2012-09-24T19:09:54.868Z,1348513794.868 [Supervisor](DEBUG): Initializing supervisor.
2012-09-24T19:09:54.874Z,1348513794.875 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-24T19:09:54.875Z,1348513794.875 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-24T19:09:54.878Z,1348513794.878 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-24T19:09:54.882Z,1348513794.882 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-24T19:09:54.893Z,1348513794.893 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-24T19:09:54.895Z,1348513794.895 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-24T19:09:54.895Z,1348513794.895 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-24T19:09:54.896Z,1348513794.896 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-24T19:09:54.899Z,1348513794.899 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-24T19:09:55.207Z,1348513795.207 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-24T19:09:55.209Z,1348513795.210 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-24T19:09:55.411Z,1348513795.411 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-24T19:09:55.412Z,1348513795.412 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-24T19:09:55.506Z,1348513795.506 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-24T19:09:55.508Z,1348513795.508 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-24T19:09:55.718Z,1348513795.718 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-24T19:09:55.719Z,1348513795.718 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-24T19:09:55.867Z,1348513795.867 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-24T19:09:55.869Z,1348513795.869 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-24T19:09:56.122Z,1348513796.122 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-24T19:09:56.123Z,1348513796.123 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-24T19:09:56.311Z,1348513796.311 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-24T19:09:56.313Z,1348513796.313 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-24T19:09:56.592Z,1348513796.592 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-24T19:09:56.594Z,1348513796.594 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-24T19:09:56.707Z,1348513796.707 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-24T19:09:56.708Z,1348513796.708 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-24T19:09:57.160Z,1348513797.160 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-24T19:09:57.161Z,1348513797.161 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-24T19:09:57.287Z,1348513797.287 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-24T19:09:57.288Z,1348513797.288 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-24T19:09:57.390Z,1348513797.390 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-24T19:09:57.439Z,1348513797.439 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-24T19:09:57.556Z,1348513797.556 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-24T19:09:57.700Z,1348513797.700 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-24T19:09:57.794Z,1348513797.794 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-24T19:09:57.906Z,1348513797.906 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-24T19:09:58.016Z,1348513798.016 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-24T19:09:58.148Z,1348513798.148 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-24T19:09:58.246Z,1348513798.246 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-24T19:09:58.392Z,1348513798.392 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-24T19:09:58.405Z,1348513798.405 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-24T19:09:58.441Z,1348513798.441 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-24T19:09:58.628Z,1348513798.628 [InternalSim] Loaded
2012-09-24T19:09:58.629Z,1348513798.629 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-24T19:09:58.630Z,1348513798.630 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-24T19:09:58.630Z,1348513798.630 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-24T19:09:58.716Z,1348513798.716 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-24T19:09:58.729Z,1348513798.729 [SBIT] Loaded
2012-09-24T19:09:58.729Z,1348513798.729 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-24T19:09:58.730Z,1348513798.730 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-24T19:09:58.760Z,1348513798.760 [IBIT] Loaded
2012-09-24T19:09:58.761Z,1348513798.760 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-24T19:09:58.764Z,1348513798.764 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-24T19:09:58.886Z,1348513798.886 [CBIT] Loaded
2012-09-24T19:09:58.887Z,1348513798.887 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-24T19:09:58.887Z,1348513798.887 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-24T19:09:58.888Z,1348513798.888 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-24T19:09:59.052Z,1348513799.053 [BuoyancyServo] Loaded
2012-09-24T19:09:59.053Z,1348513799.053 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-24T19:09:59.062Z,1348513799.062 [ElevatorServo] Loaded
2012-09-24T19:09:59.062Z,1348513799.062 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-24T19:09:59.073Z,1348513799.073 [MassServo] Loaded
2012-09-24T19:09:59.074Z,1348513799.074 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-24T19:09:59.089Z,1348513799.089 [RudderServo] Loaded
2012-09-24T19:09:59.089Z,1348513799.089 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-24T19:09:59.100Z,1348513799.100 [ThrusterServo] Loaded
2012-09-24T19:09:59.101Z,1348513799.101 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-24T19:09:59.101Z,1348513799.101 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-24T19:09:59.102Z,1348513799.102 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-24T19:09:59.136Z,1348513799.136 [DepthRateCalculator] Loaded
