2012-09-26T21:16:24.116Z,1348694184.116 [Supervisor](DEBUG): Initializing supervisor.
2012-09-26T21:16:24.121Z,1348694184.121 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-26T21:16:24.121Z,1348694184.121 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-26T21:16:24.126Z,1348694184.126 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-26T21:16:24.130Z,1348694184.130 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-26T21:16:24.141Z,1348694184.141 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-26T21:16:24.142Z,1348694184.142 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-26T21:16:24.143Z,1348694184.143 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-26T21:16:24.144Z,1348694184.144 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-26T21:16:24.147Z,1348694184.147 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-26T21:16:24.468Z,1348694184.467 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-26T21:16:24.470Z,1348694184.470 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-26T21:16:24.675Z,1348694184.675 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-26T21:16:24.676Z,1348694184.676 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-26T21:16:24.770Z,1348694184.770 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-26T21:16:24.772Z,1348694184.772 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-26T21:16:24.991Z,1348694184.991 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-26T21:16:24.992Z,1348694184.992 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-26T21:16:25.143Z,1348694185.143 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-26T21:16:25.145Z,1348694185.145 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-26T21:16:25.407Z,1348694185.407 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-26T21:16:25.408Z,1348694185.408 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-26T21:16:25.598Z,1348694185.598 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-26T21:16:25.600Z,1348694185.600 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-26T21:16:25.884Z,1348694185.884 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-26T21:16:25.886Z,1348694185.886 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-26T21:16:25.999Z,1348694185.999 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-26T21:16:25.999Z,1348694186.000 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-26T21:16:26.464Z,1348694186.464 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-26T21:16:26.464Z,1348694186.464 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-26T21:16:26.597Z,1348694186.597 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-26T21:16:26.598Z,1348694186.598 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-26T21:16:30.345Z,1348694190.345 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-26T21:16:30.352Z,1348694190.352 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-26T21:16:30.466Z,1348694190.466 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-26T21:16:30.612Z,1348694190.612 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-26T21:16:30.706Z,1348694190.706 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-26T21:16:30.818Z,1348694190.818 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-26T21:16:30.932Z,1348694190.931 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-26T21:16:31.068Z,1348694191.068 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-26T21:16:31.166Z,1348694191.166 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-26T21:16:31.316Z,1348694191.316 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-26T21:16:31.329Z,1348694191.329 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-26T21:16:31.365Z,1348694191.365 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-26T21:16:31.548Z,1348694191.548 [InternalSim] Loaded
2012-09-26T21:16:31.549Z,1348694191.549 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-26T21:16:31.549Z,1348694191.549 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-26T21:16:31.550Z,1348694191.550 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-26T21:16:31.639Z,1348694191.639 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-26T21:16:31.652Z,1348694191.652 [SBIT] Loaded
2012-09-26T21:16:31.653Z,1348694191.653 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-26T21:16:31.654Z,1348694191.654 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-26T21:16:31.685Z,1348694191.685 [IBIT] Loaded
2012-09-26T21:16:31.685Z,1348694191.685 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-26T21:16:31.689Z,1348694191.689 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-26T21:16:31.816Z,1348694191.816 [CBIT] Loaded
2012-09-26T21:16:31.816Z,1348694191.816 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-26T21:16:31.817Z,1348694191.817 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-26T21:16:31.817Z,1348694191.817 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-26T21:16:31.984Z,1348694191.984 [BuoyancyServo] Loaded
2012-09-26T21:16:31.985Z,1348694191.985 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-26T21:16:31.994Z,1348694191.994 [ElevatorServo] Loaded
2012-09-26T21:16:31.995Z,1348694191.995 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-26T21:16:32.006Z,1348694192.006 [MassServo] Loaded
2012-09-26T21:16:32.006Z,1348694192.006 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-26T21:16:32.022Z,1348694192.022 [RudderServo] Loaded
2012-09-26T21:16:32.022Z,1348694192.022 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-26T21:16:32.034Z,1348694192.034 [ThrusterServo] Loaded
2012-09-26T21:16:32.034Z,1348694192.034 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-26T21:16:32.035Z,1348694192.035 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-26T21:16:32.036Z,1348694192.036 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-26T21:16:33.781Z,1348694193.781 [DepthRateCalculator] Loaded
