2012-09-24T19:02:15.690Z,1348513335.690 [Supervisor](DEBUG): Initializing supervisor.
2012-09-24T19:02:15.695Z,1348513335.694 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-24T19:02:15.695Z,1348513335.695 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-24T19:02:15.698Z,1348513335.698 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-24T19:02:15.702Z,1348513335.702 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-24T19:02:15.713Z,1348513335.713 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-24T19:02:15.715Z,1348513335.714 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-24T19:02:15.715Z,1348513335.715 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-24T19:02:15.716Z,1348513335.716 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-24T19:02:15.719Z,1348513335.719 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-24T19:02:16.027Z,1348513336.027 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-24T19:02:16.029Z,1348513336.029 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-24T19:02:16.228Z,1348513336.228 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-24T19:02:16.228Z,1348513336.228 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-24T19:02:16.322Z,1348513336.322 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-24T19:02:16.324Z,1348513336.324 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-24T19:02:16.539Z,1348513336.539 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-24T19:02:16.540Z,1348513336.540 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-24T19:02:16.687Z,1348513336.687 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-24T19:02:16.689Z,1348513336.689 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-24T19:02:16.942Z,1348513336.942 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-24T19:02:16.943Z,1348513336.943 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-24T19:02:17.131Z,1348513337.131 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-24T19:02:17.133Z,1348513337.133 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-24T19:02:17.420Z,1348513337.420 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-24T19:02:17.422Z,1348513337.422 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-24T19:02:17.535Z,1348513337.535 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-24T19:02:17.536Z,1348513337.536 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-24T19:02:17.986Z,1348513337.986 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-24T19:02:17.987Z,1348513337.987 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-24T19:02:18.115Z,1348513338.115 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-24T19:02:18.116Z,1348513338.116 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-24T19:02:18.212Z,1348513338.212 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-24T19:02:18.215Z,1348513338.215 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-24T19:02:18.326Z,1348513338.326 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-24T19:02:18.468Z,1348513338.468 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-24T19:02:18.562Z,1348513338.562 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-24T19:02:18.674Z,1348513338.674 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-24T19:02:18.784Z,1348513338.784 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-24T19:02:18.916Z,1348513338.916 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-24T19:02:19.018Z,1348513339.018 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-24T19:02:22.046Z,1348513342.046 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-24T19:02:22.742Z,1348513342.742 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-24T19:02:22.780Z,1348513342.780 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-24T19:02:22.960Z,1348513342.960 [InternalSim] Loaded
2012-09-24T19:02:22.960Z,1348513342.960 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-24T19:02:22.961Z,1348513342.961 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-24T19:02:22.962Z,1348513342.962 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-24T19:02:23.045Z,1348513343.045 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-24T19:02:23.058Z,1348513343.058 [SBIT] Loaded
2012-09-24T19:02:23.058Z,1348513343.058 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-24T19:02:23.059Z,1348513343.059 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-24T19:02:23.090Z,1348513343.089 [IBIT] Loaded
2012-09-24T19:02:23.090Z,1348513343.090 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-24T19:02:23.093Z,1348513343.093 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-24T19:02:23.215Z,1348513343.216 [CBIT] Loaded
2012-09-24T19:02:23.216Z,1348513343.216 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-24T19:02:23.216Z,1348513343.216 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-24T19:02:23.217Z,1348513343.217 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-24T19:02:23.384Z,1348513343.384 [BuoyancyServo] Loaded
2012-09-24T19:02:23.385Z,1348513343.385 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-24T19:02:23.394Z,1348513343.394 [ElevatorServo] Loaded
2012-09-24T19:02:23.394Z,1348513343.394 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-24T19:02:23.405Z,1348513343.405 [MassServo] Loaded
2012-09-24T19:02:23.405Z,1348513343.405 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-24T19:02:23.421Z,1348513343.421 [RudderServo] Loaded
2012-09-24T19:02:23.421Z,1348513343.421 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-24T19:02:23.432Z,1348513343.432 [ThrusterServo] Loaded
2012-09-24T19:02:23.432Z,1348513343.432 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-24T19:02:23.433Z,1348513343.433 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-24T19:02:23.433Z,1348513343.434 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-24T19:02:23.466Z,1348513343.466 [DepthRateCalculator] Loaded
