2012-09-20T23:24:15.141Z,1348183455.141 [Supervisor](DEBUG): Initializing supervisor.
2012-09-20T23:24:15.147Z,1348183455.147 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-20T23:24:15.147Z,1348183455.147 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-20T23:24:15.150Z,1348183455.151 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-20T23:24:15.154Z,1348183455.154 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-20T23:24:15.165Z,1348183455.165 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-20T23:24:15.167Z,1348183455.167 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-20T23:24:15.168Z,1348183455.168 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-20T23:24:15.168Z,1348183455.168 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-20T23:24:15.171Z,1348183455.171 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-20T23:24:15.483Z,1348183455.483 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-20T23:24:15.486Z,1348183455.486 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-20T23:24:15.687Z,1348183455.687 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-20T23:24:15.688Z,1348183455.688 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-20T23:24:15.782Z,1348183455.782 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-20T23:24:15.784Z,1348183455.784 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-20T23:24:16.003Z,1348183456.003 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-20T23:24:16.004Z,1348183456.004 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-20T23:24:16.151Z,1348183456.151 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-20T23:24:16.153Z,1348183456.153 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-20T23:24:16.414Z,1348183456.414 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-20T23:24:16.415Z,1348183456.415 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-20T23:24:16.602Z,1348183456.602 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-20T23:24:16.604Z,1348183456.604 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-20T23:24:16.888Z,1348183456.888 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-20T23:24:16.890Z,1348183456.890 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-20T23:24:17.003Z,1348183457.003 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-20T23:24:17.004Z,1348183457.004 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-20T23:24:17.465Z,1348183457.465 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-20T23:24:17.465Z,1348183457.465 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-20T23:24:17.583Z,1348183457.583 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-20T23:24:17.584Z,1348183457.584 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-20T23:24:17.679Z,1348183457.680 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-20T23:24:17.683Z,1348183457.683 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-20T23:24:17.794Z,1348183457.794 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-20T23:24:17.940Z,1348183457.940 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-20T23:24:18.034Z,1348183458.034 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-20T23:24:18.146Z,1348183458.146 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-20T23:24:18.256Z,1348183458.256 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-20T23:24:18.388Z,1348183458.388 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-20T23:24:18.490Z,1348183458.490 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-20T23:24:18.640Z,1348183458.640 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-09-20T23:24:18.681Z,1348183458.681 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-20T23:24:18.875Z,1348183458.875 [InternalSim] Loaded
2012-09-20T23:24:18.876Z,1348183458.875 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-20T23:24:18.876Z,1348183458.876 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-20T23:24:18.877Z,1348183458.877 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-20T23:24:21.405Z,1348183461.405 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-20T23:24:21.417Z,1348183461.418 [SBIT] Loaded
2012-09-20T23:24:21.418Z,1348183461.418 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-20T23:24:21.419Z,1348183461.419 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-20T23:24:21.450Z,1348183461.450 [IBIT] Loaded
2012-09-20T23:24:21.450Z,1348183461.450 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-20T23:24:21.457Z,1348183461.457 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-20T23:24:21.578Z,1348183461.578 [CBIT] Loaded
2012-09-20T23:24:21.578Z,1348183461.578 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-20T23:24:21.579Z,1348183461.579 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-20T23:24:21.579Z,1348183461.579 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-20T23:24:22.229Z,1348183462.229 [BuoyancyServo] Loaded
2012-09-20T23:24:22.229Z,1348183462.229 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-20T23:24:22.242Z,1348183462.242 [RudderServo] Loaded
2012-09-20T23:24:22.242Z,1348183462.242 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-20T23:24:22.253Z,1348183462.253 [ThrusterServo] Loaded
2012-09-20T23:24:22.254Z,1348183462.254 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-20T23:24:22.254Z,1348183462.254 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-20T23:24:22.255Z,1348183462.255 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-20T23:24:22.287Z,1348183462.287 [DepthRateCalculator] Loaded
2012-09-20T23:24:22.287Z,1348183462.287 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-20T23:24:24.968Z,1348183464.968 [HFRadarModelCalc] Loaded
2012-09-20T23:24:24.968Z,1348183464.968 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-20T23:24:24.983Z,1348183464.983 [NavChart] Loaded