2012-09-26T21:16:33.782Z,1348694193.782 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-26T21:16:36.461Z,1348694196.461 [HFRadarModelCalc] Loaded
2012-09-26T21:16:36.462Z,1348694196.462 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-26T21:16:36.478Z,1348694196.478 [NavChart] Loaded
2012-09-26T21:16:36.478Z,1348694196.478 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-26T21:16:36.484Z,1348694196.484 [PitchRateCalculator] Loaded
2012-09-26T21:16:36.484Z,1348694196.484 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-26T21:16:36.491Z,1348694196.490 [SpeedCalculator] Loaded
2012-09-26T21:16:36.491Z,1348694196.491 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-26T21:16:36.506Z,1348694196.506 [TempGradientCalculator] Loaded
2012-09-26T21:16:36.506Z,1348694196.506 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-26T21:16:36.512Z,1348694196.512 [YawRateCalculator] Loaded
2012-09-26T21:16:36.512Z,1348694196.512 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-26T21:16:36.532Z,1348694196.532 [Navigation] Loaded
2012-09-26T21:16:36.532Z,1348694196.532 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-26T21:16:36.533Z,1348694196.533 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-26T21:16:36.533Z,1348694196.533 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-26T21:16:36.822Z,1348694196.822 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-26T21:16:36.823Z,1348694196.823 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-26T21:16:36.864Z,1348694196.864 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-26T21:16:36.864Z,1348694196.864 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-26T21:16:36.924Z,1348694196.924 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-26T21:16:36.972Z,1348694196.972 [VerticalControl] Loaded
2012-09-26T21:16:36.973Z,1348694196.973 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-26T21:16:36.974Z,1348694196.974 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-26T21:16:36.994Z,1348694196.994 [HorizontalControl] Loaded
2012-09-26T21:16:36.994Z,1348694196.994 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-26T21:16:36.995Z,1348694196.995 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-26T21:16:36.997Z,1348694196.997 [SpeedControl] Loaded
2012-09-26T21:16:36.997Z,1348694196.997 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-26T21:16:36.998Z,1348694196.998 [LoopControl](DEBUG): Construct LoopControl.
2012-09-26T21:16:36.999Z,1348694196.999 [LoopControl] Loaded
2012-09-26T21:16:36.999Z,1348694196.999 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-26T21:16:36.999Z,1348694196.999 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-26T21:16:37.000Z,1348694197.000 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-26T21:16:37.008Z,1348694197.008 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-26T21:16:37.013Z,1348694197.013 [AsyncPiEstimator] Loaded
2012-09-26T21:16:37.013Z,1348694197.013 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-26T21:16:37.014Z,1348694197.014 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-26T21:16:37.015Z,1348694197.015 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-26T21:16:37.016Z,1348694197.016 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-26T21:16:37.191Z,1348694197.191 [AHRS_sp3003D] Loaded
2012-09-26T21:16:37.191Z,1348694197.191 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-26T21:16:37.209Z,1348694197.209 [Depth_Keller] Loaded
2012-09-26T21:16:37.209Z,1348694197.209 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-26T21:16:37.214Z,1348694197.214 [DropWeight] Loaded
2012-09-26T21:16:37.215Z,1348694197.215 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-26T21:16:37.345Z,1348694197.345 [DVL_micro] Loaded
2012-09-26T21:16:37.345Z,1348694197.345 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-26T21:16:37.347Z,1348694197.346 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-26T21:16:37.438Z,1348694197.438 [NAL9602] Loaded
2012-09-26T21:16:37.438Z,1348694197.438 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-26T21:16:37.492Z,1348694197.492 [Onboard] Loaded
2012-09-26T21:16:37.493Z,1348694197.493 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-26T21:16:37.500Z,1348694197.500 [Radio_Freewave] Loaded
2012-09-26T21:16:37.500Z,1348694197.500 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-26T21:16:37.501Z,1348694197.501 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-26T21:16:37.501Z,1348694197.501 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-26T21:16:37.599Z,1348694197.599 [CTD_NeilBrown] Loaded
2012-09-26T21:16:37.600Z,1348694197.600 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-26T21:16:37.602Z,1348694197.602 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-26T21:16:37.613Z,1348694197.613 [PAR_Licor] Loaded
2012-09-26T21:16:37.613Z,1348694197.613 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-26T21:16:37.630Z,1348694197.630 [Turbulence_NPS] Loaded
2012-09-26T21:16:37.630Z,1348694197.630 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-26T21:16:37.634Z,1348694197.634 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-26T21:16:37.669Z,1348694197.668 [WetLabsBB2FL] Loaded
2012-09-26T21:16:37.669Z,1348694197.669 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-26T21:16:37.670Z,1348694197.670 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-26T21:16:37.671Z,1348694197.671 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-26T21:16:37.674Z,1348694197.674 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-26T21:16:37.674Z,1348694197.674 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-26T21:16:37.681Z,1348694197.681 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-26T21:16:37.683Z,1348694197.682 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-26T21:16:37.687Z,1348694197.687 [Supervisor](DEBUG): Running supervisor.
