2012-09-21T15:08:39.880Z,1348240119.880 [Supervisor](DEBUG): Initializing supervisor.
2012-09-21T15:08:39.883Z,1348240119.884 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-21T15:08:39.884Z,1348240119.884 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-21T15:08:39.885Z,1348240119.885 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-21T15:08:39.890Z,1348240119.890 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-21T15:08:39.901Z,1348240119.901 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-21T15:08:39.902Z,1348240119.902 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-21T15:08:39.903Z,1348240119.903 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-21T15:08:39.904Z,1348240119.904 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-21T15:08:39.905Z,1348240119.905 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-21T15:08:40.182Z,1348240120.182 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-21T15:08:40.182Z,1348240120.182 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-21T15:08:40.359Z,1348240120.359 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-21T15:08:40.360Z,1348240120.360 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-21T15:08:40.443Z,1348240120.443 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-21T15:08:40.444Z,1348240120.444 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-21T15:08:40.637Z,1348240120.636 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-21T15:08:40.637Z,1348240120.637 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-21T15:08:40.769Z,1348240120.769 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-21T15:08:40.770Z,1348240120.770 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-21T15:08:41.007Z,1348240121.007 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-21T15:08:41.008Z,1348240121.008 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-21T15:08:41.188Z,1348240121.188 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-21T15:08:41.188Z,1348240121.188 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-21T15:08:41.441Z,1348240121.441 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-21T15:08:41.441Z,1348240121.441 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-21T15:08:41.539Z,1348240121.539 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-21T15:08:41.540Z,1348240121.540 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-21T15:08:41.953Z,1348240121.953 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-21T15:08:41.953Z,1348240121.953 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-21T15:08:42.066Z,1348240122.066 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-21T15:08:42.067Z,1348240122.067 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-21T15:08:42.151Z,1348240122.151 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-21T15:08:42.152Z,1348240122.152 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-21T15:08:42.252Z,1348240122.252 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-21T15:08:42.379Z,1348240122.379 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-21T15:08:42.463Z,1348240122.464 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-21T15:08:42.564Z,1348240122.565 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-21T15:08:42.663Z,1348240122.663 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-21T15:08:42.781Z,1348240122.781 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-21T15:08:42.870Z,1348240122.870 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-21T15:08:42.961Z,1348240122.961 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-21T15:08:42.974Z,1348240122.974 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-21T15:08:43.005Z,1348240123.005 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-21T15:08:43.141Z,1348240123.141 [InternalSim] Loaded
2012-09-21T15:08:43.141Z,1348240123.141 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-21T15:08:43.142Z,1348240123.142 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-21T15:08:43.143Z,1348240123.143 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-21T15:08:43.199Z,1348240123.199 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-21T15:08:43.213Z,1348240123.213 [SBIT] Loaded
2012-09-21T15:08:43.213Z,1348240123.213 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-21T15:08:43.214Z,1348240123.214 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-21T15:08:43.241Z,1348240123.241 [IBIT] Loaded
2012-09-21T15:08:43.241Z,1348240123.241 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-21T15:08:43.244Z,1348240123.244 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-21T15:08:43.356Z,1348240123.356 [CBIT] Loaded
2012-09-21T15:08:43.357Z,1348240123.357 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-21T15:08:43.357Z,1348240123.357 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-21T15:08:43.358Z,1348240123.358 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-21T15:08:43.501Z,1348240123.501 [BuoyancyServo] Loaded
2012-09-21T15:08:43.501Z,1348240123.501 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-21T15:08:43.511Z,1348240123.511 [ElevatorServo] Loaded
2012-09-21T15:08:43.511Z,1348240123.511 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-21T15:08:43.522Z,1348240123.522 [MassServo] Loaded
2012-09-21T15:08:43.522Z,1348240123.523 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-21T15:08:43.534Z,1348240123.534 [RudderServo] Loaded
2012-09-21T15:08:43.534Z,1348240123.534 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-21T15:08:43.546Z,1348240123.546 [ThrusterServo] Loaded
2012-09-21T15:08:43.546Z,1348240123.546 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-21T15:08:43.546Z,1348240123.546 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-21T15:08:43.547Z,1348240123.547 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-21T15:08:43.565Z,1348240123.565 [DepthRateCalculator] Loaded
2012-09-21T15:08:43.566Z,1348240123.566 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-21T15:08:45.994Z,1348240125.994 [HFRadarModelCalc] Loaded
2012-09-21T15:08:45.994Z,1348240125.994 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-21T15:08:46.010Z,1348240126.010 [NavChart] Loaded
2012-09-21T15:08:46.010Z,1348240126.010 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-21T15:08:46.016Z,1348240126.016 [PitchRateCalculator] Loaded
2012-09-21T15:08:46.016Z,1348240126.016 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-21T15:08:46.022Z,1348240126.022 [SpeedCalculator] Loaded
2012-09-21T15:08:46.023Z,1348240126.023 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-21T15:08:46.037Z,1348240126.037 [TempGradientCalculator] Loaded
2012-09-21T15:08:46.037Z,1348240126.037 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-21T15:08:46.043Z,1348240126.043 [YawRateCalculator] Loaded
2012-09-21T15:08:46.043Z,1348240126.043 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-21T15:08:46.063Z,1348240126.063 [Navigation] Loaded
2012-09-21T15:08:46.063Z,1348240126.063 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-21T15:08:46.064Z,1348240126.063 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-21T15:08:46.064Z,1348240126.064 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-21T15:08:46.321Z,1348240126.321 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-21T15:08:46.322Z,1348240126.322 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-21T15:08:46.344Z,1348240126.344 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-21T15:08:46.345Z,1348240126.345 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-21T15:08:46.385Z,1348240126.385 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-21T15:08:46.430Z,1348240126.430 [VerticalControl] Loaded
2012-09-21T15:08:46.430Z,1348240126.430 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-21T15:08:46.431Z,1348240126.431 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-21T15:08:46.451Z,1348240126.451 [HorizontalControl] Loaded
2012-09-21T15:08:46.452Z,1348240126.452 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-21T15:08:46.452Z,1348240126.453 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-21T15:08:46.454Z,1348240126.454 [SpeedControl] Loaded
2012-09-21T15:08:46.454Z,1348240126.454 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-21T15:08:46.455Z,1348240126.455 [LoopControl](DEBUG): Construct LoopControl.
2012-09-21T15:08:46.456Z,1348240126.456 [LoopControl] Loaded
2012-09-21T15:08:46.456Z,1348240126.456 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-21T15:08:46.457Z,1348240126.457 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-21T15:08:46.457Z,1348240126.457 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-21T15:08:46.463Z,1348240126.463 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-21T15:08:46.467Z,1348240126.467 [AsyncPiEstimator] Loaded
2012-09-21T15:08:46.467Z,1348240126.467 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-21T15:08:46.469Z,1348240126.469 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-21T15:08:46.469Z,1348240126.469 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-21T15:08:46.470Z,1348240126.470 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-21T15:08:46.594Z,1348240126.594 [AHRS_sp3003D] Loaded
2012-09-21T15:08:46.594Z,1348240126.594 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-21T15:08:46.608Z,1348240126.608 [Depth_Keller] Loaded
2012-09-21T15:08:46.608Z,1348240126.608 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-21T15:08:46.614Z,1348240126.614 [DropWeight] Loaded
2012-09-21T15:08:46.614Z,1348240126.614 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-21T15:08:46.725Z,1348240126.725 [DVL_micro] Loaded
2012-09-21T15:08:46.726Z,1348240126.726 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-21T15:08:46.727Z,1348240126.727 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-21T15:08:46.807Z,1348240126.807 [NAL9602] Loaded
2012-09-21T15:08:46.807Z,1348240126.807 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-21T15:08:46.855Z,1348240126.855 [Onboard] Loaded
2012-09-21T15:08:46.855Z,1348240126.855 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-21T15:08:46.862Z,1348240126.862 [Radio_Freewave] Loaded
2012-09-21T15:08:46.862Z,1348240126.862 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-21T15:08:46.863Z,1348240126.863 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-21T15:08:46.863Z,1348240126.863 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-21T15:08:46.936Z,1348240126.936 [CTD_NeilBrown] Loaded
2012-09-21T15:08:46.936Z,1348240126.936 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-21T15:08:46.937Z,1348240126.937 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-21T15:08:46.948Z,1348240126.948 [PAR_Licor] Loaded
2012-09-21T15:08:46.948Z,1348240126.948 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-21T15:08:46.964Z,1348240126.964 [Turbulence_NPS] Loaded
2012-09-21T15:08:46.964Z,1348240126.964 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-21T15:08:46.965Z,1348240126.965 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-21T15:08:46.994Z,1348240126.994 [WetLabsBB2FL] Loaded
2012-09-21T15:08:46.994Z,1348240126.994 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-21T15:08:46.996Z,1348240126.996 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-21T15:08:46.996Z,1348240126.996 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-21T15:08:46.998Z,1348240126.999 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-21T15:08:46.000Z,1348240127.000 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-21T15:08:47.006Z,1348240127.006 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-21T15:08:47.007Z,1348240127.007 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-21T15:08:47.012Z,1348240127.011 [Supervisor](DEBUG): Running supervisor.
2012-09-21T15:08:47.013Z,1348240127.013 [CommandLine](INFO): Thread ID is 3264
2012-09-21T15:08:47.015Z,1348240127.015 [controlThread](INFO): Thread ID is 3263
2012-09-21T15:08:47.015Z,1348240127.015 [controlThread](DEBUG): Initializing ControlThread
2012-09-21T15:08:47.016Z,1348240127.016 [CycleStarter](INFO): Thread ID is 3262
2012-09-21T15:08:47.017Z,1348240127.017 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-21T15:08:47.053Z,1348240127.053 [AsyncPiEstimator](INFO): Thread ID is 3325
2012-09-21T15:08:47.054Z,1348240127.053 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-21T15:08:47.062Z,1348240127.062 [SBIT](INFO): Initialize SBIT Component.
2012-09-21T15:08:47.062Z,1348240127.062 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-21T15:08:47.063Z,1348240127.063 [IBIT](INFO): Initialize IBIT Component.
2012-09-21T15:08:47.064Z,1348240127.063 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-21T15:08:47.064Z,1348240127.064 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-21T15:08:47.065Z,1348240127.065 [DVL_micro](INFO): Thread ID is 3326
2012-09-21T15:08:47.075Z,1348240127.075 [DVL_micro](INFO): Initializing
2012-09-21T15:08:47.075Z,1348240127.075 [DVL_micro](INFO): start:Powering up
2012-09-21T15:08:47.083Z,1348240127.083 [CTD_NeilBrown](INFO): Thread ID is 3327
2012-09-21T15:08:47.084Z,1348240127.084 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-21T15:08:47.093Z,1348240127.093 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-21T15:08:47.094Z,1348240127.094 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-21T15:08:47.095Z,1348240127.095 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-21T15:08:47.095Z,1348240127.095 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-21T15:08:47.095Z,1348240127.095 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-21T15:08:47.097Z,1348240127.097 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-21T15:08:47.097Z,1348240127.097 [Navigation](DEBUG): Initializing Navigation.
2012-09-21T15:08:47.097Z,1348240127.098 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-21T15:08:47.102Z,1348240127.102 [Turbulence_NPS](INFO): Thread ID is 3328
2012-09-21T15:08:47.102Z,1348240127.102 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-21T15:08:47.112Z,1348240127.112 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-21T15:08:47.113Z,1348240127.113 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-21T15:08:47.113Z,1348240127.113 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-21T15:08:47.124Z,1348240127.124 [WetLabsBB2FL](INFO): Thread ID is 3329
2012-09-21T15:08:47.124Z,1348240127.124 [WetLabsBB2FL](INFO): Powering down
2012-09-21T15:08:47.147Z,1348240127.147 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-21T15:08:47.155Z,1348240127.155 [NavChartDb](INFO): Thread ID is 3330
2012-09-21T15:08:47.167Z,1348240127.167 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-21T15:08:47.178Z,1348240127.178 [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>