2012-09-24T19:09:59.136Z,1348513799.136 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-24T19:10:01.859Z,1348513801.859 [HFRadarModelCalc] Loaded
2012-09-24T19:10:01.860Z,1348513801.860 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-24T19:10:01.875Z,1348513801.875 [NavChart] Loaded
2012-09-24T19:10:01.875Z,1348513801.875 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-24T19:10:01.881Z,1348513801.881 [PitchRateCalculator] Loaded
2012-09-24T19:10:01.881Z,1348513801.881 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-24T19:10:01.891Z,1348513801.891 [SpeedCalculator] Loaded
2012-09-24T19:10:01.892Z,1348513801.892 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-24T19:10:01.906Z,1348513801.906 [TempGradientCalculator] Loaded
2012-09-24T19:10:01.907Z,1348513801.907 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-24T19:10:01.912Z,1348513801.912 [YawRateCalculator] Loaded
2012-09-24T19:10:01.912Z,1348513801.912 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-24T19:10:01.936Z,1348513801.935 [Navigation] Loaded
2012-09-24T19:10:01.936Z,1348513801.936 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-24T19:10:01.936Z,1348513801.936 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-24T19:10:01.937Z,1348513801.937 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-24T19:10:02.213Z,1348513802.213 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-24T19:10:02.214Z,1348513802.214 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-24T19:10:02.259Z,1348513802.259 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-24T19:10:02.260Z,1348513802.260 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-24T19:10:02.324Z,1348513802.324 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-24T19:10:02.372Z,1348513802.372 [VerticalControl] Loaded
2012-09-24T19:10:02.372Z,1348513802.372 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-24T19:10:02.373Z,1348513802.373 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-24T19:10:02.397Z,1348513802.397 [HorizontalControl] Loaded
2012-09-24T19:10:02.397Z,1348513802.397 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-24T19:10:02.398Z,1348513802.398 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-24T19:10:02.400Z,1348513802.399 [SpeedControl] Loaded
2012-09-24T19:10:02.400Z,1348513802.400 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-24T19:10:02.401Z,1348513802.401 [LoopControl](DEBUG): Construct LoopControl.
2012-09-24T19:10:02.401Z,1348513802.401 [LoopControl] Loaded
2012-09-24T19:10:02.401Z,1348513802.401 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-24T19:10:02.402Z,1348513802.402 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-24T19:10:02.403Z,1348513802.403 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-24T19:10:02.415Z,1348513802.415 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-24T19:10:02.419Z,1348513802.419 [AsyncPiEstimator] Loaded
2012-09-24T19:10:02.419Z,1348513802.420 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-24T19:10:02.423Z,1348513802.422 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-24T19:10:02.423Z,1348513802.423 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-24T19:10:02.424Z,1348513802.424 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-24T19:10:05.049Z,1348513805.049 [AHRS_sp3003D] Loaded
2012-09-24T19:10:05.049Z,1348513805.049 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-24T19:10:05.067Z,1348513805.067 [Depth_Keller] Loaded
2012-09-24T19:10:05.067Z,1348513805.067 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-24T19:10:05.072Z,1348513805.072 [DropWeight] Loaded
2012-09-24T19:10:05.072Z,1348513805.072 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-24T19:10:05.196Z,1348513805.196 [DVL_micro] Loaded
2012-09-24T19:10:05.196Z,1348513805.196 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-24T19:10:05.199Z,1348513805.198 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-24T19:10:05.285Z,1348513805.286 [NAL9602] Loaded
2012-09-24T19:10:05.286Z,1348513805.286 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-24T19:10:05.337Z,1348513805.337 [Onboard] Loaded
2012-09-24T19:10:05.337Z,1348513805.337 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-24T19:10:05.344Z,1348513805.344 [Radio_Freewave] Loaded
2012-09-24T19:10:05.344Z,1348513805.344 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-24T19:10:05.345Z,1348513805.345 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-24T19:10:05.346Z,1348513805.346 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-24T19:10:05.445Z,1348513805.445 [CTD_NeilBrown] Loaded
2012-09-24T19:10:05.445Z,1348513805.445 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-24T19:10:05.451Z,1348513805.451 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-24T19:10:05.461Z,1348513805.461 [PAR_Licor] Loaded
2012-09-24T19:10:05.461Z,1348513805.461 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-24T19:10:05.477Z,1348513805.477 [Turbulence_NPS] Loaded
2012-09-24T19:10:05.477Z,1348513805.477 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-24T19:10:05.479Z,1348513805.478 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-24T19:10:05.511Z,1348513805.511 [WetLabsBB2FL] Loaded
2012-09-24T19:10:05.512Z,1348513805.511 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-24T19:10:05.515Z,1348513805.514 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-24T19:10:05.515Z,1348513805.515 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-24T19:10:05.517Z,1348513805.517 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-24T19:10:05.518Z,1348513805.518 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-24T19:10:05.524Z,1348513805.524 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-24T19:10:05.527Z,1348513805.527 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-24T19:10:05.531Z,1348513805.531 [Supervisor](DEBUG): Running supervisor.
