2012-09-24T16:07:21.913Z,1348502841.913 [Supervisor](DEBUG): Initializing supervisor.
2012-09-24T16:07:21.922Z,1348502841.922 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-24T16:07:21.923Z,1348502841.923 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-24T16:07:21.926Z,1348502841.926 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-24T16:07:21.930Z,1348502841.930 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-24T16:07:21.941Z,1348502841.941 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-24T16:07:21.942Z,1348502841.942 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-24T16:07:21.943Z,1348502841.943 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-24T16:07:21.944Z,1348502841.944 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-24T16:07:21.947Z,1348502841.947 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-24T16:07:22.255Z,1348502842.255 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-24T16:07:22.257Z,1348502842.257 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-24T16:07:22.459Z,1348502842.459 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-24T16:07:22.460Z,1348502842.460 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-24T16:07:22.554Z,1348502842.554 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-24T16:07:22.556Z,1348502842.556 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-24T16:07:22.771Z,1348502842.771 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-24T16:07:22.772Z,1348502842.772 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-24T16:07:22.919Z,1348502842.919 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-24T16:07:22.921Z,1348502842.921 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-24T16:07:23.183Z,1348502843.183 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-24T16:07:23.184Z,1348502843.184 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-24T16:07:23.371Z,1348502843.371 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-24T16:07:23.373Z,1348502843.373 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-24T16:07:23.652Z,1348502843.652 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-24T16:07:23.654Z,1348502843.654 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-24T16:07:23.767Z,1348502843.767 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-24T16:07:23.768Z,1348502843.768 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-24T16:07:24.220Z,1348502844.220 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-24T16:07:24.220Z,1348502844.220 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-24T16:07:24.348Z,1348502844.348 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-24T16:07:24.349Z,1348502844.349 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-24T16:07:24.444Z,1348502844.444 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-24T16:07:24.447Z,1348502844.447 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-24T16:07:24.558Z,1348502844.558 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-24T16:07:24.698Z,1348502844.698 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-24T16:07:24.794Z,1348502844.794 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-24T16:07:24.906Z,1348502844.906 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-24T16:07:25.015Z,1348502845.016 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-24T16:07:25.148Z,1348502845.148 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-24T16:07:25.250Z,1348502845.250 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-24T16:07:25.396Z,1348502845.396 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-09-24T16:07:25.433Z,1348502845.433 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-24T16:07:25.627Z,1348502845.627 [InternalSim] Loaded
2012-09-24T16:07:25.627Z,1348502845.627 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-24T16:07:25.628Z,1348502845.628 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-24T16:07:25.629Z,1348502845.629 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-24T16:07:26.863Z,1348502846.863 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-24T16:07:26.876Z,1348502846.876 [SBIT] Loaded
2012-09-24T16:07:26.876Z,1348502846.876 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-24T16:07:26.877Z,1348502846.877 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-24T16:07:26.912Z,1348502846.912 [IBIT] Loaded
2012-09-24T16:07:26.912Z,1348502846.912 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-24T16:07:26.915Z,1348502846.915 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-24T16:07:27.035Z,1348502847.035 [CBIT] Loaded
2012-09-24T16:07:27.035Z,1348502847.035 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-24T16:07:27.035Z,1348502847.035 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-24T16:07:27.036Z,1348502847.036 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-24T16:07:27.688Z,1348502847.688 [BuoyancyServo] Loaded