2012-09-24T19:02:23.466Z,1348513343.466 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-24T19:02:26.171Z,1348513346.171 [HFRadarModelCalc] Loaded
2012-09-24T19:02:26.172Z,1348513346.172 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-24T19:02:26.187Z,1348513346.187 [NavChart] Loaded
2012-09-24T19:02:26.187Z,1348513346.187 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-24T19:02:26.193Z,1348513346.193 [PitchRateCalculator] Loaded
2012-09-24T19:02:26.193Z,1348513346.193 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-24T19:02:26.199Z,1348513346.200 [SpeedCalculator] Loaded
2012-09-24T19:02:26.200Z,1348513346.200 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-24T19:02:26.214Z,1348513346.214 [TempGradientCalculator] Loaded
2012-09-24T19:02:26.214Z,1348513346.214 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-24T19:02:26.220Z,1348513346.220 [YawRateCalculator] Loaded
2012-09-24T19:02:26.220Z,1348513346.220 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-24T19:02:26.239Z,1348513346.239 [Navigation] Loaded
2012-09-24T19:02:26.239Z,1348513346.239 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-24T19:02:26.240Z,1348513346.240 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-24T19:02:26.240Z,1348513346.240 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-24T19:02:26.518Z,1348513346.518 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-24T19:02:26.518Z,1348513346.518 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-24T19:02:26.558Z,1348513346.558 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-24T19:02:26.562Z,1348513346.562 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-24T19:02:26.625Z,1348513346.625 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-24T19:02:26.672Z,1348513346.672 [VerticalControl] Loaded
2012-09-24T19:02:26.672Z,1348513346.672 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-24T19:02:26.673Z,1348513346.673 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-24T19:02:26.693Z,1348513346.693 [HorizontalControl] Loaded
2012-09-24T19:02:26.693Z,1348513346.693 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-24T19:02:26.694Z,1348513346.694 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-24T19:02:26.696Z,1348513346.696 [SpeedControl] Loaded
2012-09-24T19:02:26.696Z,1348513346.696 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-24T19:02:26.697Z,1348513346.697 [LoopControl](DEBUG): Construct LoopControl.
2012-09-24T19:02:26.697Z,1348513346.697 [LoopControl] Loaded
2012-09-24T19:02:26.697Z,1348513346.697 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-24T19:02:26.698Z,1348513346.698 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-24T19:02:26.699Z,1348513346.699 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-24T19:02:26.711Z,1348513346.711 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-24T19:02:26.716Z,1348513346.716 [AsyncPiEstimator] Loaded
2012-09-24T19:02:26.716Z,1348513346.716 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-24T19:02:26.719Z,1348513346.718 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-24T19:02:26.719Z,1348513346.719 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-24T19:02:26.720Z,1348513346.720 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-24T19:02:26.893Z,1348513346.893 [AHRS_sp3003D] Loaded
2012-09-24T19:02:26.894Z,1348513346.894 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-24T19:02:26.907Z,1348513346.907 [Depth_Keller] Loaded
2012-09-24T19:02:26.907Z,1348513346.907 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-24T19:02:26.912Z,1348513346.912 [DropWeight] Loaded
2012-09-24T19:02:26.913Z,1348513346.913 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-24T19:02:27.036Z,1348513347.036 [DVL_micro] Loaded
2012-09-24T19:02:27.036Z,1348513347.036 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-24T19:02:27.039Z,1348513347.039 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-24T19:02:27.125Z,1348513347.125 [NAL9602] Loaded
2012-09-24T19:02:27.126Z,1348513347.126 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-24T19:02:27.177Z,1348513347.177 [Onboard] Loaded
2012-09-24T19:02:27.177Z,1348513347.177 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-24T19:02:27.184Z,1348513347.184 [Radio_Freewave] Loaded
2012-09-24T19:02:27.184Z,1348513347.184 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-24T19:02:27.185Z,1348513347.185 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-24T19:02:27.186Z,1348513347.186 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-24T19:02:27.286Z,1348513347.286 [CTD_NeilBrown] Loaded
2012-09-24T19:02:27.286Z,1348513347.286 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-24T19:02:27.291Z,1348513347.291 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-24T19:02:27.301Z,1348513347.301 [PAR_Licor] Loaded
2012-09-24T19:02:27.301Z,1348513347.301 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-24T19:02:27.317Z,1348513347.317 [Turbulence_NPS] Loaded
2012-09-24T19:02:27.317Z,1348513347.317 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-24T19:02:27.319Z,1348513347.319 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-24T19:02:27.351Z,1348513347.351 [WetLabsBB2FL] Loaded
2012-09-24T19:02:27.351Z,1348513347.351 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-24T19:02:27.354Z,1348513347.355 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-24T19:02:27.355Z,1348513347.355 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-24T19:02:27.357Z,1348513347.357 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-24T19:02:27.358Z,1348513347.358 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-24T19:02:27.364Z,1348513347.364 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-24T19:02:27.367Z,1348513347.367 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-24T19:02:27.371Z,1348513347.371 [Supervisor](DEBUG): Running supervisor.