2012-09-24T19:10:05.532Z,1348513805.532 [CommandLine](INFO): Thread ID is 746
2012-09-24T19:10:05.535Z,1348513805.535 [controlThread](INFO): Thread ID is 745
2012-09-24T19:10:05.535Z,1348513805.535 [controlThread](DEBUG): Initializing ControlThread
2012-09-24T19:10:05.536Z,1348513805.536 [CycleStarter](INFO): Thread ID is 744
2012-09-24T19:10:05.536Z,1348513805.536 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-24T19:10:05.643Z,1348513805.643 [AsyncPiEstimator](INFO): Thread ID is 807
2012-09-24T19:10:05.643Z,1348513805.643 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-24T19:10:05.713Z,1348513805.713 [DVL_micro](INFO): Thread ID is 808
2012-09-24T19:10:05.796Z,1348513805.796 [CTD_NeilBrown](INFO): Thread ID is 809
2012-09-24T19:10:05.797Z,1348513805.797 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-24T19:10:05.799Z,1348513805.799 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-24T19:10:05.822Z,1348513805.822 [DVL_micro](INFO): Initializing
2012-09-24T19:10:05.828Z,1348513805.828 [DVL_micro](INFO): start:Powering up
2012-09-24T19:10:05.828Z,1348513805.828 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T19:10:05.855Z,1348513805.855 [Turbulence_NPS](INFO): Thread ID is 810
2012-09-24T19:10:05.856Z,1348513805.856 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-24T19:10:05.863Z,1348513805.863 [WetLabsBB2FL](INFO): Thread ID is 811
2012-09-24T19:10:05.864Z,1348513805.864 [WetLabsBB2FL](INFO): Powering down
2012-09-24T19:10:05.886Z,1348513805.886 [SBIT](INFO): Initialize SBIT Component.
2012-09-24T19:10:05.886Z,1348513805.886 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-24T19:10:05.895Z,1348513805.895 [IBIT](INFO): Initialize IBIT Component.
2012-09-24T19:10:05.896Z,1348513805.896 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-24T19:10:05.896Z,1348513805.896 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-24T19:10:05.897Z,1348513805.897 [NavChartDb](INFO): Thread ID is 812
2012-09-24T19:10:05.968Z,1348513805.968 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T19:10:05.968Z,1348513805.968 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-24T19:10:05.969Z,1348513805.969 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-24T19:10:05.969Z,1348513805.969 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-24T19:10:05.970Z,1348513805.970 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-24T19:10:05.971Z,1348513805.971 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-24T19:10:05.971Z,1348513805.971 [Navigation](DEBUG): Initializing Navigation.