2012-09-21T15:08:47.179Z,1348240127.179 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-21T15:08:47.206Z,1348240127.206 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-21T15:08:47.208Z,1348240127.208 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-21T15:08:47.211Z,1348240127.211 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-21T15:08:47.220Z,1348240127.220 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-21T15:08:47.223Z,1348240127.223 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-21T15:08:47.230Z,1348240127.230 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-21T15:08:47.239Z,1348240127.239 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-21T15:08:47.242Z,1348240127.242 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-21T15:08:47.247Z,1348240127.247 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-21T15:08:47.251Z,1348240127.251 [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>


2012-09-21T15:08:47.255Z,1348240127.255 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-21T15:08:47.276Z,1348240127.276 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-21T15:08:47.445Z,1348240127.445 [Radio_Freewave](INFO): Powering up
2012-09-21T15:08:47.639Z,1348240127.639 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:08:47.643Z,1348240127.643 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-21T15:08:47.649Z,1348240127.649 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:08:47.651Z,1348240127.651 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-21T15:08:47.658Z,1348240127.658 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:08:47.663Z,1348240127.663 [MassServo](DEBUG): Initializing MassServo.
2012-09-21T15:08:47.668Z,1348240127.668 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:08:47.669Z,1348240127.669 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-21T15:08:47.676Z,1348240127.676 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:08:47.679Z,1348240127.679 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-21T15:08:47.701Z,1348240127.701 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-21T15:08:47.754Z,1348240127.754 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-21T15:08:47.782Z,1348240127.782 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-21T15:08:48.326Z,1348240128.326 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-21T15:08:48.699Z,1348240128.699 [DVL_micro](INFO): Querying output modes
2012-09-21T15:08:48.699Z,1348240128.699 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-21T15:08:48.703Z,1348240128.703 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-09-21T15:08:48.703Z,1348240128.703 [DVL_micro](INFO): NQ1 output enabled
2012-09-21T15:08:48.703Z,1348240128.703 [DVL_micro](INFO): RSSI output enabled
2012-09-21T15:08:48.703Z,1348240128.703 [DVL_micro](INFO): ADCP output enabled
2012-09-21T15:08:48.703Z,1348240128.704 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-21T15:08:50.993Z,1348240130.993 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-21T15:08:50.996Z,1348240130.996 [NavChartDb](INFO): Creating index for Soundings
2012-09-21T15:08:51.563Z,1348240131.563 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2012-09-21T15:08:51.563Z,1348240131.563 [RudderServo](FAULT): Rudder failed to initialize
2012-09-21T15:08:51.563Z,1348240131.563 [RudderServo] Communications Fault, FailCount= 1
2012-09-21T15:08:51.563Z,1348240131.563 [RudderServo](ERROR): Communications Fault
2012-09-21T15:08:51.971Z,1348240131.971 [CBIT](ERROR): Communications Fault in component: RudderServo
2012-09-21T15:08:52.002Z,1348240132.003 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-21T15:08:52.004Z,1348240132.004 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-21T15:08:52.321Z,1348240132.321 [NAL9602](INFO): Powering up NAL9602
2012-09-21T15:08:52.373Z,1348240132.374 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-21T15:08:52.374Z,1348240132.374 [RudderServo](INFO): Powering down
2012-09-21T15:08:52.471Z,1348240132.471 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-21T15:08:52.471Z,1348240132.471 [RudderServo] No Fault, FailCount= 1
2012-09-21T15:08:53.168Z,1348240133.168 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-21T15:08:53.638Z,1348240133.638 [MassServo](FAULT): Mass initialization uart error:serial timeout
2012-09-21T15:08:53.639Z,1348240133.639 [MassServo] Communications Fault, FailCount= 1
2012-09-21T15:08:53.639Z,1348240133.639 [MassServo](ERROR): Communications Fault
2012-09-21T15:08:53.642Z,1348240133.642 [CBIT](ERROR): Communications Fault in component: MassServo
2012-09-21T15:08:53.676Z,1348240133.676 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-21T15:08:53.678Z,1348240133.678 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-21T15:08:53.913Z,1348240133.913 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-21T15:08:53.913Z,1348240133.913 [MassServo](INFO): Powering down
2012-09-21T15:08:53.950Z,1348240133.950 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:08:54.263Z,1348240134.263 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-21T15:08:54.263Z,1348240134.263 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-21T15:08:54.656Z,1348240134.656 [CBIT](INFO): Clearing failed state for component MassServo
2012-09-21T15:08:54.656Z,1348240134.657 [MassServo] No Fault, FailCount= 1
2012-09-21T15:08:54.691Z,1348240134.691 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-21T15:08:54.693Z,1348240134.693 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-21T15:08:55.149Z,1348240135.149 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:08:55.155Z,1348240135.155 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-21T15:08:55.157Z,1348240135.157 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-21T15:08:55.475Z,1348240135.475 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-21T15:08:55.477Z,1348240135.477 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-21T15:08:55.511Z,1348240135.511 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-21T15:08:55.511Z,1348240135.511 [MassServo](DEBUG): Initializing MassServo.
2012-09-21T15:08:56.779Z,1348240136.779 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-21T15:08:56.783Z,1348240136.783 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-21T15:08:56.785Z,1348240136.785 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-21T15:08:57.283Z,1348240137.283 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-21T15:08:57.285Z,1348240137.285 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-21T15:08:57.887Z,1348240137.887 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-21T15:08:57.889Z,1348240137.889 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-21T15:08:58.294Z,1348240138.295 [MassServo](FAULT): Mass initialization uart error:serial timeout
2012-09-21T15:08:58.295Z,1348240138.295 [MassServo] Communications Fault, FailCount= 2
2012-09-21T15:08:58.295Z,1348240138.295 [MassServo](ERROR): Communications Fault
2012-09-21T15:08:58.298Z,1348240138.298 [CBIT](ERROR): Communications Fault in component: MassServo
2012-09-21T15:08:58.355Z,1348240138.355 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-21T15:08:58.357Z,1348240138.357 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-21T15:08:58.450Z,1348240138.450 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-21T15:08:58.450Z,1348240138.450 [MassServo](INFO): Powering down
2012-09-21T15:08:58.713Z,1348240138.713 [DVL_micro](DEBUG): cmdResponse: 
AUTO_VEL_ON 
2012-09-21T15:08:58.720Z,1348240138.720 [DVL_micro](INFO): pause:Powering down
2012-09-21T15:08:58.722Z,1348240138.722 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-21T15:08:58.725Z,1348240138.725 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-21T15:08:58.728Z,1348240138.728 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-21T15:08:58.733Z,1348240138.733 [CBIT](INFO): Clearing failed state for component MassServo
2012-09-21T15:08:58.734Z,1348240138.734 [MassServo] No Fault, FailCount= 2
2012-09-21T15:08:58.743Z,1348240138.743 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-21T15:08:58.745Z,1348240138.745 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-21T15:08:58.831Z,1348240138.831 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-21T15:08:58.833Z,1348240138.833 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-21T15:08:58.859Z,1348240138.859 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-21T15:08:58.861Z,1348240138.861 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-21T15:08:58.873Z,1348240138.873 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:08:58.874Z,1348240138.874 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-21T15:08:58.876Z,1348240138.876 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-21T15:08:58.992Z,1348240138.992 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-21T15:08:58.992Z,1348240138.992 [MassServo](DEBUG): Initializing MassServo.
2012-09-21T15:09:02.460Z,1348240142.460 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-21T15:09:02.463Z,1348240142.463 [CBIT](IMPORTANT): Beginning GF scan
2012-09-21T15:09:02.816Z,1348240142.816 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:°Copyright(c) 2010
NAL Research Corporation
2012-09-21T15:09:02.817Z,1348240142.816 [NAL9602] Communications Fault, FailCount= 1
2012-09-21T15:09:02.817Z,1348240142.816 [NAL9602](ERROR): Communications Fault
2012-09-21T15:09:02.910Z,1348240142.911 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-09-21T15:09:03.215Z,1348240143.215 [NAL9602](INFO): Powering down
2012-09-21T15:09:03.303Z,1348240143.303 [CBIT](INFO): Clearing failed state for component NAL9602
2012-09-21T15:09:03.303Z,1348240143.303 [NAL9602] No Fault, FailCount= 1
2012-09-21T15:09:04.455Z,1348240144.455 [ElevatorServo](FAULT): Overload Error
2012-09-21T15:09:04.455Z,1348240144.455 [ElevatorServo] Hardware Fault, FailCount= 1
2012-09-21T15:09:04.455Z,1348240144.455 [ElevatorServo](ERROR): Hardware Fault
2012-09-21T15:09:04.530Z,1348240144.530 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2012-09-21T15:09:04.832Z,1348240144.832 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-21T15:09:04.832Z,1348240144.832 [ElevatorServo](INFO): Powering down
2012-09-21T15:09:04.867Z,1348240144.866 [MassServo](FAULT): Overload Error
2012-09-21T15:09:04.867Z,1348240144.867 [MassServo] Hardware Fault, FailCount= 3
2012-09-21T15:09:04.867Z,1348240144.867 [MassServo](ERROR): Hardware Fault
2012-09-21T15:09:04.893Z,1348240144.894 [CBIT](INFO): Clearing failed state for component ElevatorServo
2012-09-21T15:09:04.894Z,1348240144.894 [ElevatorServo] No Fault, FailCount= 1
2012-09-21T15:09:04.894Z,1348240144.894 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-21T15:09:05.233Z,1348240145.233 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-21T15:09:05.233Z,1348240145.233 [MassServo](INFO): Powering down
2012-09-21T15:09:05.262Z,1348240145.262 [CBIT](INFO): Clearing failed state for component MassServo
2012-09-21T15:09:05.262Z,1348240145.262 [MassServo] No Fault, FailCount= 3
2012-09-21T15:09:05.639Z,1348240145.639 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:09:05.760Z,1348240145.760 [ElevatorServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-21T15:09:05.760Z,1348240145.760 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-21T15:09:05.761Z,1348240145.761 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:09:05.879Z,1348240145.879 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-21T15:09:05.880Z,1348240145.880 [MassServo](DEBUG): Initializing MassServo.
2012-09-21T15:09:08.416Z,1348240148.416 [NAL9602](INFO): Powering up NAL9602
2012-09-21T15:09:09.679Z,1348240149.679 [MassServo](FAULT): Overload Error
2012-09-21T15:09:09.679Z,1348240149.679 [MassServo] Hardware Fault, FailCount= 4
2012-09-21T15:09:09.679Z,1348240149.679 [MassServo](ERROR): Hardware Fault
2012-09-21T15:09:09.774Z,1348240149.774 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-21T15:09:10.059Z,1348240150.059 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-21T15:09:10.059Z,1348240150.059 [MassServo](INFO): Powering down
2012-09-21T15:09:10.110Z,1348240150.110 [CBIT](INFO): Clearing failed state for component MassServo
2012-09-21T15:09:10.111Z,1348240150.111 [MassServo] No Fault, FailCount= 4
2012-09-21T15:09:10.459Z,1348240150.459 [ElevatorServo](FAULT): Overload Error
2012-09-21T15:09:10.459Z,1348240150.459 [ElevatorServo] Hardware Fault, FailCount= 2
2012-09-21T15:09:10.459Z,1348240150.459 [ElevatorServo](ERROR): Hardware Fault
2012-09-21T15:09:10.484Z,1348240150.484 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:09:10.604Z,1348240150.604 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-21T15:09:10.604Z,1348240150.604 [MassServo](DEBUG): Initializing MassServo.
2012-09-21T15:09:10.658Z,1348240150.658 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2012-09-21T15:09:10.834Z,1348240150.834 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-21T15:09:10.834Z,1348240150.834 [ElevatorServo](INFO): Powering down
2012-09-21T15:09:10.887Z,1348240150.887 [CBIT](INFO): Clearing failed state for component ElevatorServo
2012-09-21T15:09:10.887Z,1348240150.887 [ElevatorServo] No Fault, FailCount= 2
2012-09-21T15:09:11.636Z,1348240151.636 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:09:11.756Z,1348240151.756 [ElevatorServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-21T15:09:11.756Z,1348240151.756 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-21T15:09:14.454Z,1348240154.454 [MassServo](FAULT): Overload Error
2012-09-21T15:09:14.455Z,1348240154.455 [MassServo] Hardware Fault, FailCount= 5
2012-09-21T15:09:14.455Z,1348240154.455 [MassServo](ERROR): Hardware Fault
2012-09-21T15:09:14.550Z,1348240154.550 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-21T15:09:14.550Z,1348240154.550 [CBIT](CRITICAL): Hardware Fault in component: MassServo
2012-09-21T15:09:14.888Z,1348240154.888 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-21T15:09:14.888Z,1348240154.888 [MassServo](INFO): Powering down
2012-09-21T15:09:15.709Z,1348240155.709 [SBIT](FAULT): Elevator: EXPECTED:15.000000 ACTUAL:-2.096044
2012-09-21T15:09:15.710Z,1348240155.710 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.001038
2012-09-21T15:09:15.710Z,1348240155.710 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.898849
2012-09-21T15:09:16.459Z,1348240156.459 [ElevatorServo](FAULT): Overload Error
2012-09-21T15:09:16.459Z,1348240156.459 [ElevatorServo] Hardware Fault, FailCount= 3
2012-09-21T15:09:16.459Z,1348240156.459 [ElevatorServo](ERROR): Hardware Fault
2012-09-21T15:09:16.534Z,1348240156.534 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2012-09-21T15:09:16.534Z,1348240156.534 [CBIT](CRITICAL): Hardware Fault in component: ElevatorServo
2012-09-21T15:09:16.834Z,1348240156.834 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-21T15:09:16.834Z,1348240156.834 [ElevatorServo](INFO): Powering down
2012-09-21T15:09:19.216Z,1348240159.216 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:Copyright(c) 2010
NAL Research Corporation
2012-09-21T15:09:19.216Z,1348240159.216 [NAL9602] Communications Fault, FailCount= 2
2012-09-21T15:09:19.216Z,1348240159.216 [NAL9602](ERROR): Communications Fault
2012-09-21T15:09:19.262Z,1348240159.262 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-09-21T15:09:19.262Z,1348240159.262 [CBIT](CRITICAL): Communications Fault in component: NAL9602
2012-09-21T15:09:19.617Z,1348240159.617 [NAL9602](INFO): Powering down
2012-09-21T15:09:28.835Z,1348240168.835 [CBIT](IMPORTANT): No ground fault detected
2012-09-21T15:09:56.435Z,1348240196.435 [SBIT](CRITICAL): SBIT FAILED
2012-09-21T15:09:56.852Z,1348240196.852 [MissionManager](IMPORTANT): Started mission Startup
2012-09-21T15:09:56.852Z,1348240196.852 [Startup] Running Loop=1
2012-09-21T15:09:56.853Z,1348240196.852 [Startup](INFO): Aggregate::initialize Startup
2012-09-21T15:09:56.853Z,1348240196.853 [Startup:A.GoToSurface] Running Loop=1
2012-09-21T15:09:56.853Z,1348240196.853 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-21T15:09:56.858Z,1348240196.858 [Startup:StartupSatComms] Running Loop=1
2012-09-21T15:09:56.859Z,1348240196.859 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-21T15:09:56.859Z,1348240196.859 [Startup:StartupSatComms:A] Running Loop=1
2012-09-21T15:09:57.230Z,1348240197.230 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-21T15:10:23.888Z,1348240223.888 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2012-09-21T15:10:23.889Z,1348240223.889 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.779999 degree
2012-09-21T15:10:24.150Z,1348240224.150 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-21T15:10:39.335Z,1348240239.335 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2012-09-21T15:10:39.336Z,1348240239.336 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.779999 degree
2012-09-21T15:10:39.515Z,1348240239.514 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-21T15:10:49.395Z,1348240249.395 [CommandLine](IMPORTANT): got command show stack
2012-09-21T15:10:49.395Z,1348240249.395 [CommandLine](INFO): Behavior Stack:

2012-09-21T15:10:49.395Z,1348240249.395 [Startup](INFO): Priority 0: Startup:A.GoToSurface
2012-09-21T15:10:49.396Z,1348240249.396 [Startup:StartupSatComms](INFO): Priority 1: Startup:StartupSatComms:A
2012-09-21T15:10:53.115Z,1348240253.115 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2012-09-21T15:10:53.116Z,1348240253.115 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.779999 degree
2012-09-21T15:10:53.375Z,1348240253.375 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-21T15:10:57.230Z,1348240257.230 [Startup:StartupSatComms:A](INFO): Timed out from 2012-09-21T15:09:56.9Z
2012-09-21T15:10:57.230Z,1348240257.230 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-09-21T15:10:57.230Z,1348240257.230 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-09-21T15:10:57.230Z,1348240257.230 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-09-21T15:10:57.230Z,1348240257.230 [Startup:StartupSatComms:A] Stopped
2012-09-21T15:10:57.231Z,1348240257.231 [Startup:StartupSatComms:B] Running Loop=1
2012-09-21T15:10:57.629Z,1348240257.629 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-21T15:11:09.094Z,1348240269.094 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2012-09-21T15:11:09.095Z,1348240269.095 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.779999 degree
2012-09-21T15:11:09.386Z,1348240269.386 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-21T15:11:19.235Z,1348240279.235 [CBIT](INFO): Clearing failed count for component NAL9602
2012-09-21T15:11:19.235Z,1348240279.235 [NAL9602] No Fault, FailCount= 2
2012-09-21T15:11:19.617Z,1348240279.617 [NAL9602](INFO): Powering up NAL9602
2012-09-21T15:11:24.848Z,1348240284.848 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2012-09-21T15:11:24.848Z,1348240284.848 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.779999 degree
2012-09-21T15:11:25.184Z,1348240285.184 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-21T15:11:30.414Z,1348240290.414 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2012-09-21T15:11:30.415Z,1348240290.415 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.779999 degree
2012-09-21T15:11:30.438Z,1348240290.438 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:Copyright(c) 2010
NAL Research Corporation
2012-09-21T15:11:30.439Z,1348240290.439 [NAL9602] Communications Fault, FailCount= 1
2012-09-21T15:11:30.439Z,1348240290.439 [NAL9602](ERROR): Communications Fault
2012-09-21T15:11:30.487Z,1348240290.487 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-09-21T15:11:30.672Z,1348240290.672 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-21T15:11:30.818Z,1348240290.818 [NAL9602](INFO): Powering down
2012-09-21T15:11:30.841Z,1348240290.841 [CBIT](INFO): Clearing failed state for component NAL9602
2012-09-21T15:11:30.841Z,1348240290.841 [NAL9602] No Fault, FailCount= 1
2012-09-21T15:11:36.014Z,1348240296.014 [NAL9602](INFO): Powering up NAL9602
2012-09-21T15:11:36.492Z,1348240296.492 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2012-09-21T15:11:36.493Z,1348240296.493 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.779999 degree
2012-09-21T15:11:36.702Z,1348240296.702 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-21T15:11:46.816Z,1348240306.816 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:Copyright(c) 2010
NAL Research Corporation
2012-09-21T15:11:46.816Z,1348240306.816 [NAL9602] Communications Fault, FailCount= 2
2012-09-21T15:11:46.816Z,1348240306.816 [NAL9602](ERROR): Communications Fault
2012-09-21T15:11:46.839Z,1348240306.839 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-09-21T15:11:46.839Z,1348240306.839 [CBIT](CRITICAL): Communications Fault in component: NAL9602
2012-09-21T15:11:47.277Z,1348240307.277 [NAL9602](INFO): Powering down
2012-09-21T15:11:57.628Z,1348240317.628 [Startup:StartupSatComms:B](INFO): Timed out from 2012-09-21T15:10:57.2Z
2012-09-21T15:11:57.628Z,1348240317.628 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-09-21T15:11:57.628Z,1348240317.628 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-09-21T15:11:57.628Z,1348240317.628 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-09-21T15:11:57.628Z,1348240317.628 [Startup:StartupSatComms:B] Stopped
2012-09-21T15:11:57.629Z,1348240317.629 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-09-21T15:11:57.629Z,1348240317.629 [Startup:StartupSatComms] Stopped
2012-09-21T15:11:57.629Z,1348240317.629 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-09-21T15:11:57.630Z,1348240317.630 [Startup](INFO): Completed Startup
2012-09-21T15:11:57.630Z,1348240317.630 [Startup] Stopped
2012-09-21T15:11:57.630Z,1348240317.630 [Startup](INFO): Aggregate::uninitialize Startup
2012-09-21T15:11:57.630Z,1348240317.630 [Startup:A.GoToSurface] Stopped
2012-09-21T15:11:57.630Z,1348240317.630 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-21T15:11:58.025Z,1348240318.025 [MissionManager](IMPORTANT): Started mission Default
2012-09-21T15:11:58.025Z,1348240318.025 [Default] Running Loop=1
2012-09-21T15:11:58.026Z,1348240318.026 [Default](INFO): Aggregate::initialize Default
2012-09-21T15:11:58.026Z,1348240318.026 [Default:D.SetSpeed] Running Loop=1
2012-09-21T15:11:58.026Z,1348240318.026 [Default:D.SetSpeed](DEBUG): Initialize.
2012-09-21T15:11:58.026Z,1348240318.026 [Default:E.GoToSurface] Running Loop=1
2012-09-21T15:11:58.026Z,1348240318.026 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-21T15:11:58.026Z,1348240318.026 [Default:Iridium] Running Loop=1
2012-09-21T15:11:58.026Z,1348240318.026 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-09-21T15:11:58.027Z,1348240318.027 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-21T15:11:58.027Z,1348240318.027 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-09-21T15:11:58.027Z,1348240318.027 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-09-21T15:11:58.027Z,1348240318.027 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-21T15:11:58.027Z,1348240318.027 [Default:E.GoToSurface] Running Loop=1
2012-09-21T15:11:58.033Z,1348240318.033 [Default:D.SetSpeed] Running Loop=1
2012-09-21T15:11:58.038Z,1348240318.038 [Default:CallIridium] Running Loop=1
2012-09-21T15:11:58.038Z,1348240318.038 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-09-21T15:11:58.038Z,1348240318.038 [Default:CallIridium:A] Running Loop=1
2012-09-21T15:11:58.040Z,1348240318.040 [Default:CallIridium:A] Stopped
2012-09-21T15:11:58.040Z,1348240318.040 [Default:CallIridium:B] Running Loop=1
2012-09-21T15:11:58.041Z,1348240318.040 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-09-21T15:11:58.046Z,1348240318.046 [Default:Iridium:B.GoToSurface] Stopped
2012-09-21T15:11:58.046Z,1348240318.046 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-21T15:11:58.046Z,1348240318.046 [Default:Iridium:Read_Iridium] Running Loop=1
2012-09-21T15:11:58.046Z,1348240318.046 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-21T15:11:58.051Z,1348240318.051 [Default:GPS] Running Loop=1
2012-09-21T15:11:58.051Z,1348240318.051 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-09-21T15:11:58.052Z,1348240318.052 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-21T15:11:58.052Z,1348240318.052 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-09-21T15:11:58.052Z,1348240318.052 [Default:GPS:B.GoToSurface] Running Loop=1
2012-09-21T15:11:58.052Z,1348240318.052 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-21T15:11:58.057Z,1348240318.057 [Default:GPS:B.GoToSurface] Stopped
2012-09-21T15:11:58.057Z,1348240318.057 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-21T15:11:58.057Z,1348240318.057 [Default:GPS:Read_GPS] Running Loop=1
2012-09-21T15:11:58.057Z,1348240318.057 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-21T15:11:58.431Z,1348240318.431 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-21T15:11:58.433Z,1348240318.434 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-21T15:11:59.937Z,1348240319.937 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2012-09-21T15:11:59.938Z,1348240319.938 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.779999 degree
2012-09-21T15:12:00.413Z,1348240320.413 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-21T15:12:05.699Z,1348240325.699 [CommandLine](IMPORTANT): got command get latitude
2012-09-21T15:12:05.699Z,1348240325.699 [CommandLine](FAULT): Element has no intrinsic unit
2012-09-21T15:12:18.867Z,1348240338.867 [CommandLine](IMPORTANT): got command failComponent none NAL9602
2012-09-21T15:12:18.867Z,1348240338.867 [NAL9602] No Fault, FailCount= 2
2012-09-21T15:12:18.868Z,1348240338.868 [CommandLine](IMPORTANT): NAL9602 failureMode is No Fault
2012-09-21T15:12:19.295Z,1348240339.295 [NAL9602](INFO): Powering up NAL9602
2012-09-21T15:12:21.707Z,1348240341.707 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2012-09-21T15:12:21.708Z,1348240341.708 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.779999 degree
2012-09-21T15:12:21.884Z,1348240341.884 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-21T15:12:29.059Z,1348240349.059 [CommandLine](IMPORTANT): got command get latitude
2012-09-21T15:12:29.059Z,1348240349.059 [CommandLine](FAULT): Element has no intrinsic unit
2012-09-21T15:12:30.015Z,1348240350.015 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:Copyright(c) 2010
NAL Research Corporation
2012-09-21T15:12:30.015Z,1348240350.015 [NAL9602] Communications Fault, FailCount= 3
2012-09-21T15:12:30.015Z,1348240350.015 [NAL9602](ERROR): Communications Fault
2012-09-21T15:12:30.039Z,1348240350.039 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-09-21T15:12:30.040Z,1348240350.040 [CBIT](CRITICAL): Communications Fault in component: NAL9602
2012-09-21T15:12:30.414Z,1348240350.414 [NAL9602](INFO): Powering down
2012-09-21T15:12:56.297Z,1348240376.297 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-21T15:12:56.297Z,1348240376.297 [AHRS_sp3003D](FAULT): Read Heading/Pitch/Roll Failure.
2012-09-21T15:12:56.297Z,1348240376.297 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-21T15:12:56.297Z,1348240376.297 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-21T15:12:56.322Z,1348240376.322 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-21T15:12:56.367Z,1348240376.367 [DVL_micro](INFO): RSSI unrequested
2012-09-21T15:12:56.367Z,1348240376.367 [DVL_micro](INFO): ADCP unrequested
2012-09-21T15:12:56.368Z,1348240376.368 [DVL_micro](INFO): resume:Powering up
2012-09-21T15:12:56.396Z,1348240376.396 [AHRS_sp3003D](INFO): Powering down
