2012-09-27T16:37:17.152Z,1348763837.152 [Supervisor](DEBUG): Initializing supervisor.
2012-09-27T16:37:17.159Z,1348763837.159 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-27T16:37:17.159Z,1348763837.159 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-27T16:37:17.163Z,1348763837.163 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-27T16:37:17.167Z,1348763837.167 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-27T16:37:17.177Z,1348763837.177 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-27T16:37:17.179Z,1348763837.179 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-27T16:37:17.179Z,1348763837.180 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-27T16:37:17.180Z,1348763837.180 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-27T16:37:17.183Z,1348763837.183 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-27T16:37:17.507Z,1348763837.507 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-27T16:37:17.510Z,1348763837.510 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-27T16:37:17.715Z,1348763837.715 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-27T16:37:17.716Z,1348763837.716 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-27T16:37:17.810Z,1348763837.810 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-27T16:37:17.812Z,1348763837.812 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-27T16:37:18.031Z,1348763838.031 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-27T16:37:18.032Z,1348763838.032 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-27T16:37:18.183Z,1348763838.183 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-27T16:37:18.185Z,1348763838.185 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-27T16:37:18.450Z,1348763838.450 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-27T16:37:18.451Z,1348763838.451 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-27T16:37:18.643Z,1348763838.643 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-27T16:37:18.645Z,1348763838.645 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-27T16:37:18.932Z,1348763838.932 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-27T16:37:18.934Z,1348763838.934 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-27T16:37:19.047Z,1348763839.047 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-27T16:37:19.048Z,1348763839.048 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-27T16:37:19.516Z,1348763839.516 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-27T16:37:19.517Z,1348763839.517 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-27T16:37:19.649Z,1348763839.649 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-27T16:37:19.649Z,1348763839.649 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-27T16:37:19.788Z,1348763839.788 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-27T16:37:19.793Z,1348763839.793 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-27T16:37:19.908Z,1348763839.908 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-27T16:37:20.052Z,1348763840.052 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-27T16:37:20.147Z,1348763840.147 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-27T16:37:20.258Z,1348763840.258 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-27T16:37:20.372Z,1348763840.372 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-27T16:37:20.504Z,1348763840.504 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-27T16:37:20.606Z,1348763840.606 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-27T16:37:20.754Z,1348763840.754 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-27T16:37:20.768Z,1348763840.768 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-27T16:37:20.807Z,1348763840.807 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-27T16:37:20.989Z,1348763840.989 [InternalSim] Loaded
2012-09-27T16:37:20.989Z,1348763840.990 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-27T16:37:20.990Z,1348763840.990 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-27T16:37:20.991Z,1348763840.991 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-27T16:37:21.073Z,1348763841.073 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-27T16:37:21.090Z,1348763841.090 [SBIT] Loaded
2012-09-27T16:37:21.090Z,1348763841.090 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-27T16:37:21.091Z,1348763841.091 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-27T16:37:21.118Z,1348763841.118 [IBIT] Loaded
2012-09-27T16:37:21.118Z,1348763841.118 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-27T16:37:21.121Z,1348763841.121 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-27T16:37:21.246Z,1348763841.246 [CBIT] Loaded
2012-09-27T16:37:21.250Z,1348763841.250 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-27T16:37:21.251Z,1348763841.251 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-27T16:37:21.252Z,1348763841.252 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-27T16:37:21.421Z,1348763841.421 [BuoyancyServo] Loaded
2012-09-27T16:37:21.421Z,1348763841.421 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-27T16:37:21.434Z,1348763841.434 [RudderServo] Loaded
2012-09-27T16:37:21.434Z,1348763841.434 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-27T16:37:21.445Z,1348763841.445 [ThrusterServo] Loaded
2012-09-27T16:37:21.445Z,1348763841.445 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-27T16:37:21.446Z,1348763841.446 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-27T16:37:21.447Z,1348763841.447 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-27T16:37:21.479Z,1348763841.479 [DepthRateCalculator] Loaded