2012-09-24T19:10:05.972Z,1348513805.972 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-24T19:10:05.974Z,1348513805.974 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-24T19:10:05.974Z,1348513805.974 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-24T19:10:05.975Z,1348513805.975 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-24T19:10:06.007Z,1348513806.007 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-24T19:10:06.060Z,1348513806.060 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T19:10:06.070Z,1348513806.070 [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>


2012-09-24T19:10:06.074Z,1348513806.074 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-24T19:10:06.169Z,1348513806.169 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-24T19:10:06.171Z,1348513806.171 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-24T19:10:06.174Z,1348513806.174 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T19:10:06.184Z,1348513806.184 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-24T19:10:06.191Z,1348513806.191 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T19:10:06.197Z,1348513806.197 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-24T19:10:06.206Z,1348513806.206 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-24T19:10:06.213Z,1348513806.213 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T19:10:06.218Z,1348513806.218 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-24T19:10:06.222Z,1348513806.222 [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>


2012-09-24T19:10:06.226Z,1348513806.226 [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,
2012-09-24T19:10:06.247Z,1348513806.247 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T19:10:06.451Z,1348513806.451 [Radio_Freewave](INFO): Powering up
2012-09-24T19:10:06.655Z,1348513806.655 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-24T19:10:06.658Z,1348513806.658 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-24T19:10:06.664Z,1348513806.664 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-24T19:10:06.670Z,1348513806.670 [MassServo](DEBUG): Initializing MassServo.
2012-09-24T19:10:06.675Z,1348513806.675 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T19:10:06.679Z,1348513806.679 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T19:10:06.684Z,1348513806.684 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-24T19:10:06.685Z,1348513806.685 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-24T19:10:07.399Z,1348513807.399 [DVL_micro](INFO): Querying output modes
2012-09-24T19:10:07.399Z,1348513807.399 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T19:10:07.403Z,1348513807.403 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-09-24T19:10:07.403Z,1348513807.403 [DVL_micro](INFO): NQ1 output enabled
2012-09-24T19:10:07.403Z,1348513807.403 [DVL_micro](INFO): RSSI output enabled
2012-09-24T19:10:07.403Z,1348513807.403 [DVL_micro](INFO): ADCP output enabled
2012-09-24T19:10:07.403Z,1348513807.404 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T19:10:07.411Z,1348513807.411 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-24T19:10:07.416Z,1348513807.416 [DVL_micro](INFO): pause:Powering down
2012-09-24T19:10:10.653Z,1348513810.653 [NAL9602](INFO): Powering up NAL9602
2012-09-24T19:10:11.013Z,1348513811.013 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-24T19:10:11.135Z,1348513811.135 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-24T19:10:11.169Z,1348513811.169 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-24T19:10:11.202Z,1348513811.202 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-24T19:10:11.250Z,1348513811.250 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-24T19:10:11.391Z,1348513811.391 [NavChartDb](INFO): Creating index for Soundings
2012-09-24T19:10:11.424Z,1348513811.424 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-24T19:10:11.439Z,1348513811.439 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-24T19:10:11.441Z,1348513811.441 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-24T19:10:11.463Z,1348513811.464 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-24T19:10:11.465Z,1348513811.466 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-24T19:10:11.485Z,1348513811.485 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-24T19:10:11.508Z,1348513811.508 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-24T19:10:11.510Z,1348513811.510 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-24T19:10:11.528Z,1348513811.528 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-24T19:10:11.530Z,1348513811.530 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-24T19:10:11.553Z,1348513811.553 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-24T19:10:11.711Z,1348513811.711 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-24T19:10:11.713Z,1348513811.713 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-24T19:10:11.755Z,1348513811.755 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-24T19:10:11.757Z,1348513811.757 