2012-09-24T20:28:58.038Z,1348518538.039 [Supervisor](DEBUG): Initializing supervisor.
2012-09-24T20:28:58.041Z,1348518538.041 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-24T20:28:58.042Z,1348518538.042 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-24T20:28:58.046Z,1348518538.046 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-24T20:28:58.050Z,1348518538.050 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-24T20:28:58.060Z,1348518538.060 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-24T20:28:58.062Z,1348518538.062 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-24T20:28:58.063Z,1348518538.063 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-24T20:28:58.064Z,1348518538.064 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-24T20:28:58.066Z,1348518538.066 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-24T20:28:58.376Z,1348518538.376 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-24T20:28:58.378Z,1348518538.378 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-24T20:28:58.579Z,1348518538.579 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-24T20:28:58.580Z,1348518538.580 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-24T20:28:58.674Z,1348518538.674 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-24T20:28:58.676Z,1348518538.676 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-24T20:28:58.886Z,1348518538.886 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-24T20:28:58.886Z,1348518538.886 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-24T20:28:59.035Z,1348518539.035 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-24T20:28:59.037Z,1348518539.037 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-24T20:28:59.290Z,1348518539.290 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-24T20:28:59.290Z,1348518539.290 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-24T20:28:59.479Z,1348518539.479 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-24T20:28:59.481Z,1348518539.481 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-24T20:28:59.762Z,1348518539.762 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-24T20:28:59.764Z,1348518539.764 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-24T20:28:59.875Z,1348518539.875 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-24T20:28:59.875Z,1348518539.875 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-24T20:29:00.327Z,1348518540.328 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-24T20:29:00.328Z,1348518540.328 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-24T20:29:00.455Z,1348518540.455 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-24T20:29:00.456Z,1348518540.456 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-24T20:29:00.558Z,1348518540.558 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-24T20:29:00.609Z,1348518540.609 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-24T20:29:00.727Z,1348518540.727 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-24T20:29:00.870Z,1348518540.870 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-24T20:29:00.966Z,1348518540.966 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-24T20:29:01.078Z,1348518541.078 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-24T20:29:01.187Z,1348518541.187 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-24T20:29:01.319Z,1348518541.319 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-24T20:29:01.422Z,1348518541.422 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-24T20:29:01.569Z,1348518541.569 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-09-24T20:29:01.609Z,1348518541.609 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-24T20:29:01.781Z,1348518541.781 [InternalSim] Loaded
2012-09-24T20:29:01.781Z,1348518541.781 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-24T20:29:01.782Z,1348518541.782 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-24T20:29:01.783Z,1348518541.783 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-24T20:29:01.864Z,1348518541.864 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-24T20:29:01.876Z,1348518541.876 [SBIT] Loaded
2012-09-24T20:29:01.877Z,1348518541.877 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-24T20:29:01.878Z,1348518541.878 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-24T20:29:01.908Z,1348518541.908 [IBIT] Loaded
2012-09-24T20:29:01.908Z,1348518541.908 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-24T20:29:01.912Z,1348518541.912 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-24T20:29:02.034Z,1348518542.034 [CBIT] Loaded
2012-09-24T20:29:02.035Z,1348518542.035 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-24T20:29:02.035Z,1348518542.035 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-24T20:29:02.036Z,1348518542.036 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-24T20:29:02.204Z,1348518542.204 [BuoyancyServo] Loaded
2012-09-24T20:29:02.205Z,1348518542.204 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-24T20:29:02.214Z,1348518542.214 [ElevatorServo] Loaded
2012-09-24T20:29:02.214Z,1348518542.214 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-24T20:29:02.225Z,1348518542.225 [MassServo] Loaded
2012-09-24T20:29:02.225Z,1348518542.225 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-24T20:29:02.241Z,1348518542.240 [RudderServo] Loaded
2012-09-24T20:29:02.241Z,1348518542.241 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-24T20:29:02.252Z,1348518542.252 [ThrusterServo] Loaded
2012-09-24T20:29:02.252Z,1348518542.252 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-24T20:29:02.252Z,1348518542.253 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-24T20:29:02.253Z,1348518542.253 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-24T20:29:02.286Z,1348518542.286 [DepthRateCalculator] Loaded
2012-09-24T20:29:02.286Z,1348518542.286 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-24T20:29:05.026Z,1348518545.026 [HFRadarModelCalc] Loaded
2012-09-24T20:29:05.026Z,1348518545.026 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-24T20:29:05.045Z,1348518545.045 [NavChart] Loaded
2012-09-24T20:29:05.045Z,1348518545.045 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-24T20:29:05.051Z,1348518545.051 [PitchRateCalculator] Loaded
2012-09-24T20:29:05.052Z,1348518545.052 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-24T20:29:05.058Z,1348518545.057 [SpeedCalculator] Loaded
2012-09-24T20:29:05.058Z,1348518545.058 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-24T20:29:05.076Z,1348518545.076 [TempGradientCalculator] Loaded
2012-09-24T20:29:05.076Z,1348518545.076 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-24T20:29:05.082Z,1348518545.082 [YawRateCalculator] Loaded
2012-09-24T20:29:05.082Z,1348518545.082 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-24T20:29:05.101Z,1348518545.101 [Navigation] Loaded
2012-09-24T20:29:05.101Z,1348518545.102 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-24T20:29:05.102Z,1348518545.102 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-24T20:29:05.103Z,1348518545.103 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-24T20:29:05.381Z,1348518545.381 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-24T20:29:05.382Z,1348518545.382 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-24T20:29:05.422Z,1348518545.422 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-24T20:29:05.423Z,1348518545.423 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-24T20:29:05.484Z,1348518545.484 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-24T20:29:05.530Z,1348518545.530 [VerticalControl] Loaded
2012-09-24T20:29:05.531Z,1348518545.531 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-24T20:29:05.532Z,1348518545.532 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-24T20:29:05.555Z,1348518545.555 [HorizontalControl] Loaded
2012-09-24T20:29:05.556Z,1348518545.556 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-24T20:29:05.557Z,1348518545.557 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-24T20:29:05.558Z,1348518545.558 [SpeedControl] Loaded
2012-09-24T20:29:05.559Z,1348518545.559 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-24T20:29:05.559Z,1348518545.559 [LoopControl](DEBUG): Construct LoopControl.
2012-09-24T20:29:05.560Z,1348518545.560 [LoopControl] Loaded
2012-09-24T20:29:05.560Z,1348518545.560 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-24T20:29:05.561Z,1348518545.561 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-24T20:29:05.561Z,1348518545.561 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-24T20:29:05.569Z,1348518545.569 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-24T20:29:05.578Z,1348518545.578 [AsyncPiEstimator] Loaded
2012-09-24T20:29:05.578Z,1348518545.578 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-24T20:29:05.580Z,1348518545.580 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-24T20:29:05.580Z,1348518545.580 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-24T20:29:05.581Z,1348518545.581 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-24T20:29:05.806Z,1348518545.806 [AHRS_sp3003D] Loaded
2012-09-24T20:29:05.806Z,1348518545.806 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-24T20:29:05.819Z,1348518545.819 [Depth_Keller] Loaded
2012-09-24T20:29:05.819Z,1348518545.819 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-24T20:29:05.829Z,1348518545.829 [DropWeight] Loaded
2012-09-24T20:29:05.829Z,1348518545.829 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-24T20:29:05.948Z,1348518545.948 [DVL_micro] Loaded
2012-09-24T20:29:05.948Z,1348518545.948 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-24T20:29:05.950Z,1348518545.950 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-24T20:29:06.033Z,1348518546.033 [NAL9602] Loaded
2012-09-24T20:29:06.033Z,1348518546.033 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-24T20:29:06.088Z,1348518546.088 [Onboard] Loaded
2012-09-24T20:29:06.088Z,1348518546.088 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-24T20:29:06.095Z,1348518546.095 [Radio_Freewave] Loaded
2012-09-24T20:29:06.095Z,1348518546.095 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-24T20:29:06.096Z,1348518546.096 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-24T20:29:06.097Z,1348518546.097 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-24T20:29:06.194Z,1348518546.194 [CTD_NeilBrown] Loaded
2012-09-24T20:29:06.195Z,1348518546.195 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-24T20:29:06.198Z,1348518546.198 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-24T20:29:06.208Z,1348518546.208 [PAR_Licor] Loaded
2012-09-24T20:29:06.209Z,1348518546.209 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-24T20:29:06.229Z,1348518546.229 [Turbulence_NPS] Loaded
2012-09-24T20:29:06.229Z,1348518546.229 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-24T20:29:06.230Z,1348518546.230 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-24T20:29:06.263Z,1348518546.263 [WetLabsBB2FL] Loaded
2012-09-24T20:29:06.263Z,1348518546.263 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-24T20:29:06.266Z,1348518546.266 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-24T20:29:06.267Z,1348518546.267 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-24T20:29:06.269Z,1348518546.269 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-24T20:29:06.270Z,1348518546.270 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-24T20:29:06.276Z,1348518546.276 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-24T20:29:06.279Z,1348518546.279 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-24T20:29:06.283Z,1348518546.283 [Supervisor](DEBUG): Running supervisor.
2012-09-24T20:29:06.284Z,1348518546.284 [CommandLine](INFO): Thread ID is 749
2012-09-24T20:29:06.287Z,1348518546.287 [controlThread](INFO): Thread ID is 748
2012-09-24T20:29:06.287Z,1348518546.287 [controlThread](DEBUG): Initializing ControlThread
2012-09-24T20:29:06.288Z,1348518546.288 [CycleStarter](INFO): Thread ID is 747
2012-09-24T20:29:06.288Z,1348518546.288 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-24T20:29:06.393Z,1348518546.393 [AsyncPiEstimator](INFO): Thread ID is 810
2012-09-24T20:29:06.394Z,1348518546.394 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-24T20:29:06.461Z,1348518546.461 [DVL_micro](INFO): Thread ID is 811
2012-09-24T20:29:06.545Z,1348518546.546 [CTD_NeilBrown](INFO): Thread ID is 812
2012-09-24T20:29:06.546Z,1348518546.546 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-24T20:29:06.555Z,1348518546.555 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-24T20:29:06.590Z,1348518546.590 [DVL_micro](INFO): Initializing
2012-09-24T20:29:06.590Z,1348518546.590 [DVL_micro](INFO): start:Powering up
2012-09-24T20:29:06.591Z,1348518546.591 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T20:29:06.591Z,1348518546.591 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T20:29:06.595Z,1348518546.595 [Turbulence_NPS](INFO): Thread ID is 813
2012-09-24T20:29:06.596Z,1348518546.596 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-24T20:29:06.607Z,1348518546.607 [WetLabsBB2FL](INFO): Thread ID is 814
2012-09-24T20:29:06.608Z,1348518546.608 [WetLabsBB2FL](INFO): Powering down
2012-09-24T20:29:06.633Z,1348518546.633 [SBIT](INFO): Initialize SBIT Component.
2012-09-24T20:29:06.634Z,1348518546.634 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-24T20:29:06.639Z,1348518546.639 [NavChartDb](INFO): Thread ID is 815
2012-09-24T20:29:06.643Z,1348518546.643 [IBIT](INFO): Initialize IBIT Component.
2012-09-24T20:29:06.647Z,1348518546.647 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-24T20:29:06.647Z,1348518546.648 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-09-24T20:29:06.648Z,1348518546.648 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-24T20:29:06.691Z,1348518546.691 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T20:29:06.692Z,1348518546.692 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-24T20:29:06.692Z,1348518546.692 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-24T20:29:06.692Z,1348518546.692 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-24T20:29:06.693Z,1348518546.693 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-24T20:29:06.694Z,1348518546.694 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-24T20:29:06.695Z,1348518546.694 [Navigation](DEBUG): Initializing Navigation.
2012-09-24T20:29:06.695Z,1348518546.695 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-24T20:29:06.697Z,1348518546.697 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-24T20:29:06.697Z,1348518546.697 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-24T20:29:06.698Z,1348518546.698 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-24T20:29:06.719Z,1348518546.719 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-24T20:29:06.752Z,1348518546.751 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T20:29:06.767Z,1348518546.767 [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>


2012-09-24T20:29:06.768Z,1348518546.768 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-24T20:29:06.850Z,1348518546.850 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-24T20:29:06.853Z,1348518546.852 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-24T20:29:06.856Z,1348518546.856 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T20:29:06.864Z,1348518546.864 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-24T20:29:06.867Z,1348518546.867 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T20:29:06.874Z,1348518546.874 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-24T20:29:06.882Z,1348518546.882 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-24T20:29:06.885Z,1348518546.885 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T20:29:06.894Z,1348518546.894 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-24T20:29:06.898Z,1348518546.898 [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>


2012-09-24T20:29:06.902Z,1348518546.902 [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,
2012-09-24T20:29:06.927Z,1348518546.927 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T20:29:07.087Z,1348518547.087 [Depth_Keller](INFO): A/D timeout, 2 tries over 147 ms

2012-09-24T20:29:07.087Z,1348518547.087 [Depth_Keller] Data Fault, FailCount= 1
2012-09-24T20:29:07.087Z,1348518547.087 [Depth_Keller](ERROR): Data Fault
2012-09-24T20:29:07.120Z,1348518547.120 [Radio_Freewave](INFO): Powering up
2012-09-24T20:29:07.212Z,1348518547.212 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:29:07.215Z,1348518547.215 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-24T20:29:07.221Z,1348518547.221 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-24T20:29:07.226Z,1348518547.226 [MassServo](DEBUG): Initializing MassServo.
2012-09-24T20:29:07.232Z,1348518547.232 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:29:07.235Z,1348518547.235 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T20:29:07.240Z,1348518547.240 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:29:07.241Z,1348518547.241 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-24T20:29:07.260Z,1348518547.260 [CBIT](ERROR): Data Fault in component: Depth_Keller
2012-09-24T20:29:07.260Z,1348518547.260 [CBIT](INFO): Clearing failed state for component Depth_Keller
2012-09-24T20:29:07.261Z,1348518547.260 [Depth_Keller] No Fault, FailCount= 1
2012-09-24T20:29:08.655Z,1348518548.655 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T20:29:08.655Z,1348518548.655 [DVL_micro](INFO): Querying output modes
2012-09-24T20:29:08.655Z,1348518548.655 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T20:29:08.659Z,1348518548.659 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-09-24T20:29:08.659Z,1348518548.659 [DVL_micro](INFO): NQ1 output enabled
2012-09-24T20:29:08.659Z,1348518548.659 [DVL_micro](INFO): RSSI output enabled
2012-09-24T20:29:08.659Z,1348518548.659 [DVL_micro](INFO): ADCP output enabled
2012-09-24T20:29:08.659Z,1348518548.659 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T20:29:08.667Z,1348518548.667 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-24T20:29:08.671Z,1348518548.671 [DVL_micro](INFO): pause:Powering down
2012-09-24T20:29:10.643Z,1348518550.644 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-24T20:29:10.709Z,1348518550.709 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-24T20:29:10.766Z,1348518550.766 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-24T20:29:10.827Z,1348518550.827 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-24T20:29:10.891Z,1348518550.891 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-24T20:29:10.892Z,1348518550.892 [NavChartDb](INFO): Creating index for Soundings
2012-09-24T20:29:10.945Z,1348518550.944 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-24T20:29:10.959Z,1348518550.959 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-24T20:29:10.961Z,1348518550.961 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-24T20:29:11.040Z,1348518551.040 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-24T20:29:11.042Z,1348518551.042 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-24T20:29:11.256Z,1348518551.256 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-24T20:29:11.275Z,1348518551.274 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-24T20:29:11.276Z,1348518551.276 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-24T20:29:11.299Z,1348518551.299 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-24T20:29:11.301Z,1348518551.300 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-24T20:29:11.303Z,1348518551.303 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-24T20:29:11.305Z,1348518551.305 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-24T20:29:11.427Z,1348518551.427 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-24T20:29:11.429Z,1348518551.429 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-24T20:29:11.431Z,1348518551.431 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-24T20:29:11.583Z,1348518551.583 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-24T20:29:11.585Z,1348518551.585 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-24T20:29:11.702Z,1348518551.702 [NAL9602](INFO): Powering up NAL9602
2012-09-24T20:29:11.715Z,1348518551.715 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-24T20:29:11.717Z,1348518551.717 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-24T20:29:11.888Z,1348518551.888 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-24T20:29:11.890Z,1348518551.890 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-24T20:29:11.924Z,1348518551.924 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-24T20:29:11.926Z,1348518551.926 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-24T20:29:12.132Z,1348518552.132 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-24T20:29:12.134Z,1348518552.134 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-24T20:29:12.160Z,1348518552.160 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-24T20:29:12.187Z,1348518552.187 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-24T20:29:12.299Z,1348518552.299 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-24T20:29:12.301Z,1348518552.300 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-24T20:29:12.303Z,1348518552.303 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-24T20:29:12.305Z,1348518552.305 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-24T20:29:14.463Z,1348518554.463 [RudderServo](FAULT): Overload Error
2012-09-24T20:29:14.463Z,1348518554.463 [RudderServo] Hardware Fault, FailCount= 1
2012-09-24T20:29:14.463Z,1348518554.463 [RudderServo](ERROR): Hardware Fault
2012-09-24T20:29:14.489Z,1348518554.489 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T20:29:14.834Z,1348518554.833 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T20:29:14.834Z,1348518554.834 [RudderServo](INFO): Powering down
2012-09-24T20:29:14.849Z,1348518554.849 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-24T20:29:14.849Z,1348518554.849 [RudderServo] No Fault, FailCount= 1
2012-09-24T20:29:15.621Z,1348518555.621 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:29:15.743Z,1348518555.743 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-24T20:29:15.743Z,1348518555.743 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T20:29:20.463Z,1348518560.463 [RudderServo](FAULT): Overload Error
2012-09-24T20:29:20.463Z,1348518560.463 [RudderServo] Hardware Fault, FailCount= 2
2012-09-24T20:29:20.463Z,1348518560.463 [RudderServo](ERROR): Hardware Fault
2012-09-24T20:29:20.493Z,1348518560.493 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T20:29:20.837Z,1348518560.837 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T20:29:20.837Z,1348518560.837 [RudderServo](INFO): Powering down
2012-09-24T20:29:20.840Z,1348518560.840 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-24T20:29:20.840Z,1348518560.840 [RudderServo] No Fault, FailCount= 2
2012-09-24T20:29:21.633Z,1348518561.633 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:29:21.755Z,1348518561.755 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-24T20:29:21.755Z,1348518561.755 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T20:29:22.038Z,1348518562.038 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-24T20:29:22.040Z,1348518562.040 [CBIT](IMPORTANT): Beginning GF scan
2012-09-24T20:29:22.411Z,1348518562.411 [NAL9602](INFO): NAL9602 initialized
2012-09-24T20:29:26.475Z,1348518566.474 [RudderServo](FAULT): Overload Error
2012-09-24T20:29:26.475Z,1348518566.475 [RudderServo] Hardware Fault, FailCount= 3
2012-09-24T20:29:26.475Z,1348518566.475 [RudderServo](ERROR): Hardware Fault
2012-09-24T20:29:26.506Z,1348518566.506 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T20:29:26.506Z,1348518566.506 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2012-09-24T20:29:26.858Z,1348518566.858 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T20:29:26.858Z,1348518566.858 [RudderServo](INFO): Powering down
2012-09-24T20:29:48.343Z,1348518588.343 [CBIT](IMPORTANT): No ground fault detected
2012-09-24T20:30:15.939Z,1348518615.939 [SBIT](IMPORTANT): SBIT PASSED
2012-09-24T20:30:16.334Z,1348518616.334 [MissionManager](IMPORTANT): Started mission Startup
2012-09-24T20:30:16.334Z,1348518616.334 [Startup] Running Loop=1
2012-09-24T20:30:16.334Z,1348518616.334 [Startup](INFO): Aggregate::initialize Startup
2012-09-24T20:30:16.335Z,1348518616.335 [Startup:A.GoToSurface] Running Loop=1
2012-09-24T20:30:16.335Z,1348518616.335 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T20:30:16.340Z,1348518616.340 [Startup:StartupSatComms] Running Loop=1
2012-09-24T20:30:16.340Z,1348518616.340 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-24T20:30:16.340Z,1348518616.340 [Startup:StartupSatComms:A] Running Loop=1
2012-09-24T20:30:16.728Z,1348518616.728 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-24T20:31:16.737Z,1348518676.737 [Startup:StartupSatComms:A](INFO): Timed out from 2012-09-24T20:30:16.3Z
2012-09-24T20:31:16.737Z,1348518676.737 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-09-24T20:31:16.737Z,1348518676.737 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-09-24T20:31:16.737Z,1348518676.737 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-09-24T20:31:16.738Z,1348518676.737 [Startup:StartupSatComms:A] Stopped
2012-09-24T20:31:16.738Z,1348518676.738 [Startup:StartupSatComms:B] Running Loop=1
2012-09-24T20:31:17.135Z,1348518677.135 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-24T20:32:16.851Z,1348518736.852 [Startup:StartupSatComms:B](INFO): Timed out from 2012-09-24T20:31:16.7Z
2012-09-24T20:32:16.852Z,1348518736.852 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-09-24T20:32:16.852Z,1348518736.852 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-09-24T20:32:16.852Z,1348518736.852 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-09-24T20:32:16.852Z,1348518736.852 [Startup:StartupSatComms:B] Stopped
2012-09-24T20:32:16.852Z,1348518736.852 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-09-24T20:32:16.852Z,1348518736.852 [Startup:StartupSatComms] Stopped
2012-09-24T20:32:16.852Z,1348518736.852 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-09-24T20:32:16.853Z,1348518736.853 [Startup](INFO): Completed Startup
2012-09-24T20:32:16.853Z,1348518736.853 [Startup] Stopped
2012-09-24T20:32:16.853Z,1348518736.853 [Startup](INFO): Aggregate::uninitialize Startup
2012-09-24T20:32:16.853Z,1348518736.853 [Startup:A.GoToSurface] Stopped
2012-09-24T20:32:16.854Z,1348518736.853 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T20:32:17.084Z,1348518737.084 [MissionManager](IMPORTANT): Started mission Default
2012-09-24T20:32:17.084Z,1348518737.084 [Default] Running Loop=1
2012-09-24T20:32:17.084Z,1348518737.084 [Default](INFO): Aggregate::initialize Default
2012-09-24T20:32:17.084Z,1348518737.084 [Default:D.SetSpeed] Running Loop=1
2012-09-24T20:32:17.084Z,1348518737.084 [Default:D.SetSpeed](DEBUG): Initialize.
2012-09-24T20:32:17.084Z,1348518737.084 [Default:E.GoToSurface] Running Loop=1
2012-09-24T20:32:17.084Z,1348518737.084 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T20:32:17.085Z,1348518737.085 [Default:Iridium] Running Loop=1
2012-09-24T20:32:17.085Z,1348518737.085 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-09-24T20:32:17.085Z,1348518737.085 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-24T20:32:17.085Z,1348518737.085 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-09-24T20:32:17.085Z,1348518737.085 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-09-24T20:32:17.085Z,1348518737.085 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T20:32:17.086Z,1348518737.086 [Default:E.GoToSurface] Running Loop=1
2012-09-24T20:32:17.091Z,1348518737.091 [Default:D.SetSpeed] Running Loop=1
2012-09-24T20:32:17.095Z,1348518737.095 [Default:CallIridium] Running Loop=1
2012-09-24T20:32:17.096Z,1348518737.096 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-09-24T20:32:17.096Z,1348518737.096 [Default:CallIridium:A] Running Loop=1
2012-09-24T20:32:17.097Z,1348518737.098 [Default:CallIridium:A] Stopped
2012-09-24T20:32:17.098Z,1348518737.098 [Default:CallIridium:B] Running Loop=1
2012-09-24T20:32:17.098Z,1348518737.098 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-09-24T20:32:17.103Z,1348518737.103 [Default:Iridium:B.GoToSurface] Stopped
2012-09-24T20:32:17.103Z,1348518737.103 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T20:32:17.103Z,1348518737.103 [Default:Iridium:Read_Iridium] Running Loop=1
2012-09-24T20:32:17.103Z,1348518737.103 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-24T20:32:17.108Z,1348518737.108 [Default:GPS] Running Loop=1
2012-09-24T20:32:17.108Z,1348518737.108 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-09-24T20:32:17.108Z,1348518737.108 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-24T20:32:17.108Z,1348518737.108 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-09-24T20:32:17.108Z,1348518737.108 [Default:GPS:B.GoToSurface] Running Loop=1
2012-09-24T20:32:17.108Z,1348518737.109 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T20:32:17.113Z,1348518737.114 [Default:GPS:B.GoToSurface] Stopped
2012-09-24T20:32:17.114Z,1348518737.114 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T20:32:17.114Z,1348518737.114 [Default:GPS:Read_GPS] Running Loop=1
2012-09-24T20:32:17.114Z,1348518737.114 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-24T20:32:17.483Z,1348518737.483 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-24T20:32:17.485Z,1348518737.485 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-24T20:38:25.855Z,1348519105.855 [CommandLine](IMPORTANT): got command quit
2012-09-24T20:38:27.054Z,1348519107.054 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-24T20:38:27.054Z,1348519107.054 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-24T20:38:27.134Z,1348519107.134 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-24T20:38:27.251Z,1348519107.251 [WetLabsBB2FL](INFO): Powering down
2012-09-24T20:38:27.255Z,1348519107.255 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-24T20:38:27.454Z,1348519107.454 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-24T20:38:27.803Z,1348519107.803 [CTD_NeilBrown](INFO): Powering down
2012-09-24T20:38:27.814Z,1348519107.814 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-24T20:38:28.065Z,1348519108.065 [DVL_micro](INFO): uninitialize:Powering down
2012-09-24T20:38:28.079Z,1348519108.079 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-24T20:38:28.395Z,1348519108.395 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-24T20:38:28.399Z,1348519108.399 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-24T20:38:28.401Z,1348519108.401 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-24T20:38:28.559Z,1348519108.559 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-24T20:38:28.559Z,1348519108.559 [AHRS_sp3003D](INFO): Powering down
2012-09-24T20:38:28.647Z,1348519108.647 [NAL9602](INFO): Powering down
2012-09-24T20:38:28.649Z,1348519108.649 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T20:38:28.649Z,1348519108.649 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-24T20:38:28.651Z,1348519108.651 [Default] Stopped
2012-09-24T20:38:28.651Z,1348519108.651 [Default](INFO): Aggregate::uninitialize Default
2012-09-24T20:38:28.651Z,1348519108.651 [Default:GPS] Stopped
2012-09-24T20:38:28.651Z,1348519108.651 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-09-24T20:38:28.651Z,1348519108.651 [Default:GPS:A.SetSpeed] Stopped
2012-09-24T20:38:28.651Z,1348519108.651 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-09-24T20:38:28.651Z,1348519108.651 [Default:GPS:Read_GPS] Stopped
2012-09-24T20:38:28.651Z,1348519108.651 [Default:Iridium] Stopped
2012-09-24T20:38:28.651Z,1348519108.651 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-09-24T20:38:28.651Z,1348519108.651 [Default:Iridium:A.SetSpeed] Stopped
2012-09-24T20:38:28.651Z,1348519108.651 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-09-24T20:38:28.652Z,1348519108.652 [Default:Iridium:Read_Iridium] Stopped
2012-09-24T20:38:28.652Z,1348519108.652 [Default:CallIridium] Stopped
2012-09-24T20:38:28.652Z,1348519108.652 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-09-24T20:38:28.652Z,1348519108.652 [Default:CallIridium:B] Stopped
2012-09-24T20:38:28.652Z,1348519108.652 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-09-24T20:38:28.652Z,1348519108.652 [Default:D.SetSpeed] Stopped
2012-09-24T20:38:28.652Z,1348519108.652 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-09-24T20:38:28.652Z,1348519108.652 [Default:E.GoToSurface] Stopped
2012-09-24T20:38:28.652Z,1348519108.652 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T20:38:28.656Z,1348519108.657 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-24T20:38:28.657Z,1348519108.657 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-24T20:38:28.657Z,1348519108.657 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-24T20:38:28.657Z,1348519108.657 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-24T20:38:28.658Z,1348519108.658 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-24T20:38:28.658Z,1348519108.658 [BuoyancyServo](INFO): Powering down
2012-09-24T20:38:28.663Z,1348519108.662 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-24T20:38:28.663Z,1348519108.663 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-24T20:38:28.663Z,1348519108.663 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T20:38:28.663Z,1348519108.663 [RudderServo](INFO): Powering down
2012-09-24T20:38:28.664Z,1348519108.664 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-24T20:38:28.664Z,1348519108.664 [ThrusterServo](INFO): Powering down
2012-09-24T20:38:28.665Z,1348519108.665 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-24T20:38:28.665Z,1348519108.665 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-24T20:38:28.665Z,1348519108.665 [CBIT](DEBUG): Uninitialize CBIT Component.