2012-09-26T21:16:37.688Z,1348694197.688 [CommandLine](INFO): Thread ID is 749
2012-09-26T21:16:37.691Z,1348694197.691 [controlThread](INFO): Thread ID is 748
2012-09-26T21:16:37.691Z,1348694197.691 [controlThread](DEBUG): Initializing ControlThread
2012-09-26T21:16:37.692Z,1348694197.692 [CycleStarter](INFO): Thread ID is 747
2012-09-26T21:16:37.692Z,1348694197.692 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-26T21:16:37.798Z,1348694197.798 [AsyncPiEstimator](INFO): Thread ID is 810
2012-09-26T21:16:37.798Z,1348694197.798 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-26T21:16:37.870Z,1348694197.870 [DVL_micro](INFO): Thread ID is 811
2012-09-26T21:16:37.952Z,1348694197.952 [CTD_NeilBrown](INFO): Thread ID is 812
2012-09-26T21:16:37.953Z,1348694197.953 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-26T21:16:37.959Z,1348694197.959 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-26T21:16:37.997Z,1348694197.997 [DVL_micro](INFO): Initializing
2012-09-26T21:16:37.997Z,1348694197.997 [DVL_micro](INFO): start:Powering up
2012-09-26T21:16:37.998Z,1348694197.997 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-26T21:16:37.998Z,1348694197.998 [DVL_micro](INFO): Cycling power to configure device.
2012-09-26T21:16:38.007Z,1348694198.007 [Turbulence_NPS](INFO): Thread ID is 813
2012-09-26T21:16:38.007Z,1348694198.007 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-26T21:16:38.017Z,1348694198.017 [SBIT](INFO): Initialize SBIT Component.
2012-09-26T21:16:38.018Z,1348694198.018 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-26T21:16:38.019Z,1348694198.019 [WetLabsBB2FL](INFO): Thread ID is 814
2012-09-26T21:16:38.020Z,1348694198.020 [WetLabsBB2FL](INFO): Powering down
2012-09-26T21:16:38.043Z,1348694198.043 [IBIT](INFO): Initialize IBIT Component.
2012-09-26T21:16:38.044Z,1348694198.044 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-26T21:16:38.044Z,1348694198.044 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-26T21:16:38.052Z,1348694198.052 [NavChartDb](INFO): Thread ID is 815
2012-09-26T21:16:38.073Z,1348694198.073 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-26T21:16:38.073Z,1348694198.073 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-26T21:16:38.074Z,1348694198.074 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-26T21:16:38.074Z,1348694198.074 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-26T21:16:38.075Z,1348694198.075 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-26T21:16:38.076Z,1348694198.076 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-26T21:16:38.076Z,1348694198.076 [Navigation](DEBUG): Initializing Navigation.