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-24T19:10:11.876Z,1348513811.876 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-24T19:10:11.878Z,1348513811.878 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-24T19:10:12.036Z,1348513812.036 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-24T19:10:12.038Z,1348513812.038 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-24T19:10:12.164Z,1348513812.164 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-24T19:10:12.166Z,1348513812.166 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-24T19:10:12.411Z,1348513812.411 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-24T19:10:12.413Z,1348513812.413 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-24T19:10:12.431Z,1348513812.431 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-24T19:10:12.433Z,1348513812.433 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-24T19:10:12.459Z,1348513812.459 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-24T19:10:12.461Z,1348513812.461 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-24T19:10:12.496Z,1348513812.496 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-24T19:10:12.498Z,1348513812.498 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-24T19:10:12.516Z,1348513812.516 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-24T19:10:12.518Z,1348513812.518 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-24T19:10:21.235Z,1348513821.235 [NAL9602](INFO): NAL9602 initialized
2012-09-24T19:10:21.633Z,1348513821.633 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-24T19:10:21.635Z,1348513821.635 [CBIT](IMPORTANT): Beginning GF scan
2012-09-24T19:10:22.420Z,1348513822.420 [Radio_Freewave](INFO): Powering down
2012-09-24T19:10:22.824Z,1348513822.824 [Radio_Freewave](INFO): Powering up
2012-09-24T19:10:34.897Z,1348513834.897 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.001040
2012-09-24T19:10:34.897Z,1348513834.897 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.901049
2012-09-24T19:10:48.042Z,1348513848.042 [CBIT](IMPORTANT): No ground fault detected
2012-09-24T19:11:15.632Z,1348513875.632 [SBIT](CRITICAL): SBIT FAILED
2012-09-24T19:11:16.025Z,1348513876.025 [MissionManager](IMPORTANT): Started mission Startup
2012-09-24T19:11:16.025Z,1348513876.026 [Startup] Running Loop=1
2012-09-24T19:11:16.026Z,1348513876.026 [Startup](INFO): Aggregate::initialize Startup
2012-09-24T19:11:16.026Z,1348513876.026 [Startup:A.GoToSurface] Running Loop=1
2012-09-24T19:11:16.026Z,1348513876.026 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T19:11:16.032Z,1348513876.032 [Startup:StartupSatComms] Running Loop=1
2012-09-24T19:11:16.032Z,1348513876.032 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-24T19:11:16.032Z,1348513876.032 [Startup:StartupSatComms:A] Running Loop=1
2012-09-24T19:11:16.427Z,1348513876.427 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-24T19:12:16.426Z,1348513936.426 [Startup:StartupSatComms:A](INFO): Timed out from 2012-09-24T19:11:16.0Z
2012-09-24T19:12:16.426Z,1348513936.426 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-09-24T19:12:16.427Z,1348513936.427 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-09-24T19:12:16.427Z,1348513936.427 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-09-24T19:12:16.427Z,1348513936.427 [Startup:StartupSatComms:A] Stopped
2012-09-24T19:12:16.427Z,1348513936.427 [Startup:StartupSatComms:B] Running Loop=1
2012-09-24T19:12:16.830Z,1348513936.830 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-24T19:13:16.948Z,1348513996.948 [Startup:StartupSatComms:B](INFO): Timed out from 2012-09-24T19:12:16.4Z
2012-09-24T19:13:16.948Z,1348513996.948 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-09-24T19:13:16.948Z,1348513996.948 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-09-24T19:13:16.948Z,1348513996.948 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-09-24T19:13:16.948Z,1348513996.948 [Startup:StartupSatComms:B] Stopped
2012-09-24T19:13:16.949Z,1348513996.949 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-09-24T19:13:16.949Z,1348513996.949 [Startup:StartupSatComms] Stopped
2012-09-24T19:13:16.949Z,1348513996.949 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-09-24T19:13:16.950Z,1348513996.950 [Startup](INFO): Completed Startup
2012-09-24T19:13:16.950Z,1348513996.950 [Startup] Stopped
2012-09-24T19:13:16.950Z,1348513996.950 [Startup](INFO): Aggregate::uninitialize Startup
2012-09-24T19:13:16.950Z,1348513996.950 [Startup:A.GoToSurface] Stopped
2012-09-24T19:13:16.950Z,1348513996.950 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T19:13:17.184Z,1348513997.184 [MissionManager](IMPORTANT): Started mission Default
2012-09-24T19:13:17.184Z,1348513997.184 [Default] Running Loop=1
2012-09-24T19:13:17.184Z,1348513997.184 [Default](INFO): Aggregate::initialize Default
2012-09-24T19:13:17.184Z,1348513997.184 [Default:D.SetSpeed] Running Loop=1
2012-09-24T19:13:17.184Z,1348513997.184 [Default:D.SetSpeed](DEBUG): Initialize.