2012-09-21T15:12:56.514Z,1348240376.514 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-21T15:12:56.514Z,1348240376.514 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-21T15:12:57.598Z,1348240377.598 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-21T15:13:07.874Z,1348240387.874 [DVL_micro](INFO): Querying output modes
2012-09-21T15:13:07.875Z,1348240387.875 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-21T15:13:13.427Z,1348240393.427 [CommandLine](IMPORTANT): got command failComponent none NAL9602
2012-09-21T15:13:13.427Z,1348240393.427 [NAL9602] No Fault, FailCount= 3
2012-09-21T15:13:13.428Z,1348240393.428 [CommandLine](IMPORTANT): NAL9602 failureMode is No Fault
2012-09-21T15:13:13.625Z,1348240393.625 [NAL9602](INFO): Powering up NAL9602
2012-09-21T15:13:17.879Z,1348240397.879 [DVL_micro](DEBUG): cmdResponse: 
01 03 16
2012-09-21T15:13:17.879Z,1348240397.879 [DVL_micro](INFO): NQ1 output enabled
2012-09-21T15:13:17.879Z,1348240397.879 [DVL_micro](INFO): RSSI output enabled
2012-09-21T15:13:17.879Z,1348240397.879 [DVL_micro](INFO): ADCP output enabled
2012-09-21T15:13:17.879Z,1348240397.879 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-21T15:13:18.433Z,1348240398.433 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2012-09-21T15:13:18.434Z,1348240398.434 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.779999 degree
2012-09-21T15:13:18.918Z,1348240398.918 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-21T15:13:24.432Z,1348240404.432 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:Copyright(c) 2010
NAL Research Corporation
2012-09-21T15:13:24.432Z,1348240404.432 [NAL9602] Communications Fault, FailCount= 4
2012-09-21T15:13:24.432Z,1348240404.432 [NAL9602](ERROR): Communications Fault
2012-09-21T15:13:24.484Z,1348240404.484 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-09-21T15:13:24.485Z,1348240404.485 [CBIT](CRITICAL): Communications Fault in component: NAL9602
2012-09-21T15:13:24.832Z,1348240404.832 [NAL9602](INFO): Powering down
2012-09-21T15:13:27.883Z,1348240407.883 [DVL_micro](DEBUG): cmdResponse: 
AUTO_VEL_ON 
2012-09-21T15:13:27.885Z,1348240407.885 [DVL_micro](INFO): pause:Powering down
2012-09-21T15:14:14.836Z,1348240454.836 [CBIT](INFO): Clearing failed count for component MassServo
2012-09-21T15:14:14.836Z,1348240454.836 [MassServo] No Fault, FailCount= 5
2012-09-21T15:14:15.233Z,1348240455.233 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:14:15.352Z,1348240455.352 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-21T15:14:15.352Z,1348240455.352 [MassServo](DEBUG): Initializing MassServo.
2012-09-21T15:14:19.259Z,1348240459.259 [MassServo](FAULT): Overload Error
2012-09-21T15:14:19.259Z,1348240459.259 [MassServo] Hardware Fault, FailCount= 1
2012-09-21T15:14:19.259Z,1348240459.259 [MassServo](ERROR): Hardware Fault
2012-09-21T15:14:19.262Z,1348240459.262 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-21T15:14:19.639Z,1348240459.639 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-21T15:14:19.639Z,1348240459.639 [MassServo](INFO): Powering down
2012-09-21T15:14:19.643Z,1348240459.643 [CBIT](INFO): Clearing failed state for component MassServo
2012-09-21T15:14:19.643Z,1348240459.643 [MassServo] No Fault, FailCount= 1
2012-09-21T15:14:20.034Z,1348240460.034 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:14:20.152Z,1348240460.151 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-21T15:14:20.152Z,1348240460.152 [MassServo](DEBUG): Initializing MassServo.
2012-09-21T15:14:24.055Z,1348240464.055 [MassServo](FAULT): Overload Error
2012-09-21T15:14:24.055Z,1348240464.055 [MassServo] Hardware Fault, FailCount= 2
2012-09-21T15:14:24.055Z,1348240464.055 [MassServo](ERROR): Hardware Fault
2012-09-21T15:14:24.102Z,1348240464.102 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-21T15:14:24.437Z,1348240464.437 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-21T15:14:24.437Z,1348240464.437 [MassServo](INFO): Powering down
2012-09-21T15:14:24.441Z,1348240464.441 [CBIT](INFO): Clearing failed state for component MassServo
2012-09-21T15:14:24.441Z,1348240464.441 [MassServo] No Fault, FailCount= 2
2012-09-21T15:14:24.555Z,1348240464.555 [CommandLine](IMPORTANT): got command run ./Missions/Science/science_to_67_70.xml
2012-09-21T15:14:24.555Z,1348240464.555 [MissionManager](INFO): Loading Mission: ./Missions/Science/science_to_67_70.xml
2012-09-21T15:14:24.623Z,1348240464.623 [MissionManager](INFO): DefineArg science_to_67_70.MinAltitude = 10.000000 m
2012-09-21T15:14:24.626Z,1348240464.626 [MissionManager](INFO): DefineArg science_to_67_70.MaxDepth = 105.000000 m
2012-09-21T15:14:24.629Z,1348240464.629 [MissionManager](INFO): DefineArg science_to_67_70.MinOffshore = 2000.000000 m
2012-09-21T15:14:24.632Z,1348240464.632 [MissionManager](INFO): DefineArg science_to_67_70.YoYoMinDepth = 3.000000 m
2012-09-21T15:14:24.635Z,1348240464.635 [MissionManager](INFO): DefineArg science_to_67_70.YoYoMaxDepth = 100.000000 m
2012-09-21T15:14:24.638Z,1348240464.638 [MissionManager](INFO): DefineArg science_to_67_70.YoYoUpPitch = 20.000000 arcdeg
2012-09-21T15:14:24.641Z,1348240464.641 [MissionManager](INFO): DefineArg science_to_67_70.YoYoDownPitch = -15.000000 arcdeg
2012-09-21T15:14:24.644Z,1348240464.644 [MissionManager](INFO): DefineArg science_to_67_70.WptLat = 36.120000 arcdeg
2012-09-21T15:14:24.647Z,1348240464.647 [MissionManager](INFO): DefineArg science_to_67_70.WptLon = -123.486000 arcdeg
2012-09-21T15:14:24.650Z,1348240464.650 [MissionManager](INFO): DefineArg science_to_67_70.NeedCommsTime = 120.000000 min
2012-09-21T15:14:24.653Z,1348240464.653 [MissionManager](INFO): DefineArg science_to_67_70.Speed = 1.000000 m/s
2012-09-21T15:14:24.656Z,1348240464.656 [MissionManager](INFO): DefineArg science_to_67_70.Timeout = 36.000000 h
2012-09-21T15:14:24.660Z,1348240464.660 [MissionManager](INFO): DefineArg science_to_67_70.BuoyancyNeutral = 0.000330 n/a
2012-09-21T15:14:24.663Z,1348240464.663 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2012-09-21T15:14:24.670Z,1348240464.670 [science_to_67_70:AltEnvWrapper:B.Wait](DEBUG): Construct Wait.
2012-09-21T15:14:24.672Z,1348240464.671 [science_to_67_70:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-09-21T15:14:24.681Z,1348240464.681 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2012-09-21T15:14:24.688Z,1348240464.688 [science_to_67_70:OffshoreWrapper:B.Wait](DEBUG): Construct Wait.
2012-09-21T15:14:24.689Z,1348240464.689 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2012-09-21T15:14:24.707Z,1348240464.707 [MissionManager](INFO): DefineArg science_to_67_70:SURFACECOMMS.SurfaceDepthRate = nan m/s
2012-09-21T15:14:24.710Z,1348240464.710 [MissionManager](INFO): DefineArg science_to_67_70:SURFACECOMMS.SurfacePitch = nan arcdeg
2012-09-21T15:14:24.713Z,1348240464.713 [MissionManager](INFO): DefineArg science_to_67_70:SURFACECOMMS.SurfaceSpeed = 0.500000 m/s
2012-09-21T15:14:24.716Z,1348240464.716 [MissionManager](INFO): DefineArg science_to_67_70:SURFACECOMMS.IridiumTimeout = 30.000000 min
2012-09-21T15:14:24.717Z,1348240464.717 [science_to_67_70:SURFACECOMMS:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-21T15:14:24.727Z,1348240464.727 [MissionManager](INFO): RedefineArg science_to_67_70:SURFACECOMMS.SurfacePitch = 20.000000 arcdeg
2012-09-21T15:14:24.733Z,1348240464.733 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2012-09-21T15:14:24.814Z,1348240464.814 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleISUS = 0 bool
2012-09-21T15:14:24.817Z,1348240464.817 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleRSSI = 1 bool
2012-09-21T15:14:24.824Z,1348240464.824 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleADCP = 1 bool
2012-09-21T15:14:24.826Z,1348240464.826 [MissionManager](INFO): DefineArg science_to_67_70:Science.PeakDetectChlActive = 0 bool
2012-09-21T15:14:24.833Z,1348240464.833 [MissionManager](INFO): DefineArg science_to_67_70:Science.PeakDetectNO3Active = 0 bool
2012-09-21T15:14:24.837Z,1348240464.837 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleAanderaaO2 = 0.000000 n/a
2012-09-21T15:14:24.840Z,1348240464.840 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleNeilBrown = 1.000000 n/a
2012-09-21T15:14:24.852Z,1348240464.852 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleTurbulence_NPS = 1.000000 n/a
2012-09-21T15:14:24.859Z,1348240464.859 [MissionManager](INFO): DefineArg science_to_67_70:Science.SampleWetLabsBB2FL = 1.000000 n/a
2012-09-21T15:14:24.863Z,1348240464.863 [MissionManager](INFO): DefineArg science_to_67_70:Science.EnabledDVL = 1.000000 n/a
2012-09-21T15:14:24.866Z,1348240464.866 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakChl = 0.000000 ug/l
2012-09-21T15:14:24.877Z,1348240464.878 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakChlDepth = 0.000000 m
2012-09-21T15:14:24.881Z,1348240464.881 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakChlLatitude = nan arcdeg
2012-09-21T15:14:24.883Z,1348240464.883 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:14:24.885Z,1348240464.885 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakChlLongitude = nan arcdeg
2012-09-21T15:14:24.888Z,1348240464.888 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakNO3 = 0.000000 umol/l
2012-09-21T15:14:24.891Z,1348240464.891 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakNO3Depth = 0.000000 m
2012-09-21T15:14:24.894Z,1348240464.894 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakNO3Latitude = nan arcdeg
2012-09-21T15:14:24.897Z,1348240464.897 [MissionManager](INFO): DefineOutput science_to_67_70:Science.PeakNO3Longitude = nan arcdeg
2012-09-21T15:14:24.909Z,1348240464.909 [science_to_67_70:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2012-09-21T15:14:24.918Z,1348240464.918 [science_to_67_70:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2012-09-21T15:14:24.930Z,1348240464.930 [MissionManager](INFO): RedefineArg science_to_67_70:Science.SampleISUS = 1 bool
2012-09-21T15:14:24.931Z,1348240464.931 [MissionManager](INFO): RedefineArg science_to_67_70:Science.PeakDetectChlActive = 1 bool
2012-09-21T15:14:24.932Z,1348240464.932 [science_to_67_70:G.Buoyancy](DEBUG): Construct Buoyancy.
2012-09-21T15:14:24.936Z,1348240464.936 [science_to_67_70:H.SetSpeed](DEBUG): Construct.
2012-09-21T15:14:24.939Z,1348240464.939 [science_to_67_70:I.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2012-09-21T15:14:24.948Z,1348240464.948 [science_to_67_70:J.YoYo](DEBUG): Construct YoYo.
2012-09-21T15:14:24.956Z,1348240464.956 [science_to_67_70:Wpt.Point](DEBUG): Construct.
2012-09-21T15:14:24.976Z,1348240464.976 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       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/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="science_to_67_70">