2012-09-20T23:24:24.984Z,1348183464.984 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-20T23:24:24.989Z,1348183464.989 [PitchRateCalculator] Loaded
2012-09-20T23:24:24.989Z,1348183464.989 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-20T23:24:24.995Z,1348183464.995 [SpeedCalculator] Loaded
2012-09-20T23:24:24.996Z,1348183464.996 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-20T23:24:25.010Z,1348183465.010 [TempGradientCalculator] Loaded
2012-09-20T23:24:25.011Z,1348183465.011 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-20T23:24:25.016Z,1348183465.016 [YawRateCalculator] Loaded
2012-09-20T23:24:25.016Z,1348183465.016 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-20T23:24:25.036Z,1348183465.036 [Navigation] Loaded
2012-09-20T23:24:25.037Z,1348183465.037 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-20T23:24:25.037Z,1348183465.037 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-20T23:24:25.038Z,1348183465.038 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-20T23:24:25.320Z,1348183465.320 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-20T23:24:25.321Z,1348183465.321 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-20T23:24:25.365Z,1348183465.365 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-20T23:24:25.366Z,1348183465.366 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-20T23:24:25.434Z,1348183465.434 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-20T23:24:25.478Z,1348183465.478 [VerticalControl] Loaded
2012-09-20T23:24:25.479Z,1348183465.478 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-20T23:24:25.479Z,1348183465.480 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-20T23:24:25.500Z,1348183465.500 [HorizontalControl] Loaded
2012-09-20T23:24:25.500Z,1348183465.500 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-20T23:24:25.501Z,1348183465.501 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-20T23:24:25.503Z,1348183465.503 [SpeedControl] Loaded
2012-09-20T23:24:25.503Z,1348183465.503 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-20T23:24:25.504Z,1348183465.504 [LoopControl](DEBUG): Construct LoopControl.
2012-09-20T23:24:25.505Z,1348183465.505 [LoopControl] Loaded
2012-09-20T23:24:25.505Z,1348183465.505 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-20T23:24:25.505Z,1348183465.505 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-20T23:24:25.506Z,1348183465.506 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-20T23:24:25.515Z,1348183465.515 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-20T23:24:25.519Z,1348183465.519 [AsyncPiEstimator] Loaded
2012-09-20T23:24:25.520Z,1348183465.520 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-20T23:24:25.522Z,1348183465.523 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-20T23:24:25.523Z,1348183465.523 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-20T23:24:25.524Z,1348183465.524 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-20T23:24:25.696Z,1348183465.696 [AHRS_sp3003D] Loaded
2012-09-20T23:24:25.696Z,1348183465.696 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-20T23:24:25.709Z,1348183465.709 [Depth_Keller] Loaded
2012-09-20T23:24:25.710Z,1348183465.710 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-20T23:24:25.715Z,1348183465.715 [DropWeight] Loaded
2012-09-20T23:24:25.715Z,1348183465.715 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-20T23:24:25.839Z,1348183465.839 [DVL_micro] Loaded
2012-09-20T23:24:25.839Z,1348183465.839 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-20T23:24:25.843Z,1348183465.843 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-20T23:24:25.929Z,1348183465.930 [NAL9602] Loaded
2012-09-20T23:24:25.930Z,1348183465.930 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-20T23:24:25.983Z,1348183465.983 [Onboard] Loaded
2012-09-20T23:24:25.983Z,1348183465.983 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-20T23:24:25.989Z,1348183465.989 [Radio_Freewave] Loaded
2012-09-20T23:24:25.990Z,1348183465.990 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-20T23:24:25.991Z,1348183465.991 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-20T23:24:25.991Z,1348183465.991 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-20T23:24:26.089Z,1348183466.089 [CTD_NeilBrown] Loaded
2012-09-20T23:24:26.090Z,1348183466.089 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-20T23:24:26.095Z,1348183466.095 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-20T23:24:26.105Z,1348183466.105 [PAR_Licor] Loaded
2012-09-20T23:24:26.105Z,1348183466.105 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-20T23:24:26.122Z,1348183466.122 [Turbulence_NPS] Loaded
2012-09-20T23:24:26.122Z,1348183466.122 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-20T23:24:26.126Z,1348183466.126 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-20T23:24:26.161Z,1348183466.161 [WetLabsBB2FL] Loaded
2012-09-20T23:24:26.161Z,1348183466.161 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-20T23:24:26.162Z,1348183466.162 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-20T23:24:26.163Z,1348183466.163 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-20T23:24:26.166Z,1348183466.165 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-20T23:24:26.166Z,1348183466.166 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-20T23:24:26.172Z,1348183466.172 [NavChartDb](CRITICAL): No configuration setting for: NavChartDb.cycleTimeout
2012-09-20T23:24:26.173Z,1348183466.173 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-20T23:24:26.178Z,1348183466.178 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-20T23:24:26.183Z,1348183466.183 [Supervisor](DEBUG): Running supervisor.