2012-09-26T21:16:38.077Z,1348694198.077 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-26T21:16:38.079Z,1348694198.079 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-26T21:16:38.079Z,1348694198.079 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-26T21:16:38.080Z,1348694198.080 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-26T21:16:38.088Z,1348694198.088 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-26T21:16:38.120Z,1348694198.120 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-26T21:16:38.141Z,1348694198.141 [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>


2012-09-26T21:16:38.141Z,1348694198.141 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-26T21:16:38.181Z,1348694198.181 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-26T21:16:38.183Z,1348694198.183 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-26T21:16:38.186Z,1348694198.186 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-26T21:16:38.194Z,1348694198.194 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-26T21:16:38.197Z,1348694198.197 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-26T21:16:38.203Z,1348694198.203 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-26T21:16:38.212Z,1348694198.211 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-26T21:16:38.215Z,1348694198.215 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-26T21:16:38.219Z,1348694198.219 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-26T21:16:38.223Z,1348694198.223 [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>


2012-09-26T21:16:38.227Z,1348694198.227 [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,
2012-09-26T21:16:38.248Z,1348694198.248 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-26T21:16:38.987Z,1348694198.987 [Radio_Freewave](INFO): Powering up
2012-09-26T21:16:39.086Z,1348694199.086 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-26T21:16:39.091Z,1348694199.091 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-26T21:16:39.097Z,1348694199.097 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-26T21:16:39.102Z,1348694199.102 [MassServo](DEBUG): Initializing MassServo.
2012-09-26T21:16:39.108Z,1348694199.108 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-26T21:16:39.111Z,1348694199.111 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-26T21:16:39.116Z,1348694199.116 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-26T21:16:39.117Z,1348694199.117 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-26T21:16:40.059Z,1348694200.059 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-26T21:16:40.059Z,1348694200.059 [DVL_micro](INFO): Querying output modes
2012-09-26T21:16:40.059Z,1348694200.059 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-26T21:16:40.062Z,1348694200.062 [DVL_micro](DEBUG): cmdResponse: 01
2012-09-26T21:16:40.063Z,1348694200.063 [DVL_micro](INFO): NQ1 output enabled
2012-09-26T21:16:40.063Z,1348694200.063 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-26T21:16:40.067Z,1348694200.067 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-26T21:16:40.071Z,1348694200.071 [DVL_micro](INFO): pause:Powering down
2012-09-26T21:16:41.404Z,1348694201.404 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-26T21:16:41.431Z,1348694201.431 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-26T21:16:41.439Z,1348694201.439 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-26T21:16:41.443Z,1348694201.443 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-26T21:16:41.449Z,1348694201.448 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-26T21:16:41.449Z,1348694201.449 [NavChartDb](INFO): Creating index for Soundings
2012-09-26T21:16:41.454Z,1348694201.454 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-26T21:16:41.465Z,1348694201.465 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-26T21:16:41.480Z,1348694201.480 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-26T21:16:41.492Z,1348694201.492 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-26T21:16:41.494Z,1348694201.494 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-26T21:16:41.496Z,1348694201.496 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-26T21:16:41.498Z,1348694201.498 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-26T21:16:41.500Z,1348694201.500 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-26T21:16:41.503Z,1348694201.503 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-26T21:16:41.505Z,1348694201.505 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-26T21:16:41.532Z,1348694201.532 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-26T21:16:41.571Z,1348694201.570 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-26T21:16:41.572Z,1348694201.572 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-26T21:16:41.575Z,1348694201.575 