    <Description>
        Vehicle yo-yo's to the specified waypoint, with science turned on.
    </Description>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>10.0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>105.0</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000.0</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>3.0</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>100.0</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Vehicle up pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>20.0</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Vehicle down pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>-15.0</Value></DefineArg>

    <DefineArg Name="WptLat"><Description>
        Latitude of waypoint.
    </Description><Units:degree/><Value>36.120</Value></DefineArg>

    <DefineArg Name="WptLon"><Description>
        Longitude of waypoint.
    </Description><Units:degree/><Value>-123.486</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications, if the vehicle
        has a positive pitch. If the vehicle has a negative pitch, it will wait
        up to 10 minutes more to begin ascent.
    </Description><Units:minute/><Value>120</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Speed while performing the YoYo behavior.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="Timeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>36</Value></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the YoYo behavior. Defaults
        to buoyancyNeutral setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <Timeout Duration="Timeout"/>

    <Aggregate Id="AltEnvWrapper">

        <When><Arg Name="MinAltitude"/>
            <Gt><Units:meter/><Value>0</Value></Gt>
        </When>

        <Guidance:AltitudeEnvelope RunIn="Parallel">
            <Description>
                Safety behavior that keeps vehicle off sea floor
            </Description>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
        </Guidance:AltitudeEnvelope>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Description>
            Safety behavior that keeps vehicle from going too deep
        </Description>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Aggregate Id="OffshoreWrapper">

        <When><Arg Name="MinOffshore"/>
            <Gt><Units:meter/><Value>0</Value></Gt>
        </When>

        <Guidance:OffshoreEnvelope RunIn="Parallel">
            <Description>
                Safety behavior that keeps vehicle away from the shore
            </Description>
            <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
        </Guidance:OffshoreEnvelope>

        <Guidance:Wait RunIn="Sequence"/>

    </Aggregate>

    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS">
        <RedefineArg Name="SurfacePitch"><Units:degree/><Value>20</Value></RedefineArg>
    </Insert>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

    <Aggregate Id="NeedComms">

        <When><Universal:platform_pitch_angle/>
            <Gt><Units:degree/><Value>0</Value></Gt>
            <And>
            <Elapsed><Universal:latitude_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></And>
            <Or>
            <Elapsed><Universal:latitude_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/><Add><Units:minute/><Value>10</Value></Add></Gt></Or>
        </When>

        <Call RefId="SURFACECOMMS"/>

    </Aggregate>

    <Insert Filename="Insert/Science.xml">
        <Description>
            If we're executing here or below, lets' get science data!
        </Description>
        <RedefineArg Name="SampleISUS"><True/></RedefineArg>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