2012-09-24T16:07:27.689Z,1348502847.689 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-24T16:07:27.698Z,1348502847.698 [ElevatorServo] Loaded
2012-09-24T16:07:27.698Z,1348502847.698 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-24T16:07:27.709Z,1348502847.709 [MassServo] Loaded
2012-09-24T16:07:27.710Z,1348502847.710 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-24T16:07:27.725Z,1348502847.725 [RudderServo] Loaded
2012-09-24T16:07:27.725Z,1348502847.725 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-24T16:07:27.737Z,1348502847.737 [ThrusterServo] Loaded
2012-09-24T16:07:27.737Z,1348502847.737 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-24T16:07:27.737Z,1348502847.737 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-24T16:07:27.738Z,1348502847.738 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-24T16:07:27.775Z,1348502847.774 [DepthRateCalculator] Loaded
2012-09-24T16:07:27.775Z,1348502847.775 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-24T16:07:30.509Z,1348502850.509 [HFRadarModelCalc] Loaded
2012-09-24T16:07:30.509Z,1348502850.509 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-24T16:07:30.524Z,1348502850.524 [NavChart] Loaded
2012-09-24T16:07:30.525Z,1348502850.524 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-24T16:07:30.530Z,1348502850.530 [PitchRateCalculator] Loaded
2012-09-24T16:07:30.531Z,1348502850.531 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-24T16:07:30.537Z,1348502850.537 [SpeedCalculator] Loaded
2012-09-24T16:07:30.537Z,1348502850.537 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-24T16:07:30.552Z,1348502850.552 [TempGradientCalculator] Loaded
2012-09-24T16:07:30.552Z,1348502850.552 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-24T16:07:30.557Z,1348502850.557 [YawRateCalculator] Loaded
2012-09-24T16:07:30.558Z,1348502850.557 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-24T16:07:30.581Z,1348502850.581 [Navigation] Loaded
2012-09-24T16:07:30.581Z,1348502850.581 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-24T16:07:30.582Z,1348502850.582 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-24T16:07:30.582Z,1348502850.582 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-24T16:07:30.859Z,1348502850.859 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-24T16:07:30.859Z,1348502850.859 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-24T16:07:30.904Z,1348502850.904 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-24T16:07:30.905Z,1348502850.905 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-24T16:07:30.972Z,1348502850.972 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-24T16:07:31.020Z,1348502851.020 [VerticalControl] Loaded
2012-09-24T16:07:31.020Z,1348502851.020 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-24T16:07:31.021Z,1348502851.021 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-24T16:07:31.045Z,1348502851.045 [HorizontalControl] Loaded
2012-09-24T16:07:31.045Z,1348502851.045 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-24T16:07:31.046Z,1348502851.046 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-24T16:07:31.048Z,1348502851.048 [SpeedControl] Loaded
2012-09-24T16:07:31.048Z,1348502851.048 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-24T16:07:31.049Z,1348502851.049 [LoopControl](DEBUG): Construct LoopControl.
2012-09-24T16:07:31.049Z,1348502851.049 [LoopControl] Loaded
2012-09-24T16:07:31.050Z,1348502851.050 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-24T16:07:31.050Z,1348502851.050 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-24T16:07:31.051Z,1348502851.051 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-24T16:07:31.060Z,1348502851.060 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-24T16:07:31.064Z,1348502851.064 [AsyncPiEstimator] Loaded
2012-09-24T16:07:31.065Z,1348502851.065 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-24T16:07:31.066Z,1348502851.066 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-24T16:07:31.067Z,1348502851.067 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-24T16:07:31.068Z,1348502851.068 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-24T16:07:31.238Z,1348502851.239 [AHRS_sp3003D] Loaded
2012-09-24T16:07:31.239Z,1348502851.239 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-24T16:07:31.256Z,1348502851.256 [Depth_Keller] Loaded
2012-09-24T16:07:31.256Z,1348502851.256 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-24T16:07:31.262Z,1348502851.262 [DropWeight] Loaded
2012-09-24T16:07:31.262Z,1348502851.262 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-24T16:07:31.386Z,1348502851.386 [DVL_micro] Loaded