2012-09-20T23:24:26.184Z,1348183466.184 [CommandLine](INFO): Thread ID is 749
2012-09-20T23:24:26.187Z,1348183466.187 [controlThread](INFO): Thread ID is 748
2012-09-20T23:24:26.187Z,1348183466.187 [controlThread](DEBUG): Initializing ControlThread
2012-09-20T23:24:26.188Z,1348183466.188 [CycleStarter](INFO): Thread ID is 747
2012-09-20T23:24:26.189Z,1348183466.188 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-20T23:24:26.301Z,1348183466.301 [AsyncPiEstimator](INFO): Thread ID is 810
2012-09-20T23:24:26.301Z,1348183466.301 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-20T23:24:26.374Z,1348183466.374 [DVL_micro](INFO): Thread ID is 811
2012-09-20T23:24:26.443Z,1348183466.443 [CTD_NeilBrown](INFO): Thread ID is 812
2012-09-20T23:24:26.443Z,1348183466.443 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-20T23:24:26.529Z,1348183466.529 [Turbulence_NPS](INFO): Thread ID is 813
2012-09-20T23:24:26.530Z,1348183466.530 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-20T23:24:26.542Z,1348183466.542 [SBIT](INFO): Initialize SBIT Component.
2012-09-20T23:24:26.542Z,1348183466.542 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-20T23:24:26.543Z,1348183466.543 [IBIT](INFO): Initialize IBIT Component.
2012-09-20T23:24:26.544Z,1348183466.544 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-20T23:24:26.544Z,1348183466.544 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-09-20T23:24:26.544Z,1348183466.545 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-20T23:24:26.571Z,1348183466.571 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-20T23:24:26.572Z,1348183466.572 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-20T23:24:26.572Z,1348183466.572 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-20T23:24:26.572Z,1348183466.572 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-20T23:24:26.572Z,1348183466.572 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-20T23:24:26.574Z,1348183466.574 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-20T23:24:26.574Z,1348183466.574 [Navigation](DEBUG): Initializing Navigation.