    <Guidance:Buoyancy RunIn="Parallel">
        <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyNeutral"/></Setting>
    </Guidance:Buoyancy>

    <Guidance:SetSpeed RunIn="Parallel">
        <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
    </Guidance:SetSpeed>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        <Setting><Guidance:DepthEnvelope.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:YoYo RunIn="Parallel">
        <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
    </Guidance:YoYo>

    <Guidance:Point Id="Wpt" RunIn="Sequence">
        <Setting><Guidance:Point.latitude/><Arg Name="WptLat"/></Setting>
        <Setting><Guidance:Point.longitude/><Arg Name="WptLon"/></Setting>
    </Guidance:Point>

</Mission>


2012-09-21T15:14:24.976Z,1348240464.976 [CommandLine](IMPORTANT): Running ./Missions/Science/science_to_67_70.xml
2012-09-21T15:14:25.004Z,1348240465.004 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-21T15:14:25.004Z,1348240465.004 [MassServo](DEBUG): Initializing MassServo.
2012-09-21T15:14:25.741Z,1348240465.741 [Default] Stopped
2012-09-21T15:14:25.741Z,1348240465.741 [Default](INFO): Aggregate::uninitialize Default
2012-09-21T15:14:25.741Z,1348240465.741 [Default:GPS] Stopped
2012-09-21T15:14:25.742Z,1348240465.741 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-09-21T15:14:25.742Z,1348240465.742 [Default:GPS:A.SetSpeed] Stopped
2012-09-21T15:14:25.742Z,1348240465.742 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-09-21T15:14:25.742Z,1348240465.742 [Default:GPS:Read_GPS] Stopped
2012-09-21T15:14:25.742Z,1348240465.742 [Default:Iridium] Stopped
2012-09-21T15:14:25.742Z,1348240465.742 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-09-21T15:14:25.742Z,1348240465.742 [Default:Iridium:A.SetSpeed] Stopped
2012-09-21T15:14:25.742Z,1348240465.742 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-09-21T15:14:25.742Z,1348240465.742 [Default:Iridium:Read_Iridium] Stopped
2012-09-21T15:14:25.742Z,1348240465.742 [Default:CallIridium] Stopped
2012-09-21T15:14:25.743Z,1348240465.743 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-09-21T15:14:25.743Z,1348240465.743 [Default:CallIridium:B] Stopped
2012-09-21T15:14:25.743Z,1348240465.743 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-09-21T15:14:25.743Z,1348240465.743 [Default:D.SetSpeed] Stopped
2012-09-21T15:14:25.743Z,1348240465.743 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-09-21T15:14:25.743Z,1348240465.743 [Default:E.GoToSurface] Stopped
2012-09-21T15:14:25.743Z,1348240465.743 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-21T15:14:25.743Z,1348240465.743 [MissionManager](IMPORTANT): Started mission science_to_67_70
2012-09-21T15:14:25.743Z,1348240465.743 [science_to_67_70] Running Loop=1
2012-09-21T15:14:25.743Z,1348240465.743 [science_to_67_70](INFO): Aggregate::initialize science_to_67_70
2012-09-21T15:14:25.744Z,1348240465.744 [science_to_67_70:B.DepthEnvelope] Running Loop=1
2012-09-21T15:14:25.744Z,1348240465.744 [science_to_67_70:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-09-21T15:14:25.745Z,1348240465.745 [science_to_67_70:Science] Running Loop=1
2012-09-21T15:14:25.745Z,1348240465.745 [science_to_67_70:Science](INFO): Aggregate::initialize science_to_67_70:Science
2012-09-21T15:14:25.745Z,1348240465.745 [science_to_67_70:Science:A] Running Loop=1
2012-09-21T15:14:25.745Z,1348240465.745 [science_to_67_70:Science:B] Running Loop=1
2012-09-21T15:14:25.745Z,1348240465.745 [science_to_67_70:Science:C] Running Loop=1
2012-09-21T15:14:25.745Z,1348240465.745 [science_to_67_70:Science:D] Running Loop=1
2012-09-21T15:14:25.745Z,1348240465.745 [science_to_67_70:Science:E] Running Loop=1
2012-09-21T15:14:25.745Z,1348240465.745 [science_to_67_70:Science:F] Running Loop=1
2012-09-21T15:14:25.745Z,1348240465.745 [science_to_67_70:Science:G] Running Loop=1
2012-09-21T15:14:25.746Z,1348240465.746 [science_to_67_70:G.Buoyancy] Running Loop=1
2012-09-21T15:14:25.746Z,1348240465.746 [science_to_67_70:G.Buoyancy](DEBUG): Initialize Buoyancy Component.
2012-09-21T15:14:25.746Z,1348240465.746 [science_to_67_70:H.SetSpeed] Running Loop=1
2012-09-21T15:14:25.746Z,1348240465.746 [science_to_67_70:H.SetSpeed](DEBUG): Initialize.
2012-09-21T15:14:25.746Z,1348240465.746 [science_to_67_70:I.DepthEnvelope] Running Loop=1
2012-09-21T15:14:25.746Z,1348240465.746 [science_to_67_70:I.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2012-09-21T15:14:25.747Z,1348240465.747 [science_to_67_70:J.YoYo] Running Loop=1
2012-09-21T15:14:25.747Z,1348240465.747 [science_to_67_70:J.YoYo](DEBUG): Initialize YoYoComponent.
2012-09-21T15:14:25.748Z,1348240465.748 [science_to_67_70:SURFACECOMMS] Running Loop=1
2012-09-21T15:14:25.748Z,1348240465.748 [science_to_67_70:SURFACECOMMS](INFO): Aggregate::initialize science_to_67_70:SURFACECOMMS
2012-09-21T15:14:25.748Z,1348240465.748 [science_to_67_70:SURFACECOMMS:A.GoToSurface] Running Loop=1
2012-09-21T15:14:25.748Z,1348240465.748 [science_to_67_70:SURFACECOMMS:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-21T15:14:25.749Z,1348240465.749 [science_to_67_70:J.YoYo] Running Loop=1
2012-09-21T15:14:25.754Z,1348240465.754 [science_to_67_70:I.DepthEnvelope] Running Loop=1
2012-09-21T15:14:25.760Z,1348240465.760 [science_to_67_70:H.SetSpeed] Running Loop=1
2012-09-21T15:14:25.765Z,1348240465.764 [science_to_67_70:G.Buoyancy] Running Loop=1
2012-09-21T15:14:25.769Z,1348240465.769 [science_to_67_70:Science] Running Loop=1
2012-09-21T15:14:25.770Z,1348240465.770 [science_to_67_70:Science:PeakDetectChl] Running Loop=1
2012-09-21T15:14:25.770Z,1348240465.770 [science_to_67_70:Science:PeakDetectChl](INFO): Aggregate::initialize science_to_67_70:Science:PeakDetectChl
2012-09-21T15:14:25.771Z,1348240465.770 [science_to_67_70:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2012-09-21T15:14:25.771Z,1348240465.771 [science_to_67_70:Science:PeakDetectChl:A.PeakDetectVsDepth](INFO): Initialize.
2012-09-21T15:14:25.776Z,1348240465.776 [science_to_67_70:Science:G] Running Loop=1
2012-09-21T15:14:25.777Z,1348240465.777 [science_to_67_70:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2012-09-21T15:14:25.779Z,1348240465.779 [science_to_67_70:Science:F] Running Loop=1
2012-09-21T15:14:25.779Z,1348240465.779 [science_to_67_70:Science:F](DEBUG): Initialize ReadDataComponent to sense DVL_micro.Beam1RSSI
2012-09-21T15:14:25.781Z,1348240465.781 [science_to_67_70:Science:E] Running Loop=1
2012-09-21T15:14:25.781Z,1348240465.781 [science_to_67_70:Science:E](DEBUG): Initialize ReadDataComponent to sense DVL_micro.AdcpXWaterVelocity
2012-09-21T15:14:25.783Z,1348240465.783 [science_to_67_70:Science:D] Running Loop=1
2012-09-21T15:14:25.784Z,1348240465.783 [science_to_67_70:Science:D](DEBUG): Initialize ReadDataComponent to sense Turbulence_NPS.MicroCond
2012-09-21T15:14:25.785Z,1348240465.785 [science_to_67_70:Science:C] Running Loop=1
2012-09-21T15:14:25.785Z,1348240465.785 [science_to_67_70:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2012-09-21T15:14:25.786Z,1348240465.786 [science_to_67_70:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2012-09-21T15:14:25.788Z,1348240465.788 [science_to_67_70:Science:B] Running Loop=1
2012-09-21T15:14:25.788Z,1348240465.788 [science_to_67_70:Science:B](DEBUG): Initialize ReadDataComponent to sense mole_concentration_of_nitrate_in_sea_water
2012-09-21T15:14:25.790Z,1348240465.790 [science_to_67_70:NeedComms] Running Loop=1
2012-09-21T15:14:25.790Z,1348240465.790 [science_to_67_70:NeedComms](INFO): Aggregate::initialize science_to_67_70:NeedComms
2012-09-21T15:14:25.790Z,1348240465.790 [science_to_67_70:NeedComms:A] Running Loop=1
2012-09-21T15:14:25.790Z,1348240465.790 [science_to_67_70:NeedComms:A](INFO): Aggregate::initialize science_to_67_70:NeedComms:A
2012-09-21T15:14:25.796Z,1348240465.796 [science_to_67_70:SURFACECOMMS:B] Running Loop=1
2012-09-21T15:14:25.796Z,1348240465.796 [science_to_67_70:SURFACECOMMS:B](INFO): Aggregate::initialize science_to_67_70:SURFACECOMMS:B
2012-09-21T15:14:25.796Z,1348240465.796 [science_to_67_70:SURFACECOMMS:B:A] Running Loop=1
2012-09-21T15:14:25.796Z,1348240465.796 [science_to_67_70:OffshoreWrapper] Running Loop=1
2012-09-21T15:14:25.796Z,1348240465.796 [science_to_67_70:OffshoreWrapper](INFO): Aggregate::initialize science_to_67_70:OffshoreWrapper
2012-09-21T15:14:25.796Z,1348240465.796 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope] Running Loop=1
2012-09-21T15:14:25.797Z,1348240465.796 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2012-09-21T15:14:25.797Z,1348240465.797 [science_to_67_70:OffshoreWrapper:B.Wait] Running Loop=1
2012-09-21T15:14:25.797Z,1348240465.797 [science_to_67_70:OffshoreWrapper:B.Wait](DEBUG): Initialize Wait Component.
2012-09-21T15:14:25.802Z,1348240465.802 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope] Running Loop=1
2012-09-21T15:14:25.802Z,1348240465.802 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:25.807Z,1348240465.807 [science_to_67_70:B.DepthEnvelope] Running Loop=1
2012-09-21T15:14:25.812Z,1348240465.812 [science_to_67_70:AltEnvWrapper] Running Loop=1
2012-09-21T15:14:25.812Z,1348240465.812 [science_to_67_70:AltEnvWrapper](INFO): Aggregate::initialize science_to_67_70:AltEnvWrapper
2012-09-21T15:14:25.812Z,1348240465.812 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope] Running Loop=1
2012-09-21T15:14:25.812Z,1348240465.812 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2012-09-21T15:14:25.813Z,1348240465.813 [science_to_67_70:AltEnvWrapper:B.Wait] Running Loop=1
2012-09-21T15:14:25.813Z,1348240465.813 [science_to_67_70:AltEnvWrapper:B.Wait](DEBUG): Initialize Wait Component.
2012-09-21T15:14:25.817Z,1348240465.817 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope] Running Loop=1
2012-09-21T15:14:26.040Z,1348240466.040 [WetLabsBB2FL](INFO): Powering up