2012-09-24T19:02:27.372Z,1348513347.372 [CommandLine](INFO): Thread ID is 750
2012-09-24T19:02:27.375Z,1348513347.375 [controlThread](INFO): Thread ID is 749
2012-09-24T19:02:27.375Z,1348513347.375 [controlThread](DEBUG): Initializing ControlThread
2012-09-24T19:02:27.376Z,1348513347.376 [CycleStarter](INFO): Thread ID is 748
2012-09-24T19:02:27.377Z,1348513347.376 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-24T19:02:27.484Z,1348513347.484 [AsyncPiEstimator](INFO): Thread ID is 811
2012-09-24T19:02:27.484Z,1348513347.484 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-24T19:02:27.559Z,1348513347.559 [DVL_micro](INFO): Thread ID is 812
2012-09-24T19:02:27.647Z,1348513347.647 [CTD_NeilBrown](INFO): Thread ID is 813
2012-09-24T19:02:27.648Z,1348513347.648 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-24T19:02:27.655Z,1348513347.655 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-24T19:02:27.688Z,1348513347.688 [Turbulence_NPS](INFO): Thread ID is 814
2012-09-24T19:02:27.689Z,1348513347.689 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-24T19:02:27.695Z,1348513347.695 [DVL_micro](INFO): Initializing
2012-09-24T19:02:27.695Z,1348513347.695 [DVL_micro](INFO): start:Powering up
2012-09-24T19:02:27.696Z,1348513347.695 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T19:02:27.701Z,1348513347.701 [SBIT](INFO): Initialize SBIT Component.
2012-09-24T19:02:27.702Z,1348513347.702 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-24T19:02:27.703Z,1348513347.704 [WetLabsBB2FL](INFO): Thread ID is 815
2012-09-24T19:02:27.704Z,1348513347.704 [WetLabsBB2FL](INFO): Powering down
2012-09-24T19:02:27.727Z,1348513347.727 [IBIT](INFO): Initialize IBIT Component.
2012-09-24T19:02:27.728Z,1348513347.728 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-24T19:02:27.729Z,1348513347.729 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-24T19:02:27.732Z,1348513347.731 [NavChartDb](INFO): Thread ID is 816
2012-09-24T19:02:27.756Z,1348513347.756 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T19:02:27.757Z,1348513347.757 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-24T19:02:27.757Z,1348513347.757 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-24T19:02:27.757Z,1348513347.757 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-24T19:02:27.758Z,1348513347.758 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-24T19:02:27.760Z,1348513347.760 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-24T19:02:27.761Z,1348513347.761 [Navigation](DEBUG): Initializing Navigation.
2012-09-24T19:02:27.761Z,1348513347.761 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-24T19:02:27.763Z,1348513347.763 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-24T19:02:27.764Z,1348513347.764 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-24T19:02:27.764Z,1348513347.764 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-24T19:02:27.774Z,1348513347.774 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-24T19:02:27.859Z,1348513347.859 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T19:02:27.869Z,1348513347.869 [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>


2012-09-24T19:02:27.870Z,1348513347.870 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-24T19:02:27.975Z,1348513347.974 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-24T19:02:27.976Z,1348513347.977 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-24T19:02:27.980Z,1348513347.980 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T19:02:27.987Z,1348513347.987 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-24T19:02:27.990Z,1348513347.990 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T19:02:28.003Z,1348513348.003 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-24T19:02:28.012Z,1348513348.012 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-24T19:02:28.015Z,1348513348.015 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T19:02:28.020Z,1348513348.020 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-24T19:02:28.023Z,1348513348.023 [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>


2012-09-24T19:02:28.030Z,1348513348.030 [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,
2012-09-24T19:02:28.050Z,1348513348.050 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T19:02:28.230Z,1348513348.230 [Radio_Freewave](INFO): Powering up
2012-09-24T19:02:28.343Z,1348513348.343 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-24T19:02:28.347Z,1348513348.347 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-24T19:02:28.353Z,1348513348.353 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-24T19:02:28.359Z,1348513348.359 [MassServo](DEBUG): Initializing MassServo.