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-26T21:16:41.576Z,1348694201.576 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-26T21:16:41.578Z,1348694201.578 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-26T21:16:41.580Z,1348694201.580 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-26T21:16:41.582Z,1348694201.582 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-26T21:16:41.584Z,1348694201.584 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-26T21:16:41.586Z,1348694201.586 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-26T21:16:41.588Z,1348694201.588 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-26T21:16:41.590Z,1348694201.590 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-26T21:16:41.592Z,1348694201.592 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-26T21:16:41.594Z,1348694201.593 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-26T21:16:41.595Z,1348694201.595 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-26T21:16:41.597Z,1348694201.597 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-26T21:16:41.599Z,1348694201.599 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-26T21:16:41.601Z,1348694201.601 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-26T21:16:41.603Z,1348694201.603 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-26T21:16:41.605Z,1348694201.605 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-26T21:16:41.607Z,1348694201.607 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-26T21:16:42.593Z,1348694202.593 [NAL9602](INFO): Powering up NAL9602
2012-09-26T21:16:45.554Z,1348694205.554 [RudderServo](FAULT): Overload Error
2012-09-26T21:16:45.554Z,1348694205.555 [RudderServo] Hardware Fault, FailCount= 1
2012-09-26T21:16:45.554Z,1348694205.555 [RudderServo](ERROR): Hardware Fault
2012-09-26T21:16:45.586Z,1348694205.586 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-26T21:16:45.926Z,1348694205.926 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-26T21:16:45.926Z,1348694205.926 [RudderServo](INFO): Powering down
2012-09-26T21:16:45.939Z,1348694205.939 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-26T21:16:45.939Z,1348694205.939 [RudderServo] No Fault, FailCount= 1
2012-09-26T21:16:46.731Z,1348694206.731 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-26T21:16:46.851Z,1348694206.851 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-26T21:16:46.851Z,1348694206.852 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-26T21:16:51.558Z,1348694211.558 [RudderServo](FAULT): Overload Error
2012-09-26T21:16:51.558Z,1348694211.559 [RudderServo] Hardware Fault, FailCount= 2
2012-09-26T21:16:51.559Z,1348694211.559 [RudderServo](ERROR): Hardware Fault
2012-09-26T21:16:51.586Z,1348694211.586 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-26T21:16:51.935Z,1348694211.935 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-26T21:16:51.935Z,1348694211.935 [RudderServo](INFO): Powering down
2012-09-26T21:16:51.938Z,1348694211.938 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-26T21:16:51.938Z,1348694211.938 [RudderServo] No Fault, FailCount= 2
2012-09-26T21:16:52.731Z,1348694212.731 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-26T21:16:52.851Z,1348694212.851 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-26T21:16:52.851Z,1348694212.852 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-26T21:16:53.131Z,1348694213.131 [NAL9602](INFO): NAL9602 initialized
2012-09-26T21:16:53.576Z,1348694213.576 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-26T21:16:53.578Z,1348694213.579 [CBIT](IMPORTANT): Beginning GF scan
2012-09-26T21:16:54.333Z,1348694214.333 [Radio_Freewave](INFO): Powering down
2012-09-26T21:16:54.724Z,1348694214.724 [Radio_Freewave](INFO): Powering up
2012-09-26T21:16:57.558Z,1348694217.558 [RudderServo](FAULT): Overload Error
2012-09-26T21:16:57.558Z,1348694217.559 [RudderServo] Hardware Fault, FailCount= 3
2012-09-26T21:16:57.559Z,1348694217.559 [RudderServo](ERROR): Hardware Fault
2012-09-26T21:16:57.590Z,1348694217.589 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-26T21:16:57.590Z,1348694217.590 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2012-09-26T21:16:57.936Z,1348694217.936 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-26T21:16:57.936Z,1348694217.936 [RudderServo](INFO): Powering down
2012-09-26T21:17:06.738Z,1348694226.738 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.001040
2012-09-26T21:17:19.988Z,1348694239.988 [CBIT](IMPORTANT): No ground fault detected
2012-09-26T21:17:47.144Z,1348694267.144 [SBIT](CRITICAL): SBIT FAILED
2012-09-26T21:17:47.541Z,1348694267.542 [MissionManager](IMPORTANT): Started mission Startup
2012-09-26T21:17:47.542Z,1348694267.542 [Startup] Running Loop=1
2012-09-26T21:17:47.542Z,1348694267.542 [Startup](INFO): Aggregate::initialize Startup