2012-09-21T15:14:26.089Z,1348240466.089 [DVL_micro](INFO): resume:Powering up
2012-09-21T15:14:26.144Z,1348240466.144 [science_to_67_70:J.YoYo] Preempted
2012-09-21T15:14:26.144Z,1348240466.144 [science_to_67_70:I.DepthEnvelope] Preempted
2012-09-21T15:14:26.144Z,1348240466.144 [science_to_67_70:H.SetSpeed] Preempted
2012-09-21T15:14:26.144Z,1348240466.144 [science_to_67_70:G.Buoyancy] Preempted
2012-09-21T15:14:26.144Z,1348240466.144 [science_to_67_70:Science] Preempted
2012-09-21T15:14:26.144Z,1348240466.144 [science_to_67_70:Science:B] Preempted
2012-09-21T15:14:26.144Z,1348240466.144 [science_to_67_70:Science:C] Preempted
2012-09-21T15:14:26.144Z,1348240466.144 [science_to_67_70:Science:D] Preempted
2012-09-21T15:14:26.144Z,1348240466.144 [science_to_67_70:Science:E] Preempted
2012-09-21T15:14:26.145Z,1348240466.145 [science_to_67_70:Science:F] Preempted
2012-09-21T15:14:26.145Z,1348240466.145 [science_to_67_70:Science:G] Preempted
2012-09-21T15:14:26.145Z,1348240466.145 [science_to_67_70:SURFACECOMMS:B:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-21T15:14:26.148Z,1348240466.148 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:26.537Z,1348240466.537 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:26.939Z,1348240466.939 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:27.287Z,1348240467.287 [WetLabsBB2FL](INFO): Powering down
2012-09-21T15:14:27.339Z,1348240467.339 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:27.340Z,1348240467.340 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2012-09-21T15:14:27.825Z,1348240467.825 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:28.150Z,1348240468.150 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:28.622Z,1348240468.622 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:29.009Z,1348240469.009 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:29.370Z,1348240469.370 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:29.761Z,1348240469.760 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:30.228Z,1348240470.228 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:30.574Z,1348240470.574 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:30.961Z,1348240470.961 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:31.381Z,1348240471.381 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:31.771Z,1348240471.771 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:31.807Z,1348240471.807 [MassServo](FAULT): Overload Error
2012-09-21T15:14:31.807Z,1348240471.807 [MassServo] Hardware Fault, FailCount= 3
2012-09-21T15:14:31.807Z,1348240471.807 [MassServo](ERROR): Hardware Fault
2012-09-21T15:14:31.811Z,1348240471.811 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-21T15:14:32.156Z,1348240472.156 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:32.167Z,1348240472.167 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-21T15:14:32.167Z,1348240472.167 [MassServo](INFO): Powering down
2012-09-21T15:14:32.175Z,1348240472.175 [CBIT](INFO): Clearing failed state for component MassServo
2012-09-21T15:14:32.175Z,1348240472.175 [MassServo] No Fault, FailCount= 3
2012-09-21T15:14:32.595Z,1348240472.595 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:32.613Z,1348240472.613 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:14:32.732Z,1348240472.731 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-21T15:14:32.732Z,1348240472.732 [MassServo](DEBUG): Initializing MassServo.
2012-09-21T15:14:32.977Z,1348240472.977 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:33.360Z,1348240473.360 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:33.789Z,1348240473.789 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:34.217Z,1348240474.217 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:34.560Z,1348240474.560 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:35.049Z,1348240475.049 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:35.374Z,1348240475.374 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:35.760Z,1348240475.760 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:36.193Z,1348240476.193 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:36.663Z,1348240476.663 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:36.691Z,1348240476.691 [MassServo](FAULT): Overload Error
2012-09-21T15:14:36.692Z,1348240476.692 [MassServo] Hardware Fault, FailCount= 4
2012-09-21T15:14:36.692Z,1348240476.692 [MassServo](ERROR): Hardware Fault
2012-09-21T15:14:36.738Z,1348240476.738 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-21T15:14:36.962Z,1348240476.963 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:36.973Z,1348240476.973 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-21T15:14:36.973Z,1348240476.973 [MassServo](INFO): Powering down
2012-09-21T15:14:36.981Z,1348240476.981 [CBIT](INFO): Clearing failed state for component MassServo
2012-09-21T15:14:36.981Z,1348240476.981 [MassServo] No Fault, FailCount= 4
2012-09-21T15:14:37.397Z,1348240477.397 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:37.415Z,1348240477.415 [MassServo](DEBUG): Initializing EZServoServo.
2012-09-21T15:14:37.536Z,1348240477.536 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-21T15:14:37.536Z,1348240477.536 [MassServo](DEBUG): Initializing MassServo.
2012-09-21T15:14:37.594Z,1348240477.594 [DVL_micro](INFO): Querying output modes
2012-09-21T15:14:37.595Z,1348240477.595 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-21T15:14:37.770Z,1348240477.770 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:38.174Z,1348240478.174 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:38.566Z,1348240478.566 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:38.974Z,1348240478.974 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:39.360Z,1348240479.360 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:39.793Z,1348240479.793 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:40.174Z,1348240480.174 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:40.564Z,1348240480.564 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:40.993Z,1348240480.993 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:41.374Z,1348240481.374 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:41.764Z,1348240481.764 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:42.181Z,1348240482.181 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:42.574Z,1348240482.574 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:42.976Z,1348240482.976 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:43.433Z,1348240483.433 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:43.691Z,1348240483.691 [CommandLine](IMPORTANT): got command stop
2012-09-21T15:14:43.762Z,1348240483.762 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2012-09-21T15:14:43.767Z,1348240483.767 [science_to_67_70] Stopped
2012-09-21T15:14:43.767Z,1348240483.767 [science_to_67_70](INFO): Aggregate::uninitialize science_to_67_70
2012-09-21T15:14:43.767Z,1348240483.767 [science_to_67_70:AltEnvWrapper] Stopped
2012-09-21T15:14:43.768Z,1348240483.768 [science_to_67_70:AltEnvWrapper](INFO): Aggregate::uninitialize science_to_67_70:AltEnvWrapper
2012-09-21T15:14:43.768Z,1348240483.768 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope] Stopped
2012-09-21T15:14:43.768Z,1348240483.768 [science_to_67_70:AltEnvWrapper:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2012-09-21T15:14:43.768Z,1348240483.768 [science_to_67_70:AltEnvWrapper:B.Wait] Stopped
2012-09-21T15:14:43.768Z,1348240483.768 [science_to_67_70:AltEnvWrapper:B.Wait](DEBUG): Uninitialize Wait Component.
2012-09-21T15:14:43.768Z,1348240483.768 [science_to_67_70:B.DepthEnvelope] Stopped
2012-09-21T15:14:43.768Z,1348240483.768 [science_to_67_70:B.DepthEnvelope](DEBUG): Uninitialize.
2012-09-21T15:14:43.768Z,1348240483.768 [science_to_67_70:OffshoreWrapper] Stopped
2012-09-21T15:14:43.768Z,1348240483.768 [science_to_67_70:OffshoreWrapper](INFO): Aggregate::uninitialize science_to_67_70:OffshoreWrapper
2012-09-21T15:14:43.768Z,1348240483.769 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope] Stopped
2012-09-21T15:14:43.768Z,1348240483.769 [science_to_67_70:OffshoreWrapper:A.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2012-09-21T15:14:43.769Z,1348240483.769 [science_to_67_70:OffshoreWrapper:B.Wait] Stopped
2012-09-21T15:14:43.769Z,1348240483.769 [science_to_67_70:OffshoreWrapper:B.Wait](DEBUG): Uninitialize Wait Component.
2012-09-21T15:14:43.769Z,1348240483.769 [science_to_67_70:SURFACECOMMS] Stopped
2012-09-21T15:14:43.769Z,1348240483.769 [science_to_67_70:SURFACECOMMS](INFO): Aggregate::uninitialize science_to_67_70:SURFACECOMMS
2012-09-21T15:14:43.769Z,1348240483.769 [science_to_67_70:SURFACECOMMS:A.GoToSurface] Stopped
2012-09-21T15:14:43.769Z,1348240483.769 [science_to_67_70:SURFACECOMMS:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-21T15:14:43.769Z,1348240483.769 [science_to_67_70:SURFACECOMMS:B] Stopped
2012-09-21T15:14:43.769Z,1348240483.769 [science_to_67_70:SURFACECOMMS:B](INFO): Aggregate::uninitialize science_to_67_70:SURFACECOMMS:B
2012-09-21T15:14:43.769Z,1348240483.769 [science_to_67_70:SURFACECOMMS:B:A] Stopped
2012-09-21T15:14:43.770Z,1348240483.770 [science_to_67_70:NeedComms] Stopped
2012-09-21T15:14:43.770Z,1348240483.770 [science_to_67_70:NeedComms](INFO): Aggregate::uninitialize science_to_67_70:NeedComms
2012-09-21T15:14:43.770Z,1348240483.770 [science_to_67_70:NeedComms:A] Stopped
2012-09-21T15:14:43.770Z,1348240483.770 [science_to_67_70:NeedComms:A](INFO): Aggregate::uninitialize science_to_67_70:NeedComms:A
2012-09-21T15:14:43.770Z,1348240483.770 [science_to_67_70:Science] Stopped
2012-09-21T15:14:43.770Z,1348240483.770 [science_to_67_70:Science](INFO): Aggregate::uninitialize science_to_67_70:Science
2012-09-21T15:14:43.770Z,1348240483.770 [science_to_67_70:Science:A] Stopped
2012-09-21T15:14:43.770Z,1348240483.770 [science_to_67_70:Science:B] Stopped