2012-09-24T16:07:31.386Z,1348502851.386 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-24T16:07:31.390Z,1348502851.390 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-24T16:07:31.477Z,1348502851.477 [NAL9602] Loaded
2012-09-24T16:07:31.478Z,1348502851.478 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-24T16:07:31.529Z,1348502851.529 [Onboard] Loaded
2012-09-24T16:07:31.529Z,1348502851.529 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-24T16:07:31.536Z,1348502851.536 [Radio_Freewave] Loaded
2012-09-24T16:07:31.536Z,1348502851.536 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-24T16:07:31.537Z,1348502851.537 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-24T16:07:31.538Z,1348502851.538 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-24T16:07:31.638Z,1348502851.638 [CTD_NeilBrown] Loaded
2012-09-24T16:07:31.639Z,1348502851.639 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-24T16:07:31.642Z,1348502851.642 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-24T16:07:31.653Z,1348502851.653 [PAR_Licor] Loaded
2012-09-24T16:07:31.653Z,1348502851.653 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-24T16:07:31.669Z,1348502851.669 [Turbulence_NPS] Loaded
2012-09-24T16:07:31.669Z,1348502851.670 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-24T16:07:31.674Z,1348502851.674 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-24T16:07:31.707Z,1348502851.707 [WetLabsBB2FL] Loaded
2012-09-24T16:07:31.707Z,1348502851.707 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-24T16:07:31.710Z,1348502851.710 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-24T16:07:31.711Z,1348502851.711 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-24T16:07:31.713Z,1348502851.713 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-24T16:07:31.714Z,1348502851.714 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-24T16:07:31.720Z,1348502851.720 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-24T16:07:31.723Z,1348502851.723 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-24T16:07:31.727Z,1348502851.727 [Supervisor](DEBUG): Running supervisor.
2012-09-24T16:07:31.728Z,1348502851.728 [CommandLine](INFO): Thread ID is 749
2012-09-24T16:07:31.731Z,1348502851.731 [controlThread](INFO): Thread ID is 748
2012-09-24T16:07:31.731Z,1348502851.731 [controlThread](DEBUG): Initializing ControlThread
2012-09-24T16:07:31.732Z,1348502851.732 [CycleStarter](INFO): Thread ID is 747
2012-09-24T16:07:31.732Z,1348502851.732 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-24T16:07:31.844Z,1348502851.844 [AsyncPiEstimator](INFO): Thread ID is 810
2012-09-24T16:07:31.845Z,1348502851.845 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-24T16:07:31.919Z,1348502851.918 [DVL_micro](INFO): Thread ID is 811
2012-09-24T16:07:32.005Z,1348502852.005 [CTD_NeilBrown](INFO): Thread ID is 812
2012-09-24T16:07:32.006Z,1348502852.006 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-24T16:07:32.008Z,1348502852.008 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-24T16:07:32.052Z,1348502852.052 [DVL_micro](INFO): Initializing
2012-09-24T16:07:32.053Z,1348502852.053 [DVL_micro](INFO): start:Powering up
2012-09-24T16:07:32.053Z,1348502852.053 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T16:07:32.059Z,1348502852.059 [Turbulence_NPS](INFO): Thread ID is 813
2012-09-24T16:07:32.060Z,1348502852.060 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-24T16:07:32.067Z,1348502852.067 [WetLabsBB2FL](INFO): Thread ID is 814
2012-09-24T16:07:32.068Z,1348502852.068 [WetLabsBB2FL](INFO): Powering down
2012-09-24T16:07:32.090Z,1348502852.090 [SBIT](INFO): Initialize SBIT Component.
2012-09-24T16:07:32.103Z,1348502852.103 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-24T16:07:32.104Z,1348502852.104 [IBIT](INFO): Initialize IBIT Component.
2012-09-24T16:07:32.104Z,1348502852.104 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-24T16:07:32.105Z,1348502852.105 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-09-24T16:07:32.105Z,1348502852.105 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2012-09-24T16:07:32.168Z,1348502852.168 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T16:07:32.168Z,1348502852.168 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-24T16:07:32.169Z,1348502852.169 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-24T16:07:32.169Z,1348502852.169 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-24T16:07:32.169Z,1348502852.169 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-24T16:07:32.171Z,1348502852.171 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-24T16:07:32.171Z,1348502852.171 [Navigation](DEBUG): Initializing Navigation.