2012-09-26T21:17:47.542Z,1348694267.542 [Startup:A.GoToSurface] Running Loop=1
2012-09-26T21:17:47.542Z,1348694267.542 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-26T21:17:47.548Z,1348694267.548 [Startup:StartupSatComms] Running Loop=1
2012-09-26T21:17:47.548Z,1348694267.548 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-26T21:17:47.548Z,1348694267.548 [Startup:StartupSatComms:A] Running Loop=1
2012-09-26T21:17:47.936Z,1348694267.936 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-26T21:18:47.940Z,1348694327.940 [Startup:StartupSatComms:A](INFO): Timed out from 2012-09-26T21:17:47.5Z
2012-09-26T21:18:47.940Z,1348694327.940 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-09-26T21:18:47.940Z,1348694327.940 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-09-26T21:18:47.940Z,1348694327.940 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-09-26T21:18:47.941Z,1348694327.941 [Startup:StartupSatComms:A] Stopped
2012-09-26T21:18:47.941Z,1348694327.941 [Startup:StartupSatComms:B] Running Loop=1
2012-09-26T21:18:48.344Z,1348694328.344 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-26T21:19:47.997Z,1348694387.997 [Startup:StartupSatComms:B](INFO): Timed out from 2012-09-26T21:18:47.9Z
2012-09-26T21:19:47.997Z,1348694387.997 [Startup:StartupSatComms:A_Timeout] Running Loop=1
2012-09-26T21:19:47.998Z,1348694387.997 [Startup:StartupSatComms:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A_Timeout
2012-09-26T21:19:47.998Z,1348694387.998 [Startup:StartupSatComms:A_Timeout](INFO): Completed Startup:StartupSatComms:A_Timeout
2012-09-26T21:19:47.998Z,1348694387.998 [Startup:StartupSatComms:B] Stopped
2012-09-26T21:19:47.998Z,1348694387.998 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-09-26T21:19:47.998Z,1348694387.998 [Startup:StartupSatComms] Stopped
2012-09-26T21:19:47.998Z,1348694387.998 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-09-26T21:19:47.999Z,1348694387.999 [Startup](INFO): Completed Startup
2012-09-26T21:19:47.999Z,1348694387.999 [Startup] Stopped
2012-09-26T21:19:47.999Z,1348694387.999 [Startup](INFO): Aggregate::uninitialize Startup
2012-09-26T21:19:47.999Z,1348694387.999 [Startup:A.GoToSurface] Stopped
2012-09-26T21:19:47.999Z,1348694387.999 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-26T21:19:48.896Z,1348694388.896 [MissionManager](IMPORTANT): Started mission Default
2012-09-26T21:19:48.896Z,1348694388.896 [Default] Running Loop=1
2012-09-26T21:19:48.896Z,1348694388.896 [Default](INFO): Aggregate::initialize Default
2012-09-26T21:19:48.896Z,1348694388.896 [Default:D.SetSpeed] Running Loop=1
2012-09-26T21:19:48.896Z,1348694388.896 [Default:D.SetSpeed](DEBUG): Initialize.
2012-09-26T21:19:48.896Z,1348694388.896 [Default:E.GoToSurface] Running Loop=1
2012-09-26T21:19:48.896Z,1348694388.896 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-26T21:19:48.896Z,1348694388.896 [Default:Iridium] Running Loop=1
2012-09-26T21:19:48.896Z,1348694388.897 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-09-26T21:19:48.897Z,1348694388.897 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-26T21:19:48.897Z,1348694388.897 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-09-26T21:19:48.897Z,1348694388.897 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-09-26T21:19:48.897Z,1348694388.897 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-26T21:19:48.897Z,1348694388.897 [Default:E.GoToSurface] Running Loop=1
2012-09-26T21:19:48.903Z,1348694388.903 [Default:D.SetSpeed] Running Loop=1
2012-09-26T21:19:48.907Z,1348694388.907 [Default:CallIridium] Running Loop=1
2012-09-26T21:19:48.908Z,1348694388.908 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-09-26T21:19:48.908Z,1348694388.908 [Default:CallIridium:A] Running Loop=1
2012-09-26T21:19:48.909Z,1348694388.909 [Default:CallIridium:A] Stopped
2012-09-26T21:19:48.910Z,1348694388.909 [Default:CallIridium:B] Running Loop=1
2012-09-26T21:19:48.910Z,1348694388.910 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-09-26T21:19:48.919Z,1348694388.919 [Default:Iridium:B.GoToSurface] Stopped
2012-09-26T21:19:48.919Z,1348694388.919 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-26T21:19:48.919Z,1348694388.920 [Default:Iridium:Read_Iridium] Running Loop=1
2012-09-26T21:19:48.919Z,1348694388.920 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-09-26T21:19:48.924Z,1348694388.924 [Default:GPS] Running Loop=1
2012-09-26T21:19:48.924Z,1348694388.924 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-09-26T21:19:48.925Z,1348694388.925 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-26T21:19:48.925Z,1348694388.925 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-09-26T21:19:48.925Z,1348694388.925 [Default:GPS:B.GoToSurface] Running Loop=1
2012-09-26T21:19:48.925Z,1348694388.925 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-26T21:19:48.930Z,1348694388.930 [Default:GPS:B.GoToSurface] Stopped
