.617Z,1348183217.617 [Radio_Freewave](INFO): Powering up
2012-09-20T23:20:18.263Z,1348183218.263 [AHRS_sp3003D](FAULT): Read Acceleration Vector Failure.
2012-09-20T23:20:18.263Z,1348183218.263 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-20T23:20:18.263Z,1348183218.263 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-20T23:20:18.737Z,1348183218.737 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-20T23:20:18.785Z,1348183218.785 [AHRS_sp3003D](INFO): Powering down
2012-09-20T23:20:19.318Z,1348183219.318 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-20T23:20:19.318Z,1348183219.318 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-20T23:20:20.530Z,1348183220.530 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-20T23:20:22.121Z,1348183222.121 [NAL9602](INFO): Powering up NAL9602
2012-09-20T23:20:23.203Z,1348183223.203 [AHRS_sp3003D](FAULT): Read Acceleration Vector Failure.
2012-09-20T23:20:23.203Z,1348183223.203 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-20T23:20:23.203Z,1348183223.203 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-20T23:20:23.912Z,1348183223.912 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-20T23:20:23.963Z,1348183223.963 [AHRS_sp3003D](INFO): Powering down
2012-09-20T23:20:24.538Z,1348183224.538 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-20T23:20:24.539Z,1348183224.539 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-20T23:20:25.982Z,1348183225.982 [DVL_micro](DEBUG): cmdResponse: 
2012-09-20T23:20:25.983Z,1348183225.983 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-20T23:20:26.043Z,1348183226.043 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-20T23:20:27.607Z,1348183227.607 [AHRS_sp3003D](FAULT): Read Magnetics Failure.
2012-09-20T23:20:27.607Z,1348183227.607 [AHRS_sp3003D] Communications Fault, FailCount= 2
2012-09-20T23:20:27.607Z,1348183227.607 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-20T23:20:27.671Z,1348183227.671 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-20T23:20:27.706Z,1348183227.706 [AHRS_sp3003D](INFO): Powering down
2012-09-20T23:20:28.596Z,1348183228.596 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-20T23:20:28.597Z,1348183228.597 [AHRS_sp3003D] No Fault, FailCount= 2
2012-09-20T23:20:29.109Z,1348183229.109 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-20T23:20:31.083Z,1348183231.083 [AHRS_sp3003D](FAULT): Read Acceleration Vector Failure.
2012-09-20T23:20:31.083Z,1348183231.083 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-20T23:20:31.083Z,1348183231.083 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-20T23:20:31.154Z,1348183231.154 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-20T23:20:31.226Z,1348183231.226 [AHRS_sp3003D](INFO): Powering down
2012-09-20T23:20:32.010Z,1348183232.010 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-20T23:20:32.010Z,1348183232.010 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-20T23:20:33.554Z,1348183233.554 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-20T23:20:34.546Z,1348183234.546 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:Copyright(c) 2010
NAL Research Corporation
2012-09-20T23:20:34.546Z,1348183234.546 [NAL9602] Communications Fault, FailCount= 2
2012-09-20T23:20:34.546Z,1348183234.546 [NAL9602](ERROR): Communications Fault
2012-09-20T23:20:35.594Z,1348183235.594 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-09-20T23:20:35.595Z,1348183235.595 [CBIT](CRITICAL): Communications Fault in component: NAL9602
2012-09-20T23:20:35.680Z,1348183235.680 [NAL9602](INFO): Powering down
2012-09-20T23:20:36.039Z,1348183236.039 [DVL_micro](DEBUG): cmdResponse: 
AUTO_VEL_ON 
2012-09-20T23:20:36.056Z,1348183236.056 [DVL_micro](INFO): pause:Powering down