2012-09-24T16:07:32.172Z,1348502852.172 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-24T16:07:32.174Z,1348502852.174 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-24T16:07:32.174Z,1348502852.174 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-24T16:07:32.175Z,1348502852.175 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-24T16:07:32.187Z,1348502852.187 [NavChartDb](INFO): Thread ID is 815
2012-09-24T16:07:32.190Z,1348502852.190 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-24T16:07:32.275Z,1348502852.275 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T16:07:32.293Z,1348502852.293 [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>


2012-09-24T16:07:32.294Z,1348502852.294 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-24T16:07:32.390Z,1348502852.390 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-24T16:07:32.392Z,1348502852.392 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-24T16:07:32.395Z,1348502852.395 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T16:07:32.403Z,1348502852.403 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-24T16:07:32.406Z,1348502852.406 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T16:07:32.412Z,1348502852.412 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-24T16:07:32.421Z,1348502852.421 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-24T16:07:32.428Z,1348502852.428 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T16:07:32.433Z,1348502852.433 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-24T16:07:32.437Z,1348502852.437 [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>


2012-09-24T16:07:32.441Z,1348502852.441 [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,
2012-09-24T16:07:32.462Z,1348502852.462 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T16:07:32.606Z,1348502852.606 [Radio_Freewave](INFO): Powering up
2012-09-24T16:07:32.751Z,1348502852.751 [PAR_Licor](INFO): A/D timeout, 2 tries over 135 ms

2012-09-24T16:07:32.751Z,1348502852.751 [PAR_Licor] Data Fault, FailCount= 1
2012-09-24T16:07:32.751Z,1348502852.751 [PAR_Licor](ERROR): Data Fault
2012-09-24T16:07:32.837Z,1348502852.837 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-24T16:07:32.839Z,1348502852.839 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-24T16:07:32.845Z,1348502852.845 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-24T16:07:32.853Z,1348502852.853 [MassServo](DEBUG): Initializing MassServo.
2012-09-24T16:07:32.859Z,1348502852.859 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T16:07:32.863Z,1348502852.863 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T16:07:32.868Z,1348502852.868 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-24T16:07:32.869Z,1348502852.869 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-24T16:07:32.888Z,1348502852.888 [CBIT](ERROR): Data Fault in component: PAR_Licor
2012-09-24T16:07:32.888Z,1348502852.888 [CBIT](INFO): Clearing failed state for component PAR_Licor
2012-09-24T16:07:32.889Z,1348502852.889 [PAR_Licor] No Fault, FailCount= 1
2012-09-24T16:07:33.615Z,1348502853.615 [DVL_micro](INFO): Querying output modes
2012-09-24T16:07:33.615Z,1348502853.615 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T16:07:33.619Z,1348502853.619 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-09-24T16:07:33.619Z,1348502853.619 [DVL_micro](INFO): NQ1 output enabled
2012-09-24T16:07:33.619Z,1348502853.619 [DVL_micro](INFO): RSSI output enabled
2012-09-24T16:07:33.619Z,1348502853.619 [DVL_micro](INFO): ADCP output enabled
2012-09-24T16:07:33.619Z,1348502853.619 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T16:07:33.627Z,1348502853.627 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-24T16:07:33.632Z,1348502853.632 [DVL_micro](INFO): pause:Powering down
2012-09-24T16:07:36.493Z,1348502856.493 [NAL9602](INFO): Powering up NAL9602
2012-09-24T16:07:39.977Z,1348502859.977 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-24T16:07:40.303Z,1348502860.303 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-24T16:07:40.443Z,1348502860.443 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-24T16:07:40.582Z,1348502860.582 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-24T16:07:40.602Z,1348502860.602 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-24T16:07:40.619Z,1348502860.619 [NavChartDb](INFO): Creating index for Soundings