2012-09-24T19:02:28.365Z,1348513348.365 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T19:02:28.367Z,1348513348.367 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T19:02:28.372Z,1348513348.372 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-24T19:02:28.373Z,1348513348.373 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-24T19:02:29.259Z,1348513349.259 [DVL_micro](INFO): Querying output modes
2012-09-24T19:02:29.259Z,1348513349.259 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T19:02:29.263Z,1348513349.263 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-09-24T19:02:29.263Z,1348513349.263 [DVL_micro](INFO): NQ1 output enabled
2012-09-24T19:02:29.263Z,1348513349.263 [DVL_micro](INFO): RSSI output enabled
2012-09-24T19:02:29.263Z,1348513349.263 [DVL_micro](INFO): ADCP output enabled
2012-09-24T19:02:29.264Z,1348513349.263 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T19:02:29.271Z,1348513349.271 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-24T19:02:29.275Z,1348513349.276 [DVL_micro](INFO): pause:Powering down
2012-09-24T19:02:32.064Z,1348513352.064 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-24T19:02:32.183Z,1348513352.183 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-24T19:02:32.273Z,1348513352.273 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-24T19:02:32.358Z,1348513352.358 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-24T19:02:32.362Z,1348513352.362 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-24T19:02:32.362Z,1348513352.362 [NavChartDb](INFO): Creating index for Soundings
2012-09-24T19:02:32.366Z,1348513352.366 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-24T19:02:32.368Z,1348513352.368 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-24T19:02:32.370Z,1348513352.370 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-24T19:02:32.372Z,1348513352.372 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-24T19:02:32.374Z,1348513352.374 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-24T19:02:32.378Z,1348513352.378 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-24T19:02:32.380Z,1348513352.380 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-24T19:02:32.382Z,1348513352.382 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-24T19:02:32.384Z,1348513352.384 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-24T19:02:32.386Z,1348513352.386 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-24T19:02:32.388Z,1348513352.388 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-24T19:02:32.390Z,1348513352.390 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-24T19:02:32.392Z,1348513352.392 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-24T19:02:32.394Z,1348513352.394 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-24T19:02:32.396Z,1348513352.396 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-24T19:02:32.398Z,1348513352.398 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-24T19:02:32.400Z,1348513352.400 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-24T19:02:32.402Z,1348513352.402 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-24T19:02:32.404Z,1348513352.404 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-24T19:02:32.406Z,1348513352.406 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-24T19:02:32.408Z,1348513352.408 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-24T19:02:32.410Z,1348513352.410 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-24T19:02:32.412Z,1348513352.412 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-24T19:02:32.414Z,1348513352.414 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-24T19:02:32.418Z,1348513352.418 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-24T19:02:32.421Z,1348513352.421 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-24T19:02:32.423Z,1348513352.423 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-24T19:02:32.424Z,1348513352.424 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-24T19:02:32.427Z,1348513352.427 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-24T19:02:32.428Z,1348513352.428 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-24T19:02:32.431Z,1348513352.431 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-24T19:02:32.463Z,1348513352.463 [NAL9602](INFO): Powering up NAL9602
2012-09-24T19:02:43.231Z,1348513363.231 [NAL9602](INFO): NAL9602 initialized
2012-09-24T19:02:43.274Z,1348513363.274 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-24T19:02:43.277Z,1348513363.277 [CBIT](IMPORTANT): Beginning GF scan
2012-09-24T19:02:56.513Z,1348513376.513 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.001040
2012-09-24T19:02:56.514Z,1348513376.514 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.903248
2012-09-24T19:03:09.657Z,1348513389.657 [CBIT](IMPORTANT): No ground fault detected