2012-09-24T19:13:17.184Z,1348513997.184 [Default:E.GoToSurface] Running Loop=1
2012-09-24T19:13:17.185Z,1348513997.185 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T19:13:17.185Z,1348513997.185 [Default:Iridium] Running Loop=1
2012-09-24T19:13:17.185Z,1348513997.185 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-09-24T19:13:17.185Z,1348513997.185 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-24T19:13:17.185Z,1348513997.185 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-09-24T19:13:17.185Z,1348513997.185 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-09-24T19:13:17.185Z,1348513997.185 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T19:13:17.186Z,1348513997.186 [Default:E.GoToSurface] Running Loop=1
2012-09-24T19:13:17.191Z,1348513997.191 [Default:D.SetSpeed] Running Loop=1
2012-09-24T19:13:17.196Z,1348513997.196 [Default:CallIridium] Running Loop=1
2012-09-24T19:13:17.196Z,1348513997.196 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-09-24T19:13:17.196Z,1348513997.196 [Default:CallIridium:A] Running Loop=1
2012-09-24T19:13:17.198Z,1348513997.198 [Default:CallIridium:A] Stopped
2012-09-24T19:13:17.198Z,1348513997.198 [Default:CallIridium:B] Running Loop=1
2012-09-24T19:13:17.199Z,1348513997.199 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-09-24T19:13:17.204Z,1348513997.204 [Default:Iridium:B.GoToSurface] Stopped
2012-09-24T19:13:17.204Z,1348513997.204 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T19:13:17.204Z,1348513997.204 [Default:Iridium:Read_Iridium] Running Loop=1
2012-09-24T19:13:17.204Z,1348513997.204 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-24T19:13:17.209Z,1348513997.209 [Default:GPS] Running Loop=1
2012-09-24T19:13:17.209Z,1348513997.209 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-09-24T19:13:17.209Z,1348513997.209 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-24T19:13:17.209Z,1348513997.209 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-09-24T19:13:17.209Z,1348513997.210 [Default:GPS:B.GoToSurface] Running Loop=1
2012-09-24T19:13:17.210Z,1348513997.210 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T19:13:17.215Z,1348513997.215 [Default:GPS:B.GoToSurface] Stopped
2012-09-24T19:13:17.215Z,1348513997.215 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T19:13:17.215Z,1348513997.215 [Default:GPS:Read_GPS] Running Loop=1
2012-09-24T19:13:17.215Z,1348513997.215 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-24T19:13:17.586Z,1348513997.586 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-24T19:13:17.589Z,1348513997.589 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-24T19:20:23.632Z,1348514423.632 [NAL9602](FAULT): GPS failed to acquire within timeout.
2012-09-24T19:20:23.632Z,1348514423.632 [NAL9602] Data Fault, FailCount= 1
2012-09-24T19:20:23.632Z,1348514423.632 [NAL9602](ERROR): Data Fault
2012-09-24T19:20:23.660Z,1348514423.660 [CBIT](ERROR): Data Fault in component: NAL9602
2012-09-24T19:20:24.036Z,1348514424.036 [NAL9602](INFO): Powering down
2012-09-24T19:20:24.061Z,1348514424.061 [CBIT](INFO): Clearing failed state for component NAL9602
2012-09-24T19:20:24.061Z,1348514424.061 [NAL9602] No Fault, FailCount= 1
2012-09-24T19:20:29.227Z,1348514429.227 [NAL9602](INFO): Powering up NAL9602
2012-09-24T19:20:40.055Z,1348514440.055 [NAL9602](INFO): NAL9602 initialized
2012-09-24T19:30:40.854Z,1348515040.854 [NAL9602](FAULT): GPS failed to acquire within timeout.