2012-09-27T16:37:21.480Z,1348763841.480 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-27T16:37:26.295Z,1348763846.295 [HFRadarModelCalc] Loaded
2012-09-27T16:37:26.295Z,1348763846.295 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-27T16:37:26.312Z,1348763846.312 [NavChart] Loaded
2012-09-27T16:37:26.312Z,1348763846.312 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-27T16:37:26.342Z,1348763846.342 [PitchRateCalculator] Loaded
2012-09-27T16:37:26.342Z,1348763846.342 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-27T16:37:26.350Z,1348763846.350 [SpeedCalculator] Loaded
2012-09-27T16:37:26.350Z,1348763846.350 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-27T16:37:26.365Z,1348763846.365 [TempGradientCalculator] Loaded
2012-09-27T16:37:26.365Z,1348763846.365 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-27T16:37:26.371Z,1348763846.371 [YawRateCalculator] Loaded
2012-09-27T16:37:26.371Z,1348763846.371 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-27T16:37:26.399Z,1348763846.399 [Navigation] Loaded
2012-09-27T16:37:26.399Z,1348763846.399 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-27T16:37:26.400Z,1348763846.400 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-27T16:37:26.400Z,1348763846.400 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-27T16:37:26.741Z,1348763846.741 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-27T16:37:26.742Z,1348763846.742 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-27T16:37:26.865Z,1348763846.865 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-27T16:37:26.866Z,1348763846.866 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-27T16:37:26.956Z,1348763846.956 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-27T16:37:27.013Z,1348763847.013 [VerticalControl] Loaded
2012-09-27T16:37:27.013Z,1348763847.013 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-27T16:37:27.014Z,1348763847.014 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-27T16:37:27.041Z,1348763847.041 [HorizontalControl] Loaded
2012-09-27T16:37:27.042Z,1348763847.042 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-27T16:37:27.043Z,1348763847.043 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-27T16:37:27.044Z,1348763847.044 [SpeedControl] Loaded
2012-09-27T16:37:27.045Z,1348763847.045 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-27T16:37:27.045Z,1348763847.045 [LoopControl](DEBUG): Construct LoopControl.
2012-09-27T16:37:27.046Z,1348763847.046 [LoopControl] Loaded
2012-09-27T16:37:27.046Z,1348763847.046 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-27T16:37:27.047Z,1348763847.047 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-27T16:37:27.047Z,1348763847.047 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-27T16:37:27.067Z,1348763847.067 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-27T16:37:27.072Z,1348763847.072 [AsyncPiEstimator] Loaded
2012-09-27T16:37:27.072Z,1348763847.072 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-27T16:37:27.075Z,1348763847.075 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-27T16:37:27.075Z,1348763847.075 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-27T16:37:27.076Z,1348763847.076 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-27T16:37:27.324Z,1348763847.324 [AHRS_sp3003D] Loaded
2012-09-27T16:37:27.324Z,1348763847.324 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-27T16:37:27.337Z,1348763847.337 [Depth_Keller] Loaded
2012-09-27T16:37:27.338Z,1348763847.338 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-27T16:37:27.348Z,1348763847.348 [DropWeight] Loaded
2012-09-27T16:37:27.349Z,1348763847.349 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-27T16:37:27.498Z,1348763847.498 [DVL_micro] Loaded
2012-09-27T16:37:27.498Z,1348763847.498 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-27T16:37:27.500Z,1348763847.500 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-27T16:37:27.609Z,1348763847.609 [NAL9602] Loaded
2012-09-27T16:37:27.609Z,1348763847.609 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-27T16:37:27.681Z,1348763847.681 [Onboard] Loaded
2012-09-27T16:37:27.681Z,1348763847.681 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-27T16:37:27.688Z,1348763847.688 [Radio_Freewave] Loaded
2012-09-27T16:37:27.688Z,1348763847.688 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-27T16:37:27.689Z,1348763847.689 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-27T16:37:27.690Z,1348763847.690 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-27T16:37:27.846Z,1348763847.846 [CTD_NeilBrown] Loaded
2012-09-27T16:37:27.847Z,1348763847.847 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-27T16:37:27.848Z,1348763847.848 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-27T16:37:27.864Z,1348763847.864 [PAR_Licor] Loaded
2012-09-27T16:37:27.864Z,1348763847.864 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-27T16:37:27.883Z,1348763847.883 [Turbulence_NPS] Loaded
2012-09-27T16:37:27.883Z,1348763847.883 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-27T16:37:27.884Z,1348763847.884 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-27T16:37:27.927Z,1348763847.927 [WetLabsBB2FL] Loaded
2012-09-27T16:37:27.927Z,1348763847.927 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-27T16:37:27.928Z,1348763847.928 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-27T16:37:27.929Z,1348763847.929 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-27T16:37:27.931Z,1348763847.931 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-27T16:37:27.932Z,1348763847.932 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-27T16:37:27.942Z,1348763847.942 [Supervisor](DEBUG): Running supervisor.