2012-09-21T15:14:43.770Z,1348240483.770 [science_to_67_70:Science:C] Stopped
2012-09-21T15:14:43.770Z,1348240483.770 [science_to_67_70:Science:D] Stopped
2012-09-21T15:14:43.774Z,1348240483.774 [science_to_67_70:Science:E] Stopped
2012-09-21T15:14:43.775Z,1348240483.774 [science_to_67_70:Science:F] Stopped
2012-09-21T15:14:43.775Z,1348240483.774 [science_to_67_70:Science:G] Stopped
2012-09-21T15:14:43.775Z,1348240483.775 [science_to_67_70:Science:PeakDetectChl] Stopped
2012-09-21T15:14:43.775Z,1348240483.775 [science_to_67_70:Science:PeakDetectChl](INFO): Aggregate::uninitialize science_to_67_70:Science:PeakDetectChl
2012-09-21T15:14:43.775Z,1348240483.775 [science_to_67_70:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2012-09-21T15:14:43.775Z,1348240483.775 [science_to_67_70:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2012-09-21T15:14:43.775Z,1348240483.775 [science_to_67_70:G.Buoyancy] Stopped
2012-09-21T15:14:43.775Z,1348240483.775 [science_to_67_70:G.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2012-09-21T15:14:43.775Z,1348240483.775 [science_to_67_70:H.SetSpeed] Stopped
2012-09-21T15:14:43.775Z,1348240483.775 [science_to_67_70:H.SetSpeed](DEBUG): Uninitialize.
2012-09-21T15:14:43.775Z,1348240483.775 [science_to_67_70:I.DepthEnvelope] Stopped
2012-09-21T15:14:43.775Z,1348240483.775 [science_to_67_70:I.DepthEnvelope](DEBUG): Uninitialize.
2012-09-21T15:14:43.775Z,1348240483.775 [science_to_67_70:J.YoYo] Stopped
2012-09-21T15:14:43.775Z,1348240483.775 [science_to_67_70:J.YoYo](DEBUG): Uninitialize YoYoComponent.
2012-09-21T15:14:43.835Z,1348240483.835 [MassServo](FAULT): Overload Error
2012-09-21T15:14:43.835Z,1348240483.835 [MassServo] Hardware Fault, FailCount= 5
2012-09-21T15:14:43.835Z,1348240483.835 [MassServo](ERROR): Hardware Fault
2012-09-21T15:14:43.838Z,1348240483.838 [CBIT](ERROR): Hardware Fault in component: MassServo
2012-09-21T15:14:43.839Z,1348240483.839 [CBIT](CRITICAL): Hardware Fault in component: MassServo
2012-09-21T15:14:44.156Z,1348240484.156 [MissionManager](IMPORTANT): Started mission Default
2012-09-21T15:14:44.156Z,1348240484.156 [Default] Running Loop=1
2012-09-21T15:14:44.156Z,1348240484.156 [Default](INFO): Aggregate::initialize Default
2012-09-21T15:14:44.156Z,1348240484.156 [Default:D.SetSpeed] Running Loop=1
2012-09-21T15:14:44.156Z,1348240484.156 [Default:D.SetSpeed](DEBUG): Initialize.
2012-09-21T15:14:44.156Z,1348240484.156 [Default:E.GoToSurface] Running Loop=1
2012-09-21T15:14:44.156Z,1348240484.156 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-21T15:14:44.157Z,1348240484.157 [Default:Iridium] Running Loop=1
2012-09-21T15:14:44.157Z,1348240484.157 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-09-21T15:14:44.157Z,1348240484.157 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-21T15:14:44.157Z,1348240484.157 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-09-21T15:14:44.157Z,1348240484.157 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-09-21T15:14:44.157Z,1348240484.157 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-21T15:14:44.163Z,1348240484.163 [Default:CallIridium] Running Loop=1
2012-09-21T15:14:44.163Z,1348240484.163 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-09-21T15:14:44.163Z,1348240484.163 [Default:CallIridium:A] Running Loop=1
2012-09-21T15:14:44.163Z,1348240484.163 [Default:CallIridium:A] Stopped
2012-09-21T15:14:44.163Z,1348240484.164 [Default:CallIridium:B] Running Loop=1
2012-09-21T15:14:44.164Z,1348240484.164 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-09-21T15:14:44.164Z,1348240484.164 [Default:Iridium:B.GoToSurface] Stopped
2012-09-21T15:14:44.164Z,1348240484.164 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-21T15:14:44.164Z,1348240484.164 [Default:Iridium:Read_Iridium] Running Loop=1
2012-09-21T15:14:44.165Z,1348240484.165 [Default:GPS] Running Loop=1
2012-09-21T15:14:44.165Z,1348240484.165 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-09-21T15:14:44.165Z,1348240484.165 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-21T15:14:44.165Z,1348240484.165 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-09-21T15:14:44.165Z,1348240484.165 [Default:GPS:B.GoToSurface] Running Loop=1
2012-09-21T15:14:44.165Z,1348240484.165 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-21T15:14:44.170Z,1348240484.170 [Default:GPS:B.GoToSurface] Stopped
2012-09-21T15:14:44.170Z,1348240484.171 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-21T15:14:44.171Z,1348240484.171 [Default:GPS:Read_GPS] Running Loop=1
2012-09-21T15:14:44.177Z,1348240484.177 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-21T15:14:44.177Z,1348240484.177 [MassServo](INFO): Powering down
2012-09-21T15:14:47.599Z,1348240487.599 [DVL_micro](DEBUG): cmdResponse: 
01 03 16
2012-09-21T15:14:47.599Z,1348240487.599 [DVL_micro](INFO): NQ1 output enabled
2012-09-21T15:14:47.599Z,1348240487.599 [DVL_micro](INFO): RSSI output enabled
2012-09-21T15:14:47.599Z,1348240487.599 [DVL_micro](INFO): ADCP output enabled
2012-09-21T15:14:47.600Z,1348240487.599 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-21T15:14:57.607Z,1348240497.607 [DVL_micro](DEBUG): cmdResponse: 
AUTO_VEL_ON 
2012-09-21T15:14:57.610Z,1348240497.610 [DVL_micro](INFO): pause:Powering down
2012-09-21T15:15:14.111Z,1348240514.111 [CommandLine](IMPORTANT): got command quit
2012-09-21T15:15:15.296Z,1348240515.296 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-21T15:15:15.296Z,1348240515.296 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-21T15:15:15.691Z,1348240515.691 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-21T15:15:15.803Z,1348240515.803 [WetLabsBB2FL](INFO): Powering down
2012-09-21T15:15:15.811Z,1348240515.811 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-21T15:15:15.927Z,1348240515.927 [Turbulence_NPS](INFO): Powering down
2012-09-21T15:15:15.931Z,1348240515.931 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-21T15:15:15.943Z,1348240515.943 [CTD_NeilBrown](INFO): Powering down
2012-09-21T15:15:15.951Z,1348240515.951 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-21T15:15:16.215Z,1348240516.215 [DVL_micro](INFO): uninitialize:Powering down
2012-09-21T15:15:16.231Z,1348240516.231 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-21T15:15:16.251Z,1348240516.251 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-21T15:15:16.271Z,1348240516.271 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-21T15:15:16.273Z,1348240516.273 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-21T15:15:16.495Z,1348240516.495 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-21T15:15:16.495Z,1348240516.495 [AHRS_sp3003D](INFO): Powering down
2012-09-21T15:15:16.583Z,1348240516.583 [NAL9602](INFO): Powering down
2012-09-21T15:15:16.585Z,1348240516.585 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-21T15:15:16.586Z,1348240516.586 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-21T15:15:16.587Z,1348240516.587 [Default] Stopped
2012-09-21T15:15:16.587Z,1348240516.587 [Default](INFO): Aggregate::uninitialize Default
2012-09-21T15:15:16.587Z,1348240516.587 [Default:GPS] Stopped
2012-09-21T15:15:16.587Z,1348240516.587 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-09-21T15:15:16.587Z,1348240516.587 [Default:GPS:A.SetSpeed] Stopped
2012-09-21T15:15:16.587Z,1348240516.587 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-09-21T15:15:16.587Z,1348240516.587 [Default:GPS:Read_GPS] Stopped
2012-09-21T15:15:16.587Z,1348240516.587 [Default:Iridium] Stopped
2012-09-21T15:15:16.587Z,1348240516.588 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-09-21T15:15:16.588Z,1348240516.588 [Default:Iridium:A.SetSpeed] Stopped
2012-09-21T15:15:16.588Z,1348240516.588 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-09-21T15:15:16.588Z,1348240516.588 [Default:Iridium:Read_Iridium] Stopped
2012-09-21T15:15:16.588Z,1348240516.588 [Default:CallIridium] Stopped
2012-09-21T15:15:16.588Z,1348240516.588 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-09-21T15:15:16.588Z,1348240516.588 [Default:CallIridium:B] Stopped
2012-09-21T15:15:16.588Z,1348240516.588 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-09-21T15:15:16.588Z,1348240516.588 [Default:D.SetSpeed] Stopped
2012-09-21T15:15:16.588Z,1348240516.588 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-09-21T15:15:16.588Z,1348240516.588 [Default:E.GoToSurface] Stopped
2012-09-21T15:15:16.588Z,1348240516.588 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-21T15:15:16.593Z,1348240516.593 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-21T15:15:16.593Z,1348240516.593 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-21T15:15:16.593Z,1348240516.593 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-21T15:15:16.594Z,1348240516.593 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-21T15:15:16.594Z,1348240516.594 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-21T15:15:16.594Z,1348240516.594 [BuoyancyServo](INFO): Powering down
2012-09-21T15:15:16.595Z,1348240516.595 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-21T15:15:16.595Z,1348240516.595 [ElevatorServo](INFO): Powering down
2012-09-21T15:15:16.596Z,1348240516.596 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-21T15:15:16.596Z,1348240516.596 [MassServo](INFO): Powering down
2012-09-21T15:15:16.597Z,1348240516.597 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-21T15:15:16.597Z,1348240516.597 [RudderServo](INFO): Powering down
2012-09-21T15:15:16.598Z,1348240516.598 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-21T15:15:16.598Z,1348240516.598 [ThrusterServo](INFO): Powering down
2012-09-21T15:15:16.599Z,1348240516.599 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-21T15:15:16.599Z,1348240516.599 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-21T15:15:16.599Z,1348240516.599 [CBIT](DEBUG): Uninitialize CBIT Component.