2012-09-20T23:24:26.575Z,1348183466.575 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-20T23:24:26.576Z,1348183466.576 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-20T23:24:26.577Z,1348183466.577 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-20T23:24:26.577Z,1348183466.578 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-20T23:24:26.635Z,1348183466.635 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-20T23:24:26.637Z,1348183466.637 [WetLabsBB2FL](INFO): Thread ID is 814
2012-09-20T23:24:26.638Z,1348183466.638 [WetLabsBB2FL](INFO): Powering down
2012-09-20T23:24:26.661Z,1348183466.661 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T23:24:26.690Z,1348183466.690 [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>


2012-09-20T23:24:26.691Z,1348183466.691 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-20T23:24:26.692Z,1348183466.693 [NavChartDb](INFO): Thread ID is 815
2012-09-20T23:24:26.798Z,1348183466.798 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-20T23:24:26.800Z,1348183466.800 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-20T23:24:26.803Z,1348183466.803 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T23:24:26.811Z,1348183466.811 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-20T23:24:26.814Z,1348183466.814 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T23:24:26.821Z,1348183466.821 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-20T23:24:26.830Z,1348183466.829 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-20T23:24:26.833Z,1348183466.833 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-20T23:24:26.842Z,1348183466.842 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-20T23:24:26.845Z,1348183466.845 [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>


2012-09-20T23:24:26.850Z,1348183466.850 [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,
2012-09-20T23:24:26.870Z,1348183466.870 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-20T23:24:26.963Z,1348183466.963 [DVL_micro](INFO): Initializing
2012-09-20T23:24:26.963Z,1348183466.963 [DVL_micro](INFO): start:Powering up
2012-09-20T23:24:27.096Z,1348183467.096 [Radio_Freewave](INFO): Powering up
2012-09-20T23:24:27.204Z,1348183467.204 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-20T23:24:27.207Z,1348183467.207 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-20T23:24:27.213Z,1348183467.213 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-20T23:24:27.214Z,1348183467.214 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-20T23:24:27.220Z,1348183467.220 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-20T23:24:27.223Z,1348183467.223 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-20T23:24:31.325Z,1348183471.325 [NAL9602](INFO): Powering up NAL9602
2012-09-20T23:24:32.210Z,1348183472.210 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-20T23:24:32.248Z,1348183472.248 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-20T23:24:32.260Z,1348183472.260 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-20T23:24:32.276Z,1348183472.276 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-20T23:24:32.301Z,1348183472.300 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-20T23:24:32.301Z,1348183472.301 [NavChartDb](INFO): Creating index for Soundings
2012-09-20T23:24:32.525Z,1348183472.525 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-20T23:24:32.767Z,1348183472.767 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-20T23:24:32.769Z,1348183472.769 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-20T23:24:33.080Z,1348183473.080 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-20T23:24:33.082Z,1348183473.082 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-20T23:24:33.100Z,1348183473.100 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-20T23:24:33.102Z,1348183473.102 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-20T23:24:33.296Z,1348183473.296 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-20T23:24:33.298Z,1348183473.298 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-20T23:24:33.536Z,1348183473.536 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-20T23:24:33.538Z,1348183473.538 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-20T23:24:33.812Z,1348183473.812 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-20T23:24:33.814Z,1348183473.814 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-20T23:24:34.132Z,1348183474.132 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-20T23:24:34.134Z,1348183474.134 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-20T23:24:34.302Z,1348183474.302 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-20T23:24:34.448Z,1348183474.448 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-20T23:24:34.450Z,1348183474.450 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-20T23:24:34.724Z,1348183474.724 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-20T23:24:34.726Z,1348183474.726 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-20T23:24:34.784Z,1348183474.784 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-20T23:24:34.786Z,1348183474.786 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-20T23:24:34.920Z,1348183474.920 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-20T23:24:34.922Z,1348183474.922 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-20T23:24:34.996Z,1348183474.996 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-20T23:24:34.998Z,1348183474.998 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-20T23:24:35.232Z,1348183475.232 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-20T23:24:35.607Z,1348183475.607 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-20T23:24:35.609Z,1348183475.609 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-20T23:24:36.027Z,1348183476.027 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-20T23:24:36.029Z,1348183476.029 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-20T23:24:41.131Z,1348183481.131 [DVL_micro](INFO): Querying output modes
2012-09-20T23:24:41.131Z,1348183481.131 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-20T23:24:41.795Z,1348183481.795 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:pCopyright(c) 2010
NAL Research Corporation
2012-09-20T23:24:41.795Z,1348183481.795 [NAL9602] Communications Fault, FailCount= 1
2012-09-20T23:24:41.795Z,1348183481.795 [NAL9602](ERROR): Communications Fault
2012-09-20T23:24:41.861Z,1348183481.861 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-09-20T23:24:42.184Z,1348183482.184 [NAL9602](INFO): Powering down
2012-09-20T23:24:42.274Z,1348183482.274 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-20T23:24:42.276Z,1348183482.276 [CBIT](INFO): Clearing failed state for component NAL9602
2012-09-20T23:24:42.276Z,1348183482.276 [NAL9602] No Fault, FailCount= 1
2012-09-20T23:24:42.276Z,1348183482.276 [CBIT](IMPORTANT): Beginning GF scan
2012-09-20T23:24:42.998Z,1348183482.997 [Radio_Freewave](INFO): Powering down
2012-09-20T23:24:43.429Z,1348183483.429 [Radio_Freewave](INFO): Powering up
2012-09-20T23:24:44.867Z,1348183484.867 [AHRS_sp3003D](FAULT): Read Acceleration Vector Failure.