2012-09-27T16:37:27.943Z,1348763847.943 [CommandLine](INFO): Thread ID is 749
2012-09-27T16:37:27.948Z,1348763847.948 [controlThread](INFO): Thread ID is 748
2012-09-27T16:37:27.948Z,1348763847.948 [controlThread](DEBUG): Initializing ControlThread
2012-09-27T16:37:27.949Z,1348763847.949 [CycleStarter](INFO): Thread ID is 747
2012-09-27T16:37:27.949Z,1348763847.949 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-27T16:37:28.116Z,1348763848.116 [AsyncPiEstimator](INFO): Thread ID is 815
2012-09-27T16:37:28.116Z,1348763848.116 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-27T16:37:28.285Z,1348763848.285 [DVL_micro](INFO): Thread ID is 816
2012-09-27T16:37:28.394Z,1348763848.394 [CTD_NeilBrown](INFO): Thread ID is 817
2012-09-27T16:37:28.394Z,1348763848.395 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-27T16:37:28.397Z,1348763848.397 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-27T16:37:28.458Z,1348763848.458 [DVL_micro](INFO): Initializing
2012-09-27T16:37:28.459Z,1348763848.459 [Turbulence_NPS](INFO): Thread ID is 818
2012-09-27T16:37:28.459Z,1348763848.459 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-27T16:37:28.460Z,1348763848.460 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-09-27T16:37:28.468Z,1348763848.468 [WetLabsBB2FL](INFO): Thread ID is 819
2012-09-27T16:37:28.468Z,1348763848.468 [WetLabsBB2FL](INFO): Powering down
2012-09-27T16:37:28.489Z,1348763848.489 [DVL_micro](INFO): start:Powering up
2012-09-27T16:37:28.490Z,1348763848.490 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-27T16:37:28.492Z,1348763848.492 [SBIT](INFO): Initialize SBIT Component.
2012-09-27T16:37:28.492Z,1348763848.492 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9895
2012-09-27T16:37:28.493Z,1348763848.493 [IBIT](INFO): Initialize IBIT Component.
2012-09-27T16:37:28.494Z,1348763848.494 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-27T16:37:28.494Z,1348763848.494 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-27T16:37:28.495Z,1348763848.495 [DVL_micro](INFO): Cycling power to configure device.
2012-09-27T16:37:28.520Z,1348763848.520 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-27T16:37:28.521Z,1348763848.521 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-27T16:37:28.521Z,1348763848.521 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-27T16:37:28.521Z,1348763848.521 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-27T16:37:28.522Z,1348763848.522 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-27T16:37:28.523Z,1348763848.523 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-27T16:37:28.524Z,1348763848.524 [Navigation](DEBUG): Initializing Navigation.