2012-09-24T19:03:37.253Z,1348513417.253 [SBIT](CRITICAL): SBIT FAILED
2012-09-24T19:03:37.631Z,1348513417.631 [MissionManager](IMPORTANT): Started mission Startup
2012-09-24T19:03:37.632Z,1348513417.632 [Startup] Running Loop=1
2012-09-24T19:03:37.632Z,1348513417.632 [Startup](INFO): Aggregate::initialize Startup
2012-09-24T19:03:37.632Z,1348513417.632 [Startup:A.GoToSurface] Running Loop=1
2012-09-24T19:03:37.632Z,1348513417.632 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T19:03:37.637Z,1348513417.637 [Startup:StartupSatComms] Running Loop=1
2012-09-24T19:03:37.637Z,1348513417.637 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-24T19:03:37.637Z,1348513417.637 [Startup:StartupSatComms:A] Running Loop=1
2012-09-24T19:03:38.016Z,1348513418.016 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-24T19:04:37.670Z,1348513477.670 [Startup:StartupSatComms:A](INFO): Timed out from 2012-09-24T19:03:37.6Z
2012-09-24T19:04:37.670Z,1348513477.670 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-09-24T19:04:37.670Z,1348513477.670 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-09-24T19:04:37.670Z,1348513477.670 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-09-24T19:04:37.670Z,1348513477.671 [Startup:StartupSatComms:A] Stopped
2012-09-24T19:04:37.671Z,1348513477.671 [Startup:StartupSatComms:B] Running Loop=1
2012-09-24T19:04:38.046Z,1348513478.046 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-24T19:04:52.207Z,1348513492.207 [CommandLine](IMPORTANT): got command quit
2012-09-24T19:04:53.266Z,1348513493.266 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-24T19:04:53.267Z,1348513493.267 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-24T19:04:53.567Z,1348513493.566 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-24T19:04:53.783Z,1348513493.783 [WetLabsBB2FL](INFO): Powering down
2012-09-24T19:04:53.787Z,1348513493.787 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-24T19:04:53.887Z,1348513493.887 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-24T19:04:54.275Z,1348513494.275 [CTD_NeilBrown](INFO): Powering down
2012-09-24T19:04:54.295Z,1348513494.295 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-24T19:04:54.439Z,1348513494.439 [DVL_micro](INFO): uninitialize:Powering down
2012-09-24T19:04:54.456Z,1348513494.456 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-24T19:04:54.487Z,1348513494.487 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-24T19:04:54.499Z,1348513494.499 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-24T19:04:54.506Z,1348513494.506 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-24T19:04:54.687Z,1348513494.687 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-24T19:04:54.687Z,1348513494.687 [AHRS_sp3003D](INFO): Powering down
2012-09-24T19:04:54.775Z,1348513494.775 [NAL9602](INFO): Powering down
2012-09-24T19:04:54.777Z,1348513494.777 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T19:04:54.778Z,1348513494.778 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-24T19:04:54.782Z,1348513494.782 [Startup] Stopped
2012-09-24T19:04:54.782Z,1348513494.782 [Startup](INFO): Aggregate::uninitialize Startup
2012-09-24T19:04:54.782Z,1348513494.782 [Startup:A.GoToSurface] Stopped
2012-09-24T19:04:54.782Z,1348513494.782 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T19:04:54.782Z,1348513494.782 [Startup:StartupSatComms] Stopped
2012-09-24T19:04:54.783Z,1348513494.783 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-09-24T19:04:54.783Z,1348513494.783 [Startup:StartupSatComms:B] Stopped
2012-09-24T19:04:54.784Z,1348513494.784 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-24T19:04:54.784Z,1348513494.784 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-24T19:04:54.785Z,1348513494.785 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-24T19:04:54.785Z,1348513494.785 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-24T19:04:54.785Z,1348513494.785 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-24T19:04:54.785Z,1348513494.785 [BuoyancyServo](INFO): Powering down
2012-09-24T19:04:54.791Z,1348513494.791 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-24T19:04:54.791Z,1348513494.791 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-24T19:04:54.791Z,1348513494.791 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T19:04:54.791Z,1348513494.791 [RudderServo](INFO): Powering down
2012-09-24T19:04:54.792Z,1348513494.792 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-24T19:04:54.792Z,1348513494.792 [ThrusterServo](INFO): Powering down
2012-09-24T19:04:54.793Z,1348513494.793 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-24T19:04:54.793Z,1348513494.793 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-24T19:04:54.794Z,1348513494.794 [CBIT](DEBUG): Uninitialize CBIT Component.