2012-09-20T23:24:44.868Z,1348183484.868 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-20T23:24:44.868Z,1348183484.868 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-20T23:24:45.322Z,1348183485.322 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-20T23:24:45.369Z,1348183485.369 [AHRS_sp3003D](INFO): Powering down
2012-09-20T23:24:45.914Z,1348183485.914 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-20T23:24:45.914Z,1348183485.914 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-20T23:24:46.753Z,1348183486.753 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-20T23:24:47.245Z,1348183487.245 [NAL9602](INFO): Powering up NAL9602
2012-09-20T23:24:51.139Z,1348183491.139 [DVL_micro](DEBUG): cmdResponse: 
2012-09-20T23:24:51.139Z,1348183491.139 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-20T23:24:51.443Z,1348183491.443 [AHRS_sp3003D](FAULT): Read Magnetics Failure.
2012-09-20T23:24:51.443Z,1348183491.443 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-20T23:24:51.443Z,1348183491.443 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-20T23:24:51.486Z,1348183491.486 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-20T23:24:51.529Z,1348183491.529 [AHRS_sp3003D](INFO): Powering down
2012-09-20T23:24:52.431Z,1348183492.431 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-20T23:24:52.431Z,1348183492.431 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-20T23:24:52.865Z,1348183492.865 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-20T23:24:58.919Z,1348183498.919 [AHRS_sp3003D](FAULT): Read Heading/Pitch/Roll Failure.
2012-09-20T23:24:58.919Z,1348183498.919 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-20T23:24:58.919Z,1348183498.919 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-20T23:24:58.928Z,1348183498.928 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:Copyright(c) 2010
NAL Research Corporation
2012-09-20T23:24:58.928Z,1348183498.928 [NAL9602] Communications Fault, FailCount= 2
2012-09-20T23:24:58.928Z,1348183498.928 [NAL9602](ERROR): Communications Fault
2012-09-20T23:24:59.975Z,1348183499.975 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-20T23:24:59.975Z,1348183499.975 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-09-20T23:24:59.975Z,1348183499.976 [CBIT](CRITICAL): Communications Fault in component: NAL9602
2012-09-20T23:25:00.056Z,1348183500.056 [AHRS_sp3003D](INFO): Powering down
2012-09-20T23:25:00.156Z,1348183500.156 [NAL9602](INFO): Powering down
2012-09-20T23:25:00.282Z,1348183500.282 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-20T23:25:00.282Z,1348183500.282 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-20T23:25:01.331Z,1348183501.331 [DVL_micro](DEBUG): cmdResponse: 
AUTO_VEL_ON 
2012-09-20T23:25:01.343Z,1348183501.343 [DVL_micro](INFO): pause:Powering down
2012-09-20T23:25:01.400Z,1348183501.400 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-20T23:25:10.642Z,1348183510.642 [CBIT](IMPORTANT): No ground fault detected
2012-09-20T23:25:37.036Z,1348183537.036 [SBIT](IMPORTANT): SBIT PASSED
2012-09-20T23:25:37.431Z,1348183537.431 [MissionManager](IMPORTANT): Started mission Startup
2012-09-20T23:25:37.431Z,1348183537.431 [Startup] Running Loop=1
2012-09-20T23:25:37.431Z,1348183537.431 [Startup](INFO): Aggregate::initialize Startup
2012-09-20T23:25:37.431Z,1348183537.431 [Startup:A.GoToSurface] Running Loop=1
2012-09-20T23:25:37.431Z,1348183537.431 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-20T23:25:37.437Z,1348183537.437 [Startup:StartupSatComms] Running Loop=1
2012-09-20T23:25:37.437Z,1348183537.437 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-20T23:25:37.437Z,1348183537.437 [Startup:StartupSatComms:A] Running Loop=1
2012-09-20T23:25:37.834Z,1348183537.834 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix