2012-09-24T20:42:07.983Z,1348519327.983 [Supervisor](DEBUG): Initializing supervisor.
2012-09-24T20:42:07.987Z,1348519327.987 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-24T20:42:07.988Z,1348519327.988 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-24T20:42:07.989Z,1348519327.989 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-24T20:42:07.993Z,1348519327.993 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-24T20:42:08.003Z,1348519328.003 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-24T20:42:08.004Z,1348519328.004 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-24T20:42:08.005Z,1348519328.005 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-24T20:42:08.005Z,1348519328.005 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-24T20:42:08.008Z,1348519328.008 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-24T20:42:08.458Z,1348519328.457 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-24T20:42:08.460Z,1348519328.460 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-24T20:42:08.640Z,1348519328.640 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-24T20:42:08.640Z,1348519328.640 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-24T20:42:08.727Z,1348519328.727 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-24T20:42:08.729Z,1348519328.730 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-24T20:42:08.930Z,1348519328.930 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-24T20:42:08.931Z,1348519328.931 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-24T20:42:09.067Z,1348519329.067 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-24T20:42:09.069Z,1348519329.069 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-24T20:42:09.304Z,1348519329.304 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-24T20:42:09.305Z,1348519329.305 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-24T20:42:09.476Z,1348519329.476 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-24T20:42:09.478Z,1348519329.478 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-24T20:42:09.776Z,1348519329.776 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-24T20:42:09.779Z,1348519329.779 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-24T20:42:09.879Z,1348519329.879 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-24T20:42:09.880Z,1348519329.880 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-24T20:42:10.292Z,1348519330.292 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-24T20:42:10.292Z,1348519330.293 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-24T20:42:10.409Z,1348519330.409 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-24T20:42:10.409Z,1348519330.409 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-24T20:42:10.497Z,1348519330.497 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-24T20:42:10.501Z,1348519330.501 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-24T20:42:10.604Z,1348519330.604 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-24T20:42:10.734Z,1348519330.734 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-24T20:42:10.823Z,1348519330.823 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-24T20:42:10.927Z,1348519330.927 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-24T20:42:11.029Z,1348519331.029 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-24T20:42:11.150Z,1348519331.150 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-24T20:42:11.242Z,1348519331.242 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-24T20:42:11.522Z,1348519331.522 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-24T20:42:11.536Z,1348519331.536 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-24T20:42:11.571Z,1348519331.571 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-24T20:42:11.734Z,1348519331.734 [InternalSim] Loaded
2012-09-24T20:42:11.735Z,1348519331.735 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-24T20:42:11.736Z,1348519331.736 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-24T20:42:11.736Z,1348519331.736 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-24T20:42:11.814Z,1348519331.814 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-24T20:42:11.827Z,1348519331.827 [SBIT] Loaded
2012-09-24T20:42:11.827Z,1348519331.827 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-24T20:42:11.828Z,1348519331.828 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-24T20:42:11.854Z,1348519331.854 [IBIT] Loaded
2012-09-24T20:42:11.855Z,1348519331.855 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-24T20:42:11.858Z,1348519331.858 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-24T20:42:11.968Z,1348519331.968 [CBIT] Loaded
2012-09-24T20:42:11.969Z,1348519331.968 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-24T20:42:11.969Z,1348519331.969 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-24T20:42:11.970Z,1348519331.970 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-24T20:42:12.128Z,1348519332.128 [BuoyancyServo] Loaded
2012-09-24T20:42:12.128Z,1348519332.128 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-24T20:42:12.138Z,1348519332.138 [ElevatorServo] Loaded
2012-09-24T20:42:12.138Z,1348519332.138 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-24T20:42:12.149Z,1348519332.149 [MassServo] Loaded
2012-09-24T20:42:12.149Z,1348519332.149 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-24T20:42:12.161Z,1348519332.161 [RudderServo] Loaded
2012-09-24T20:42:12.161Z,1348519332.161 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-24T20:42:12.172Z,1348519332.172 [ThrusterServo] Loaded
2012-09-24T20:42:12.173Z,1348519332.173 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-24T20:42:12.173Z,1348519332.173 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-24T20:42:12.174Z,1348519332.174 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-24T20:42:12.206Z,1348519332.206 [DepthRateCalculator] Loaded
2012-09-24T20:42:12.206Z,1348519332.206 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-24T20:42:14.848Z,1348519334.848 [HFRadarModelCalc] Loaded
2012-09-24T20:42:14.848Z,1348519334.848 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-24T20:42:14.863Z,1348519334.864 [NavChart] Loaded
2012-09-24T20:42:14.864Z,1348519334.864 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-24T20:42:14.870Z,1348519334.870 [PitchRateCalculator] Loaded
2012-09-24T20:42:14.870Z,1348519334.870 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-24T20:42:14.876Z,1348519334.876 [SpeedCalculator] Loaded
2012-09-24T20:42:14.876Z,1348519334.876 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-24T20:42:14.891Z,1348519334.891 [TempGradientCalculator] Loaded
2012-09-24T20:42:14.891Z,1348519334.891 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-24T20:42:14.896Z,1348519334.896 [YawRateCalculator] Loaded
2012-09-24T20:42:14.896Z,1348519334.897 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-24T20:42:14.916Z,1348519334.916 [Navigation] Loaded
2012-09-24T20:42:14.916Z,1348519334.916 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-24T20:42:14.917Z,1348519334.917 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-24T20:42:14.917Z,1348519334.917 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-24T20:42:15.170Z,1348519335.170 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-24T20:42:15.171Z,1348519335.171 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-24T20:42:15.208Z,1348519335.208 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-24T20:42:15.209Z,1348519335.209 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-24T20:42:15.265Z,1348519335.265 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-24T20:42:15.309Z,1348519335.309 [VerticalControl] Loaded
2012-09-24T20:42:15.309Z,1348519335.309 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-24T20:42:15.310Z,1348519335.310 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-24T20:42:15.330Z,1348519335.330 [HorizontalControl] Loaded
2012-09-24T20:42:15.331Z,1348519335.331 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-24T20:42:15.331Z,1348519335.332 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-24T20:42:15.333Z,1348519335.333 [SpeedControl] Loaded
2012-09-24T20:42:15.333Z,1348519335.333 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-24T20:42:15.334Z,1348519335.334 [LoopControl](DEBUG): Construct LoopControl.
2012-09-24T20:42:15.335Z,1348519335.335 [LoopControl] Loaded
2012-09-24T20:42:15.335Z,1348519335.335 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-24T20:42:15.336Z,1348519335.336 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-24T20:42:15.336Z,1348519335.336 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-24T20:42:15.344Z,1348519335.344 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-24T20:42:15.349Z,1348519335.349 [AsyncPiEstimator] Loaded
2012-09-24T20:42:15.349Z,1348519335.349 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-24T20:42:15.350Z,1348519335.350 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-24T20:42:15.351Z,1348519335.351 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-24T20:42:15.351Z,1348519335.351 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-24T20:42:15.508Z,1348519335.508 [AHRS_sp3003D] Loaded
2012-09-24T20:42:15.508Z,1348519335.508 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-24T20:42:15.521Z,1348519335.522 [Depth_Keller] Loaded
2012-09-24T20:42:15.522Z,1348519335.522 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-24T20:42:15.527Z,1348519335.527 [DropWeight] Loaded
2012-09-24T20:42:15.527Z,1348519335.527 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-24T20:42:15.639Z,1348519335.639 [DVL_micro] Loaded
2012-09-24T20:42:15.640Z,1348519335.640 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-24T20:42:15.641Z,1348519335.641 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-24T20:42:15.720Z,1348519335.720 [NAL9602] Loaded
2012-09-24T20:42:15.720Z,1348519335.720 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-24T20:42:15.767Z,1348519335.767 [Onboard] Loaded
2012-09-24T20:42:15.767Z,1348519335.767 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-24T20:42:15.774Z,1348519335.774 [Radio_Freewave] Loaded
2012-09-24T20:42:15.774Z,1348519335.774 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-24T20:42:15.775Z,1348519335.775 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-24T20:42:15.775Z,1348519335.775 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-24T20:42:15.867Z,1348519335.867 [CTD_NeilBrown] Loaded
2012-09-24T20:42:15.868Z,1348519335.868 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-24T20:42:15.869Z,1348519335.869 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-24T20:42:15.879Z,1348519335.879 [PAR_Licor] Loaded
2012-09-24T20:42:15.879Z,1348519335.879 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-24T20:42:15.896Z,1348519335.895 [Turbulence_NPS] Loaded
2012-09-24T20:42:15.896Z,1348519335.896 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-24T20:42:15.897Z,1348519335.897 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-24T20:42:15.925Z,1348519335.925 [WetLabsBB2FL] Loaded
2012-09-24T20:42:15.925Z,1348519335.925 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-24T20:42:15.926Z,1348519335.926 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-24T20:42:15.927Z,1348519335.927 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-24T20:42:15.929Z,1348519335.929 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-24T20:42:15.930Z,1348519335.930 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-24T20:42:15.936Z,1348519335.936 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-24T20:42:15.937Z,1348519335.937 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-24T20:42:15.942Z,1348519335.941 [Supervisor](DEBUG): Running supervisor.
2012-09-24T20:42:15.943Z,1348519335.943 [CommandLine](INFO): Thread ID is 788
2012-09-24T20:42:15.945Z,1348519335.945 [controlThread](INFO): Thread ID is 787
2012-09-24T20:42:15.945Z,1348519335.945 [controlThread](DEBUG): Initializing ControlThread
2012-09-24T20:42:15.946Z,1348519335.946 [CycleStarter](INFO): Thread ID is 786
2012-09-24T20:42:15.947Z,1348519335.947 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-24T20:42:16.044Z,1348519336.044 [AsyncPiEstimator](INFO): Thread ID is 853
2012-09-24T20:42:16.044Z,1348519336.044 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-24T20:42:16.105Z,1348519336.105 [DVL_micro](INFO): Thread ID is 854
2012-09-24T20:42:16.181Z,1348519336.181 [CTD_NeilBrown](INFO): Thread ID is 855
2012-09-24T20:42:16.181Z,1348519336.181 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-24T20:42:16.184Z,1348519336.184 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-24T20:42:16.208Z,1348519336.208 [DVL_micro](INFO): Initializing
2012-09-24T20:42:16.208Z,1348519336.208 [DVL_micro](INFO): start:Powering up
2012-09-24T20:42:16.209Z,1348519336.209 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T20:42:16.209Z,1348519336.209 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T20:42:16.226Z,1348519336.226 [Turbulence_NPS](INFO): Thread ID is 856
2012-09-24T20:42:16.227Z,1348519336.227 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-24T20:42:16.242Z,1348519336.241 [SBIT](INFO): Initialize SBIT Component.
2012-09-24T20:42:16.242Z,1348519336.242 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-24T20:42:16.243Z,1348519336.243 [WetLabsBB2FL](INFO): Thread ID is 857
2012-09-24T20:42:16.244Z,1348519336.244 [WetLabsBB2FL](INFO): Powering down
2012-09-24T20:42:16.263Z,1348519336.263 [IBIT](INFO): Initialize IBIT Component.
2012-09-24T20:42:16.264Z,1348519336.264 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-24T20:42:16.264Z,1348519336.264 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-24T20:42:16.271Z,1348519336.271 [NavChartDb](INFO): Thread ID is 858
2012-09-24T20:42:16.293Z,1348519336.293 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T20:42:16.293Z,1348519336.293 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-24T20:42:16.294Z,1348519336.294 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-24T20:42:16.294Z,1348519336.294 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-24T20:42:16.294Z,1348519336.294 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-24T20:42:16.296Z,1348519336.296 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-24T20:42:16.296Z,1348519336.296 [Navigation](DEBUG): Initializing Navigation.
2012-09-24T20:42:16.296Z,1348519336.296 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-24T20:42:16.298Z,1348519336.298 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-24T20:42:16.299Z,1348519336.299 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-24T20:42:16.299Z,1348519336.299 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-24T20:42:16.307Z,1348519336.307 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-24T20:42:16.345Z,1348519336.345 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T20:42:16.355Z,1348519336.355 [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>


2012-09-24T20:42:16.356Z,1348519336.356 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-24T20:42:16.393Z,1348519336.392 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-24T20:42:16.395Z,1348519336.395 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-24T20:42:16.398Z,1348519336.398 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T20:42:16.405Z,1348519336.405 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-24T20:42:16.409Z,1348519336.409 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T20:42:16.415Z,1348519336.415 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-24T20:42:16.424Z,1348519336.424 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-24T20:42:16.427Z,1348519336.427 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T20:42:16.431Z,1348519336.431 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-24T20:42:16.435Z,1348519336.435 [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>


2012-09-24T20:42:16.439Z,1348519336.439 [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,
2012-09-24T20:42:16.460Z,1348519336.460 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T20:42:16.935Z,1348519336.935 [Radio_Freewave](INFO): Powering up
2012-09-24T20:42:17.034Z,1348519337.034 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:42:17.035Z,1348519337.035 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-24T20:42:17.045Z,1348519337.045 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-24T20:42:17.053Z,1348519337.053 [MassServo](DEBUG): Initializing MassServo.
2012-09-24T20:42:17.058Z,1348519337.058 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:42:17.060Z,1348519337.060 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T20:42:17.070Z,1348519337.070 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:42:17.071Z,1348519337.071 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-24T20:42:18.563Z,1348519338.563 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T20:42:18.563Z,1348519338.563 [DVL_micro](INFO): Querying output modes
2012-09-24T20:42:18.563Z,1348519338.563 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T20:42:18.567Z,1348519338.567 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-09-24T20:42:18.567Z,1348519338.567 [DVL_micro](INFO): NQ1 output enabled
2012-09-24T20:42:18.567Z,1348519338.567 [DVL_micro](INFO): RSSI output enabled
2012-09-24T20:42:18.567Z,1348519338.567 [DVL_micro](INFO): ADCP output enabled
2012-09-24T20:42:18.567Z,1348519338.567 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T20:42:18.575Z,1348519338.575 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-24T20:42:18.579Z,1348519338.579 [DVL_micro](INFO): pause:Powering down
2012-09-24T20:42:18.958Z,1348519338.958 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-24T20:42:18.963Z,1348519338.963 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-24T20:42:18.976Z,1348519338.976 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-24T20:42:18.996Z,1348519338.996 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-24T20:42:19.296Z,1348519339.296 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-24T20:42:19.297Z,1348519339.297 [NavChartDb](INFO): Creating index for Soundings
2012-09-24T20:42:19.612Z,1348519339.612 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-24T20:42:19.614Z,1348519339.614 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-24T20:42:19.616Z,1348519339.616 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-24T20:42:19.634Z,1348519339.634 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-24T20:42:19.636Z,1348519339.636 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-24T20:42:19.655Z,1348519339.655 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-24T20:42:19.658Z,1348519339.658 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-24T20:42:19.662Z,1348519339.662 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-24T20:42:19.703Z,1348519339.703 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-24T20:42:19.705Z,1348519339.705 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-24T20:42:19.750Z,1348519339.750 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-24T20:42:19.788Z,1348519339.788 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-24T20:42:19.800Z,1348519339.800 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-24T20:42:19.813Z,1348519339.813 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-24T20:42:19.824Z,1348519339.824 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-24T20:42:19.826Z,1348519339.826 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-24T20:42:19.828Z,1348519339.828 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-24T20:42:19.830Z,1348519339.830 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-24T20:42:19.832Z,1348519339.832 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-24T20:42:19.835Z,1348519339.835 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-24T20:42:19.837Z,1348519339.837 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-24T20:42:19.868Z,1348519339.868 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-24T20:42:19.870Z,1348519339.870 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-24T20:42:19.930Z,1348519339.930 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-24T20:42:19.932Z,1348519339.932 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-24T20:42:19.934Z,1348519339.934 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-24T20:42:19.936Z,1348519339.936 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-24T20:42:19.938Z,1348519339.938 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-24T20:42:19.940Z,1348519339.940 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-24T20:42:19.942Z,1348519339.942 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-24T20:42:19.944Z,1348519339.944 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-24T20:42:20.845Z,1348519340.845 [NAL9602](INFO): Powering up NAL9602
2012-09-24T20:42:23.842Z,1348519343.842 [RudderServo](FAULT): Overload Error
2012-09-24T20:42:23.842Z,1348519343.842 [RudderServo] Hardware Fault, FailCount= 1
2012-09-24T20:42:23.843Z,1348519343.843 [RudderServo](ERROR): Hardware Fault
2012-09-24T20:42:23.869Z,1348519343.869 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T20:42:24.206Z,1348519344.206 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T20:42:24.206Z,1348519344.206 [RudderServo](INFO): Powering down
2012-09-24T20:42:24.209Z,1348519344.209 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-24T20:42:24.209Z,1348519344.209 [RudderServo] No Fault, FailCount= 1
2012-09-24T20:42:25.005Z,1348519345.005 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:42:25.123Z,1348519345.123 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-24T20:42:25.123Z,1348519345.124 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T20:42:29.851Z,1348519349.851 [RudderServo](FAULT): Overload Error
2012-09-24T20:42:29.851Z,1348519349.851 [RudderServo] Hardware Fault, FailCount= 2
2012-09-24T20:42:29.851Z,1348519349.851 [RudderServo](ERROR): Hardware Fault
2012-09-24T20:42:29.881Z,1348519349.881 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T20:42:30.206Z,1348519350.206 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T20:42:30.206Z,1348519350.206 [RudderServo](INFO): Powering down
2012-09-24T20:42:30.209Z,1348519350.209 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-24T20:42:30.209Z,1348519350.209 [RudderServo] No Fault, FailCount= 2
2012-09-24T20:42:31.040Z,1348519351.039 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:42:31.159Z,1348519351.159 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-24T20:42:31.159Z,1348519351.159 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T20:42:31.419Z,1348519351.419 [NAL9602](INFO): NAL9602 initialized
2012-09-24T20:42:31.851Z,1348519351.851 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-24T20:42:31.854Z,1348519351.854 [CBIT](IMPORTANT): Beginning GF scan
2012-09-24T20:42:32.600Z,1348519352.600 [Radio_Freewave](INFO): Powering down
2012-09-24T20:42:33.004Z,1348519353.004 [Radio_Freewave](INFO): Powering up
2012-09-24T20:42:35.834Z,1348519355.834 [RudderServo](FAULT): Overload Error
2012-09-24T20:42:35.835Z,1348519355.835 [RudderServo] Hardware Fault, FailCount= 3
2012-09-24T20:42:35.835Z,1348519355.835 [RudderServo](ERROR): Hardware Fault
2012-09-24T20:42:35.866Z,1348519355.866 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T20:42:35.866Z,1348519355.866 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2012-09-24T20:42:36.220Z,1348519356.220 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T20:42:36.220Z,1348519356.220 [RudderServo](INFO): Powering down
2012-09-24T20:42:45.040Z,1348519365.040 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.001040
2012-09-24T20:42:58.225Z,1348519378.225 [CBIT](IMPORTANT): No ground fault detected
2012-09-24T20:43:25.438Z,1348519405.438 [SBIT](CRITICAL): SBIT FAILED
2012-09-24T20:43:25.810Z,1348519405.810 [MissionManager](IMPORTANT): Started mission Startup
2012-09-24T20:43:25.810Z,1348519405.810 [Startup] Running Loop=1
2012-09-24T20:43:25.810Z,1348519405.810 [Startup](INFO): Aggregate::initialize Startup
2012-09-24T20:43:25.810Z,1348519405.810 [Startup:A.GoToSurface] Running Loop=1
2012-09-24T20:43:25.811Z,1348519405.810 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T20:43:25.816Z,1348519405.816 [Startup:StartupSatComms] Running Loop=1
2012-09-24T20:43:25.816Z,1348519405.816 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-24T20:43:25.817Z,1348519405.816 [Startup:StartupSatComms:A] Running Loop=1
2012-09-24T20:43:26.209Z,1348519406.209 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-24T20:44:26.204Z,1348519466.204 [Startup:StartupSatComms:A](INFO): Timed out from 2012-09-24T20:43:25.8Z
2012-09-24T20:44:26.204Z,1348519466.204 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-09-24T20:44:26.204Z,1348519466.204 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-09-24T20:44:26.204Z,1348519466.204 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-09-24T20:44:26.204Z,1348519466.204 [Startup:StartupSatComms:A] Stopped
2012-09-24T20:44:26.204Z,1348519466.204 [Startup:StartupSatComms:B] Running Loop=1
2012-09-24T20:44:26.608Z,1348519466.608 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-24T20:45:26.320Z,1348519526.320 [Startup:StartupSatComms:B](INFO): Timed out from 2012-09-24T20:44:26.2Z
2012-09-24T20:45:26.320Z,1348519526.320 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-09-24T20:45:26.320Z,1348519526.320 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-09-24T20:45:26.321Z,1348519526.321 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-09-24T20:45:26.321Z,1348519526.321 [Startup:StartupSatComms:B] Stopped
2012-09-24T20:45:26.321Z,1348519526.321 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-09-24T20:45:26.321Z,1348519526.321 [Startup:StartupSatComms] Stopped
2012-09-24T20:45:26.321Z,1348519526.321 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-09-24T20:45:26.322Z,1348519526.322 [Startup](INFO): Completed Startup
2012-09-24T20:45:26.322Z,1348519526.322 [Startup] Stopped
2012-09-24T20:45:26.322Z,1348519526.322 [Startup](INFO): Aggregate::uninitialize Startup
2012-09-24T20:45:26.322Z,1348519526.322 [Startup:A.GoToSurface] Stopped
2012-09-24T20:45:26.322Z,1348519526.322 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T20:45:26.713Z,1348519526.713 [MissionManager](IMPORTANT): Started mission Default
2012-09-24T20:45:26.713Z,1348519526.713 [Default] Running Loop=1
2012-09-24T20:45:26.713Z,1348519526.713 [Default](INFO): Aggregate::initialize Default
2012-09-24T20:45:26.713Z,1348519526.713 [Default:D.SetSpeed] Running Loop=1
2012-09-24T20:45:26.713Z,1348519526.713 [Default:D.SetSpeed](DEBUG): Initialize.
2012-09-24T20:45:26.714Z,1348519526.714 [Default:E.GoToSurface] Running Loop=1
2012-09-24T20:45:26.714Z,1348519526.714 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T20:45:26.714Z,1348519526.714 [Default:Iridium] Running Loop=1
2012-09-24T20:45:26.714Z,1348519526.714 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-09-24T20:45:26.714Z,1348519526.714 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-24T20:45:26.716Z,1348519526.717 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-09-24T20:45:26.717Z,1348519526.717 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-09-24T20:45:26.717Z,1348519526.717 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T20:45:26.717Z,1348519526.717 [Default:E.GoToSurface] Running Loop=1
2012-09-24T20:45:26.722Z,1348519526.722 [Default:D.SetSpeed] Running Loop=1
2012-09-24T20:45:26.727Z,1348519526.727 [Default:CallIridium] Running Loop=1
2012-09-24T20:45:26.727Z,1348519526.727 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-09-24T20:45:26.728Z,1348519526.727 [Default:CallIridium:A] Running Loop=1
2012-09-24T20:45:26.729Z,1348519526.729 [Default:CallIridium:A] Stopped
2012-09-24T20:45:26.729Z,1348519526.729 [Default:CallIridium:B] Running Loop=1
2012-09-24T20:45:26.730Z,1348519526.730 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-09-24T20:45:26.735Z,1348519526.735 [Default:Iridium:B.GoToSurface] Stopped
2012-09-24T20:45:26.735Z,1348519526.735 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T20:45:26.735Z,1348519526.735 [Default:Iridium:Read_Iridium] Running Loop=1
2012-09-24T20:45:26.735Z,1348519526.735 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-24T20:45:26.740Z,1348519526.740 [Default:GPS] Running Loop=1
2012-09-24T20:45:26.740Z,1348519526.740 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-09-24T20:45:26.740Z,1348519526.740 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-24T20:45:26.740Z,1348519526.740 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-09-24T20:45:26.740Z,1348519526.740 [Default:GPS:B.GoToSurface] Running Loop=1
2012-09-24T20:45:26.740Z,1348519526.740 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-24T20:45:26.745Z,1348519526.745 [Default:GPS:B.GoToSurface] Stopped
2012-09-24T20:45:26.745Z,1348519526.745 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T20:45:26.745Z,1348519526.745 [Default:GPS:Read_GPS] Running Loop=1
2012-09-24T20:45:26.745Z,1348519526.745 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-24T20:45:27.113Z,1348519527.113 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-24T20:45:27.116Z,1348519527.116 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-24T20:47:57.455Z,1348519677.455 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2012-09-24T20:47:57.456Z,1348519677.456 [CommandLine](IMPORTANT): got command set NAL9602.longitude_fix -121.779999 degree
2012-09-24T20:47:57.627Z,1348519677.627 [Default:GPS:Read_GPS] Stopped
2012-09-24T20:47:57.627Z,1348519677.627 [Default:GPS:D] Running Loop=1
2012-09-24T20:47:57.827Z,1348519677.827 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-09-24T20:47:57.959Z,1348519677.959 [Default:Iridium:Read_Iridium] Stopped
2012-09-24T20:47:57.959Z,1348519677.959 [Default:Iridium](INFO): Completed Default:Iridium
2012-09-24T20:47:57.960Z,1348519677.960 [Default:Iridium] Stopped
2012-09-24T20:47:57.960Z,1348519677.960 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-09-24T20:47:57.960Z,1348519677.960 [Default:Iridium:A.SetSpeed] Stopped
2012-09-24T20:47:57.960Z,1348519677.960 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-09-24T20:47:57.960Z,1348519677.960 [Default:F.Wait] Running Loop=1
2012-09-24T20:47:57.960Z,1348519677.960 [Default:F.Wait](DEBUG): Initialize Wait Component.
2012-09-24T20:47:57.962Z,1348519677.962 [Default:GPS:D] Stopped
2012-09-24T20:47:57.962Z,1348519677.963 [Default:GPS](INFO): Completed Default:GPS
2012-09-24T20:47:57.963Z,1348519677.963 [Default:GPS] Stopped
2012-09-24T20:47:57.963Z,1348519677.963 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-09-24T20:47:57.963Z,1348519677.963 [Default:GPS:A.SetSpeed] Stopped
2012-09-24T20:47:57.963Z,1348519677.963 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-09-24T20:47:58.347Z,1348519678.346 [NavChartDb](INFO): Charting Soundings
2012-09-24T20:47:58.809Z,1348519678.809 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2012-09-24T20:47:58.809Z,1348519678.809 [Default:CallIridium:B] Stopped
2012-09-24T20:47:58.810Z,1348519678.810 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-09-24T20:47:58.810Z,1348519678.810 [Default:CallIridium](INFO): Completed Default:CallIridium
2012-09-24T20:47:58.810Z,1348519678.810 [Default:CallIridium] Stopped
2012-09-24T20:47:58.810Z,1348519678.810 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-09-24T20:47:59.947Z,1348519679.947 [NavChartDb](INFO): Charting 0p0
2012-09-24T20:48:01.561Z,1348519681.561 [NavChartDb](INFO): Charting 1p8
2012-09-24T20:48:04.362Z,1348519684.362 [NavChartDb](INFO): Charting 3p6
2012-09-24T20:48:06.363Z,1348519686.362 [NavChartDb](INFO): Charting 5p4
2012-09-24T20:48:08.762Z,1348519688.762 [NavChartDb](INFO): Charting 9p1
2012-09-24T20:48:10.363Z,1348519690.362 [NavChartDb](INFO): Charting 10p9
2012-09-24T20:48:18.354Z,1348519698.355 [NAL9602](INFO): Powering down
2012-09-24T20:48:31.786Z,1348519711.786 [NavChartDb](INFO): Charting 914p4
2012-09-24T20:48:44.964Z,1348519724.964 [NavChartDb](INFO): Charting 1097p2
2012-09-24T20:48:46.582Z,1348519726.582 [NavChartDb](INFO): Charting 1280p1
2012-09-24T20:48:48.199Z,1348519728.199 [NavChartDb](INFO): Charting 1463p0
2012-09-24T20:48:55.334Z,1348519735.334 [NavChartDb](INFO): Charting 2194p5
2012-09-24T20:49:00.135Z,1348519740.135 [NavChartDb](INFO): Charting 2743p2
2012-09-24T20:49:07.414Z,1348519747.414 [NavChartDb](INFO): Charting 3108p9
2012-09-24T20:49:12.214Z,1348519752.214 [NavChartDb](INFO): Charting 3657p6
2012-09-24T20:49:28.099Z,1348519768.099 [CommandLine](IMPORTANT): got command quit
2012-09-24T20:49:29.302Z,1348519769.302 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-24T20:49:29.302Z,1348519769.302 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-24T20:49:29.642Z,1348519769.642 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-24T20:49:29.907Z,1348519769.907 [WetLabsBB2FL](INFO): Powering down
2012-09-24T20:49:29.922Z,1348519769.922 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-24T20:49:29.942Z,1348519769.942 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-24T20:49:30.291Z,1348519770.291 [CTD_NeilBrown](INFO): Powering down
2012-09-24T20:49:30.302Z,1348519770.302 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-24T20:49:30.331Z,1348519770.331 [DVL_micro](INFO): uninitialize:Powering down
2012-09-24T20:49:30.343Z,1348519770.343 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-24T20:49:30.379Z,1348519770.379 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-24T20:49:30.383Z,1348519770.383 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-24T20:49:30.384Z,1348519770.385 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-24T20:49:33.123Z,1348519773.123 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-24T20:49:33.123Z,1348519773.123 [AHRS_sp3003D](INFO): Powering down
2012-09-24T20:49:33.211Z,1348519773.211 [NAL9602](INFO): Powering down
2012-09-24T20:49:33.213Z,1348519773.213 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T20:49:33.213Z,1348519773.213 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-24T20:49:33.215Z,1348519773.215 [Default] Stopped
2012-09-24T20:49:33.215Z,1348519773.215 [Default](INFO): Aggregate::uninitialize Default
2012-09-24T20:49:33.215Z,1348519773.215 [Default:D.SetSpeed] Stopped
2012-09-24T20:49:33.215Z,1348519773.215 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-09-24T20:49:33.215Z,1348519773.215 [Default:E.GoToSurface] Stopped
2012-09-24T20:49:33.215Z,1348519773.215 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-24T20:49:33.215Z,1348519773.215 [Default:F.Wait] Stopped
2012-09-24T20:49:33.215Z,1348519773.215 [Default:F.Wait](DEBUG): Uninitialize Wait Component.
2012-09-24T20:49:33.220Z,1348519773.220 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-24T20:49:33.220Z,1348519773.220 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-24T20:49:33.220Z,1348519773.220 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-24T20:49:33.221Z,1348519773.220 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-24T20:49:33.221Z,1348519773.221 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-24T20:49:33.221Z,1348519773.221 [BuoyancyServo](INFO): Powering down
2012-09-24T20:49:33.227Z,1348519773.227 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-24T20:49:33.227Z,1348519773.227 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-24T20:49:33.227Z,1348519773.227 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T20:49:33.227Z,1348519773.227 [RudderServo](INFO): Powering down
2012-09-24T20:49:33.228Z,1348519773.228 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-24T20:49:33.228Z,1348519773.228 [ThrusterServo](INFO): Powering down
2012-09-24T20:49:33.229Z,1348519773.229 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-24T20:49:33.229Z,1348519773.229 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-24T20:49:33.229Z,1348519773.229 [CBIT](DEBUG): Uninitialize CBIT Component.