2012-09-24T19:30:40.854Z,1348515040.854 [NAL9602] Data Fault, FailCount= 2
2012-09-24T19:30:40.854Z,1348515040.855 [NAL9602](ERROR): Data Fault
2012-09-24T19:30:40.880Z,1348515040.880 [CBIT](ERROR): Data Fault in component: NAL9602
2012-09-24T19:30:40.880Z,1348515040.880 [CBIT](CRITICAL): Data Fault in component: NAL9602
2012-09-24T19:30:41.260Z,1348515041.260 [NAL9602](INFO): Powering down
2012-09-24T19:32:40.879Z,1348515160.879 [CBIT](INFO): Clearing failed count for component NAL9602
2012-09-24T19:32:40.879Z,1348515160.879 [NAL9602] No Fault, FailCount= 2
2012-09-24T19:32:41.261Z,1348515161.261 [NAL9602](INFO): Powering up NAL9602
2012-09-24T19:32:52.083Z,1348515172.083 [NAL9602](INFO): NAL9602 initialized
2012-09-24T19:32:52.919Z,1348515172.918 [NAL9602](ERROR): getFix uart error: serial timeout
2012-09-24T19:42:55.721Z,1348515775.721 [NAL9602](FAULT): GPS failed to acquire within timeout.
2012-09-24T19:42:55.721Z,1348515775.721 [NAL9602] Data Fault, FailCount= 1
2012-09-24T19:42:55.721Z,1348515775.721 [NAL9602](ERROR): Data Fault
2012-09-24T19:42:55.744Z,1348515775.744 [CBIT](ERROR): Data Fault in component: NAL9602
2012-09-24T19:42:56.118Z,1348515776.118 [NAL9602](INFO): Powering down
2012-09-24T19:42:56.144Z,1348515776.144 [CBIT](INFO): Clearing failed state for component NAL9602
2012-09-24T19:42:56.144Z,1348515776.144 [NAL9602] No Fault, FailCount= 1
2012-09-24T19:43:01.325Z,1348515781.325 [NAL9602](INFO): Powering up NAL9602
2012-09-24T19:43:12.147Z,1348515792.147 [NAL9602](INFO): NAL9602 initialized
2012-09-24T19:53:13.466Z,1348516393.466 [NAL9602](FAULT): GPS failed to acquire within timeout.
2012-09-24T19:53:13.466Z,1348516393.466 [NAL9602] Data Fault, FailCount= 2
2012-09-24T19:53:13.467Z,1348516393.467 [NAL9602](ERROR): Data Fault
2012-09-24T19:53:13.491Z,1348516393.491 [CBIT](ERROR): Data Fault in component: NAL9602
2012-09-24T19:53:13.491Z,1348516393.491 [CBIT](CRITICAL): Data Fault in component: NAL9602
2012-09-24T19:53:13.868Z,1348516393.868 [NAL9602](INFO): Powering down
2012-09-24T19:55:13.489Z,1348516513.489 [CBIT](INFO): Clearing failed count for component NAL9602
2012-09-24T19:55:13.489Z,1348516513.489 [NAL9602] No Fault, FailCount= 2
2012-09-24T19:55:13.869Z,1348516513.869 [NAL9602](INFO): Powering up NAL9602
2012-09-24T19:55:24.691Z,1348516524.691 [NAL9602](INFO): NAL9602 initialized
2012-09-24T20:05:27.028Z,1348517127.028 [NAL9602](FAULT): GPS failed to acquire within timeout.