2012-09-27T16:37:28.524Z,1348763848.524 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-27T16:37:28.526Z,1348763848.526 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-27T16:37:28.527Z,1348763848.527 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-27T16:37:28.527Z,1348763848.527 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-27T16:37:28.533Z,1348763848.533 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-27T16:37:28.614Z,1348763848.614 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-27T16:37:28.682Z,1348763848.681 [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>


2012-09-27T16:37:28.682Z,1348763848.682 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-27T16:37:28.729Z,1348763848.729 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-27T16:37:28.731Z,1348763848.731 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-27T16:37:28.734Z,1348763848.734 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-27T16:37:28.743Z,1348763848.743 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-27T16:37:28.746Z,1348763848.746 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-27T16:37:28.758Z,1348763848.758 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-27T16:37:28.767Z,1348763848.767 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-27T16:37:28.771Z,1348763848.770 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-27T16:37:28.775Z,1348763848.775 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-27T16:37:28.779Z,1348763848.779 [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>


2012-09-27T16:37:28.783Z,1348763848.783 [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,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-27T16:37:28.854Z,1348763848.854 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-27T16:37:29.074Z,1348763849.074 [Radio_Freewave](INFO): Powering up
2012-09-27T16:37:29.293Z,1348763849.293 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-27T16:37:29.298Z,1348763849.298 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-27T16:37:29.314Z,1348763849.314 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-27T16:37:29.323Z,1348763849.323 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-27T16:37:29.336Z,1348763849.336 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-27T16:37:29.340Z,1348763849.340 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-27T16:37:30.591Z,1348763850.591 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-27T16:37:30.591Z,1348763850.592 [DVL_micro](INFO): Querying output modes
2012-09-27T16:37:30.592Z,1348763850.592 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-27T16:37:30.595Z,1348763850.595 [DVL_micro](DEBUG): cmdResponse: 01
2012-09-27T16:37:30.595Z,1348763850.595 [DVL_micro](INFO): NQ1 output enabled
2012-09-27T16:37:30.595Z,1348763850.595 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-27T16:37:30.603Z,1348763850.603 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-27T16:37:30.609Z,1348763850.609 [DVL_micro](INFO): pause:Powering down
2012-09-27T16:37:32.307Z,1348763852.307 [Depth_Keller](ERROR): Pressure reading out of range: 1830.496826 decibar
2012-09-27T16:37:32.786Z,1348763852.786 [NAL9602](INFO): Powering up NAL9602
2012-09-27T16:37:36.491Z,1348763856.491 [RudderServo](FAULT): Overload Error
2012-09-27T16:37:36.491Z,1348763856.491 [RudderServo] Hardware Fault, FailCount= 1
2012-09-27T16:37:36.491Z,1348763856.491 [RudderServo](ERROR): Hardware Fault
2012-09-27T16:37:36.521Z,1348763856.521 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-27T16:37:36.880Z,1348763856.880 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-27T16:37:36.880Z,1348763856.880 [RudderServo](INFO): Powering down
2012-09-27T16:37:36.893Z,1348763856.893 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-27T16:37:36.893Z,1348763856.893 [RudderServo] No Fault, FailCount= 1
2012-09-27T16:37:37.638Z,1348763857.638 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-27T16:37:37.759Z,1348763857.759 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-27T16:37:37.759Z,1348763857.759 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-27T16:37:42.435Z,1348763862.435 [RudderServo](FAULT): Overload Error
2012-09-27T16:37:42.435Z,1348763862.435 [RudderServo] Hardware Fault, FailCount= 2
2012-09-27T16:37:42.435Z,1348763862.435 [RudderServo](ERROR): Hardware Fault
2012-09-27T16:37:42.466Z,1348763862.466 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-27T16:37:42.822Z,1348763862.822 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-27T16:37:42.822Z,1348763862.822 [RudderServo](INFO): Powering down