2012-09-24T16:07:40.622Z,1348502860.622 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-24T16:07:40.716Z,1348502860.716 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-24T16:07:41.030Z,1348502861.030 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-24T16:07:41.205Z,1348502861.205 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-24T16:07:41.380Z,1348502861.380 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-24T16:07:41.382Z,1348502861.382 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-24T16:07:41.428Z,1348502861.428 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-24T16:07:41.430Z,1348502861.430 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-24T16:07:41.561Z,1348502861.561 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-24T16:07:41.744Z,1348502861.744 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-24T16:07:41.746Z,1348502861.746 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-24T16:07:41.949Z,1348502861.949 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-24T16:07:42.164Z,1348502862.164 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-24T16:07:42.166Z,1348502862.166 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-24T16:07:42.261Z,1348502862.261 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-24T16:07:42.511Z,1348502862.511 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-24T16:07:42.517Z,1348502862.517 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-24T16:07:42.628Z,1348502862.628 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-24T16:07:42.630Z,1348502862.630 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-24T16:07:42.744Z,1348502862.744 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-24T16:07:42.878Z,1348502862.878 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-24T16:07:42.881Z,1348502862.881 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-24T16:07:42.883Z,1348502862.883 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-24T16:07:42.885Z,1348502862.885 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-24T16:07:42.887Z,1348502862.887 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-24T16:07:42.889Z,1348502862.889 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-24T16:07:43.075Z,1348502863.075 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-24T16:07:43.076Z,1348502863.076 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-24T16:07:43.079Z,1348502863.079 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-24T16:07:43.080Z,1348502863.080 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-24T16:07:43.201Z,1348502863.201 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-24T16:07:47.103Z,1348502867.103 [NAL9602](INFO): NAL9602 initialized
2012-09-24T16:07:47.545Z,1348502867.546 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-24T16:07:47.548Z,1348502867.548 [CBIT](IMPORTANT): Beginning GF scan
2012-09-24T16:08:00.757Z,1348502880.757 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.903248
2012-09-24T16:08:13.913Z,1348502893.912 [CBIT](IMPORTANT): No ground fault detected
2012-09-24T16:08:35.535Z,1348502915.535 [CommandLine](IMPORTANT): got command quit
2012-09-24T16:08:36.722Z,1348502916.722 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-24T16:08:36.723Z,1348502916.723 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-24T16:08:37.047Z,1348502917.047 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-24T16:08:37.295Z,1348502917.295 [WetLabsBB2FL](INFO): Powering down
2012-09-24T16:08:37.310Z,1348502917.310 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-24T16:08:37.711Z,1348502917.711 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-24T16:08:37.719Z,1348502917.719 [CTD_NeilBrown](INFO): Powering down
2012-09-24T16:08:37.730Z,1348502917.730 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-24T16:08:38.115Z,1348502918.115 [DVL_micro](INFO): uninitialize:Powering down
2012-09-24T16:08:38.131Z,1348502918.131 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-24T16:08:38.179Z,1348502918.179 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-24T16:08:38.191Z,1348502918.191 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-24T16:08:38.193Z,1348502918.193 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-24T16:08:38.235Z,1348502918.235 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-24T16:08:38.235Z,1348502918.235 [AHRS_sp3003D](INFO): Powering down
2012-09-24T16:08:38.323Z,1348502918.323 [NAL9602](INFO): Powering down
2012-09-24T16:08:38.325Z,1348502918.325 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T16:08:38.326Z,1348502918.326 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-24T16:08:38.331Z,1348502918.331 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-24T16:08:38.332Z,1348502918.332 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-24T16:08:38.332Z,1348502918.332 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-24T16:08:38.332Z,1348502918.332 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-24T16:08:38.333Z,1348502918.333 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-24T16:08:38.333Z,1348502918.333 [BuoyancyServo](INFO): Powering down
2012-09-24T16:08:38.334Z,1348502918.334 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-24T16:08:38.334Z,1348502918.334 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-24T16:08:38.335Z,1348502918.335 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T16:08:38.335Z,1348502918.335 [RudderServo](INFO): Powering down
2012-09-24T16:08:38.336Z,1348502918.336 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-24T16:08:38.336Z,1348502918.336 [ThrusterServo](INFO): Powering down
2012-09-24T16:08:38.336Z,1348502918.336 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-24T16:08:38.337Z,1348502918.337 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-24T16:08:38.337Z,1348502918.337 [CBIT](DEBUG): Uninitialize CBIT Component.