2012-09-24T20:05:27.028Z,1348517127.028 [NAL9602] Data Fault, FailCount= 1
2012-09-24T20:05:27.028Z,1348517127.028 [NAL9602](ERROR): Data Fault
2012-09-24T20:05:27.052Z,1348517127.052 [CBIT](ERROR): Data Fault in component: NAL9602
2012-09-24T20:05:27.426Z,1348517127.426 [NAL9602](INFO): Powering down
2012-09-24T20:05:27.451Z,1348517127.451 [CBIT](INFO): Clearing failed state for component NAL9602
2012-09-24T20:05:27.451Z,1348517127.451 [NAL9602] No Fault, FailCount= 1
2012-09-24T20:05:32.629Z,1348517132.629 [NAL9602](INFO): Powering up NAL9602
2012-09-24T20:05:43.451Z,1348517143.451 [NAL9602](INFO): NAL9602 initialized
2012-09-24T20:07:54.699Z,1348517274.699 [CommandLine](IMPORTANT): got command quit
2012-09-24T20:07:55.754Z,1348517275.754 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-24T20:07:55.755Z,1348517275.755 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-24T20:07:55.775Z,1348517275.774 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-24T20:07:56.011Z,1348517276.011 [WetLabsBB2FL](INFO): Powering down
2012-09-24T20:07:56.019Z,1348517276.019 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-24T20:07:56.039Z,1348517276.039 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-24T20:07:56.315Z,1348517276.315 [CTD_NeilBrown](INFO): Powering down
2012-09-24T20:07:56.319Z,1348517276.319 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-24T20:07:56.559Z,1348517276.559 [DVL_micro](INFO): uninitialize:Powering down
2012-09-24T20:07:56.579Z,1348517276.579 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-24T20:07:56.643Z,1348517276.643 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-24T20:07:56.659Z,1348517276.659 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-24T20:07:56.661Z,1348517276.661 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-24T20:07:56.691Z,1348517276.691 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-24T20:07:56.692Z,1348517276.691 [AHRS_sp3003D](INFO): Powering down
2012-09-24T20:07:56.779Z,1348517276.779 [NAL9602](INFO): Powering down
2012-09-24T20:07:56.781Z,1348517276.781 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T20:07:56.782Z,1348517276.782 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-24T20:07:56.783Z,1348517276.783 [Default] Stopped
2012-09-24T20:07:56.783Z,1348517276.783 [Default](INFO): Aggregate::uninitialize Default
2012-09-24T20:07:56.783Z,1348517276.783 [Default:GPS] Stopped
2012-09-24T20:07:56.783Z,1348517276.783 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-09-24T20:07:56.783Z,1348517276.783 [Default:GPS:A.SetSpeed] Stopped
2012-09-24T20:07:56.783Z,1348517276.783 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-09-24T20:07:56.784Z,1348517276.783 [Default:GPS:Read_GPS] Stopped
2012-09-24T20:07:56.784Z,1348517276.783 [Default:Iridium] Stopped
2012-09-24T20:07:56.784Z,1348517276.784 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-09-24T20:07:56.784Z,1348517276.784 [Default:Iridium:A.SetSpeed] Stopped
2012-09-24T20:07:56.784Z,1348517276.784 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-09-24T20:07:56.784Z,1348517276.784 [Default:Iridium:Read_Iridium] Stopped
2012-09-24T20:07:56.784Z,1348517276.784 [Default:CallIridium] Stopped
2012-09-24T20:07:56.784Z,1348517276.784 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-09-24T20:07:56.784Z,1348517276.784 [Default:CallIridium:B] Stopped
2012-09-24T20:07:56.784Z,1348517276.784 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-09-24T20:07:56.784Z,1348517276.784 [Default:D.SetSpeed] Stopped
2012-09-24T20:07:56.784Z,1348517276.784 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-09-24T20:07:56.784Z,1348517276.784 [Default:E.GoToSurface] Stopped
2012-09-24T20:07:56.785Z,1348517276.784 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T20:07:56.789Z,1348517276.789 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-24T20:07:56.789Z,1348517276.789 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-24T20:07:56.789Z,1348517276.789 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-24T20:07:56.790Z,1348517276.790 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-24T20:07:56.790Z,1348517276.790 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-24T20:07:56.790Z,1348517276.790 [BuoyancyServo](INFO): Powering down
2012-09-24T20:07:56.795Z,1348517276.795 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-24T20:07:56.795Z,1348517276.795 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-24T20:07:56.795Z,1348517276.795 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T20:07:56.795Z,1348517276.795 [RudderServo](INFO): Powering down
2012-09-24T20:07:56.796Z,1348517276.796 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-24T20:07:56.796Z,1348517276.796 [ThrusterServo](INFO): Powering down
2012-09-24T20:07:56.797Z,1348517276.797 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-24T20:07:56.797Z,1348517276.797 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-24T20:07:56.798Z,1348517276.798 [CBIT](DEBUG): Uninitialize CBIT Component.