2012-09-27T16:37:42.825Z,1348763862.825 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-27T16:37:42.825Z,1348763862.825 [RudderServo] No Fault, FailCount= 2
2012-09-27T16:37:43.219Z,1348763863.219 [NAL9602](INFO): NAL9602 initialized
2012-09-27T16:37:43.619Z,1348763863.619 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-27T16:37:43.740Z,1348763863.740 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-27T16:37:43.740Z,1348763863.740 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-27T16:37:44.034Z,1348763864.033 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-27T16:37:44.036Z,1348763864.036 [CBIT](IMPORTANT): Beginning GF scan
2012-09-27T16:37:46.423Z,1348763866.423 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:38%. Temp:22 C. ABORTING MISSION
2012-09-27T16:37:48.443Z,1348763868.443 [RudderServo](FAULT): Overload Error
2012-09-27T16:37:48.443Z,1348763868.443 [RudderServo] Hardware Fault, FailCount= 3
2012-09-27T16:37:48.443Z,1348763868.443 [RudderServo](ERROR): Hardware Fault
2012-09-27T16:37:48.474Z,1348763868.474 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-27T16:37:48.475Z,1348763868.475 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2012-09-27T16:37:48.822Z,1348763868.822 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-27T16:37:48.822Z,1348763868.822 [RudderServo](INFO): Powering down
2012-09-27T16:37:49.596Z,1348763869.596 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2012-09-27T16:37:49.596Z,1348763869.596 [DropWeight] Hardware Fault, FailCount= 1
2012-09-27T16:37:49.597Z,1348763869.597 [DropWeight](ERROR): Hardware Fault
2012-09-27T16:37:49.629Z,1348763869.629 [CBIT](ERROR): Hardware Fault in component: DropWeight
2012-09-27T16:37:49.629Z,1348763869.629 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2012-09-27T16:37:57.222Z,1348763877.222 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.001040
2012-09-27T16:38:10.425Z,1348763890.425 [CBIT](IMPORTANT): No ground fault detected
2012-09-27T16:38:30.040Z,1348763910.039 [CommandLine](IMPORTANT): got command quit
2012-09-27T16:38:31.162Z,1348763911.162 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-27T16:38:31.163Z,1348763911.163 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-27T16:38:31.559Z,1348763911.559 [WetLabsBB2FL](INFO): Powering down
2012-09-27T16:38:31.567Z,1348763911.567 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-27T16:38:31.715Z,1348763911.715 [Turbulence_NPS](INFO): Powering down
2012-09-27T16:38:31.727Z,1348763911.727 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-27T16:38:31.851Z,1348763911.851 [CTD_NeilBrown](INFO): Powering down
2012-09-27T16:38:31.867Z,1348763911.867 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-27T16:38:32.023Z,1348763912.023 [DVL_micro](INFO): uninitialize:Powering down
2012-09-27T16:38:32.027Z,1348763912.027 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-27T16:38:32.119Z,1348763912.119 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-27T16:38:32.136Z,1348763912.136 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-27T16:38:32.137Z,1348763912.137 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-27T16:38:32.239Z,1348763912.239 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-27T16:38:32.239Z,1348763912.239 [AHRS_sp3003D](INFO): Powering down
2012-09-27T16:38:32.327Z,1348763912.327 [NAL9602](INFO): Powering down
2012-09-27T16:38:32.329Z,1348763912.329 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-27T16:38:32.330Z,1348763912.330 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-27T16:38:32.335Z,1348763912.335 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-27T16:38:32.336Z,1348763912.336 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-27T16:38:32.336Z,1348763912.336 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-27T16:38:32.336Z,1348763912.336 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-27T16:38:32.337Z,1348763912.337 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-27T16:38:32.337Z,1348763912.337 [BuoyancyServo](INFO): Powering down
2012-09-27T16:38:32.343Z,1348763912.343 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-27T16:38:32.343Z,1348763912.343 [RudderServo](INFO): Powering down
2012-09-27T16:38:32.344Z,1348763912.344 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-27T16:38:32.344Z,1348763912.344 [ThrusterServo](INFO): Powering down
2012-09-27T16:38:32.345Z,1348763912.345 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-27T16:38:32.345Z,1348763912.345 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-27T16:38:32.345Z,1348763912.345 [CBIT](DEBUG): Uninitialize CBIT Component.