2012-09-26T21:19:48.930Z,1348694388.930 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-26T21:19:48.930Z,1348694388.931 [Default:GPS:Read_GPS] Running Loop=1
2012-09-26T21:19:48.931Z,1348694388.931 [Default:GPS:A.SetSpeed] Running Loop=1
2012-09-26T21:19:49.209Z,1348694389.209 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-09-26T21:19:49.212Z,1348694389.212 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-26T21:22:50.899Z,1348694570.899 [CommandLine](IMPORTANT): got command quit
2012-09-26T21:22:52.102Z,1348694572.102 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-26T21:22:52.102Z,1348694572.102 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-26T21:22:52.262Z,1348694572.263 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-26T21:22:52.423Z,1348694572.423 [WetLabsBB2FL](INFO): Powering down
2012-09-26T21:22:52.430Z,1348694572.430 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-26T21:22:52.830Z,1348694572.830 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-26T21:22:53.223Z,1348694573.223 [CTD_NeilBrown](INFO): Powering down
2012-09-26T21:22:53.230Z,1348694573.230 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-26T21:22:53.275Z,1348694573.275 [DVL_micro](INFO): uninitialize:Powering down
2012-09-26T21:22:53.291Z,1348694573.291 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-26T21:22:53.511Z,1348694573.511 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-26T21:22:53.531Z,1348694573.531 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-26T21:22:53.539Z,1348694573.539 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-26T21:22:53.595Z,1348694573.595 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-26T21:22:53.595Z,1348694573.595 [AHRS_sp3003D](INFO): Powering down
2012-09-26T21:22:53.683Z,1348694573.683 [NAL9602](INFO): Powering down
2012-09-26T21:22:53.685Z,1348694573.685 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-26T21:22:53.686Z,1348694573.686 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-26T21:22:53.687Z,1348694573.687 [Default] Stopped
2012-09-26T21:22:53.687Z,1348694573.687 [Default](INFO): Aggregate::uninitialize Default
2012-09-26T21:22:53.687Z,1348694573.687 [Default:GPS] Stopped
2012-09-26T21:22:53.687Z,1348694573.687 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-09-26T21:22:53.687Z,1348694573.687 [Default:GPS:A.SetSpeed] Stopped
2012-09-26T21:22:53.688Z,1348694573.688 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-09-26T21:22:53.688Z,1348694573.688 [Default:GPS:Read_GPS] Stopped
2012-09-26T21:22:53.688Z,1348694573.688 [Default:Iridium] Stopped
2012-09-26T21:22:53.688Z,1348694573.688 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-09-26T21:22:53.688Z,1348694573.688 [Default:Iridium:A.SetSpeed] Stopped
2012-09-26T21:22:53.688Z,1348694573.688 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-09-26T21:22:53.688Z,1348694573.688 [Default:Iridium:Read_Iridium] Stopped
2012-09-26T21:22:53.688Z,1348694573.688 [Default:CallIridium] Stopped
2012-09-26T21:22:53.688Z,1348694573.688 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-09-26T21:22:53.688Z,1348694573.688 [Default:CallIridium:B] Stopped
2012-09-26T21:22:53.688Z,1348694573.688 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-09-26T21:22:53.688Z,1348694573.688 [Default:D.SetSpeed] Stopped
2012-09-26T21:22:53.688Z,1348694573.688 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-09-26T21:22:53.689Z,1348694573.689 [Default:E.GoToSurface] Stopped
2012-09-26T21:22:53.689Z,1348694573.689 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-26T21:22:53.693Z,1348694573.693 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-26T21:22:53.693Z,1348694573.693 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-26T21:22:53.694Z,1348694573.694 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-26T21:22:53.694Z,1348694573.694 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-26T21:22:53.694Z,1348694573.694 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-26T21:22:53.694Z,1348694573.694 [BuoyancyServo](INFO): Powering down
2012-09-26T21:22:53.703Z,1348694573.703 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-26T21:22:53.703Z,1348694573.703 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-26T21:22:53.703Z,1348694573.703 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-26T21:22:53.703Z,1348694573.704 [RudderServo](INFO): Powering down
2012-09-26T21:22:53.704Z,1348694573.704 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-26T21:22:53.705Z,1348694573.704 [ThrusterServo](INFO): Powering down
2012-09-26T21:22:53.705Z,1348694573.705 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-26T21:22:53.706Z,1348694573.706 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-26T21:22:53.706Z,1348694573.706 [CBIT](DEBUG): Uninitialize CBIT Component.