2012-09-27T23:14:40.931Z,1348787680.931 [Supervisor](DEBUG): Initializing supervisor.
2012-09-27T23:14:40.934Z,1348787680.934 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-27T23:14:40.934Z,1348787680.934 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-27T23:14:40.938Z,1348787680.938 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-27T23:14:40.942Z,1348787680.942 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-27T23:14:40.953Z,1348787680.953 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-27T23:14:40.955Z,1348787680.954 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-27T23:14:40.955Z,1348787680.955 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-27T23:14:40.956Z,1348787680.956 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-27T23:14:40.959Z,1348787680.959 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-27T23:14:41.274Z,1348787681.274 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-27T23:14:41.276Z,1348787681.276 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-27T23:14:41.474Z,1348787681.474 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-27T23:14:41.475Z,1348787681.475 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-27T23:14:41.570Z,1348787681.570 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-27T23:14:41.572Z,1348787681.572 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-27T23:14:41.791Z,1348787681.791 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-27T23:14:41.792Z,1348787681.792 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-27T23:14:41.935Z,1348787681.935 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-27T23:14:41.937Z,1348787681.937 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-27T23:14:42.199Z,1348787682.200 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-27T23:14:42.200Z,1348787682.200 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-27T23:14:42.387Z,1348787682.387 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-27T23:14:42.389Z,1348787682.389 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-27T23:14:42.672Z,1348787682.672 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-27T23:14:42.674Z,1348787682.674 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-27T23:14:42.787Z,1348787682.787 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-27T23:14:42.788Z,1348787682.788 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-27T23:14:43.240Z,1348787683.240 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-27T23:14:43.240Z,1348787683.240 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-27T23:14:43.368Z,1348787683.368 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-27T23:14:43.369Z,1348787683.369 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-27T23:14:43.473Z,1348787683.473 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-27T23:14:43.527Z,1348787683.527 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-27T23:14:43.642Z,1348787683.642 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-27T23:14:43.784Z,1348787683.784 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-27T23:14:43.878Z,1348787683.878 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-27T23:14:43.990Z,1348787683.990 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-27T23:14:44.104Z,1348787684.103 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-27T23:14:44.236Z,1348787684.236 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-27T23:14:44.338Z,1348787684.338 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-27T23:14:44.486Z,1348787684.486 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-27T23:14:44.500Z,1348787684.500 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-27T23:14:44.539Z,1348787684.539 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-27T23:14:44.716Z,1348787684.717 [InternalSim] Loaded
2012-09-27T23:14:44.717Z,1348787684.717 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-27T23:14:44.718Z,1348787684.718 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-27T23:14:44.718Z,1348787684.718 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-27T23:14:44.803Z,1348787684.803 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-27T23:14:44.817Z,1348787684.817 [SBIT] Loaded
2012-09-27T23:14:44.817Z,1348787684.817 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-27T23:14:44.818Z,1348787684.818 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-27T23:14:44.849Z,1348787684.849 [IBIT] Loaded
2012-09-27T23:14:44.849Z,1348787684.849 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-27T23:14:44.852Z,1348787684.852 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-27T23:14:44.976Z,1348787684.976 [CBIT] Loaded
2012-09-27T23:14:44.976Z,1348787684.977 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-27T23:14:44.977Z,1348787684.977 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-27T23:14:44.978Z,1348787684.977 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-27T23:14:45.145Z,1348787685.145 [BuoyancyServo] Loaded
2012-09-27T23:14:45.145Z,1348787685.145 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-27T23:14:45.158Z,1348787685.158 [RudderServo] Loaded
2012-09-27T23:14:45.158Z,1348787685.158 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-27T23:14:45.169Z,1348787685.169 [ThrusterServo] Loaded
2012-09-27T23:14:45.169Z,1348787685.169 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-27T23:14:45.170Z,1348787685.170 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-27T23:14:45.170Z,1348787685.170 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-27T23:14:45.208Z,1348787685.208 [DepthRateCalculator] Loaded
2012-09-27T23:14:45.208Z,1348787685.208 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-27T23:14:47.878Z,1348787687.878 [HFRadarModelCalc] Loaded
2012-09-27T23:14:47.878Z,1348787687.878 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-27T23:14:47.897Z,1348787687.897 [NavChart] Loaded
2012-09-27T23:14:47.897Z,1348787687.898 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-27T23:14:47.903Z,1348787687.903 [PitchRateCalculator] Loaded
2012-09-27T23:14:47.903Z,1348787687.903 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-27T23:14:47.910Z,1348787687.909 [SpeedCalculator] Loaded
2012-09-27T23:14:47.910Z,1348787687.910 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-27T23:14:47.928Z,1348787687.928 [TempGradientCalculator] Loaded
2012-09-27T23:14:47.929Z,1348787687.929 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-27T23:14:47.934Z,1348787687.934 [YawRateCalculator] Loaded
2012-09-27T23:14:47.934Z,1348787687.934 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-27T23:14:47.954Z,1348787687.954 [Navigation] Loaded
2012-09-27T23:14:47.954Z,1348787687.954 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-27T23:14:47.955Z,1348787687.955 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-27T23:14:47.955Z,1348787687.955 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-27T23:14:48.245Z,1348787688.245 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-27T23:14:48.245Z,1348787688.246 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-27T23:14:48.287Z,1348787688.287 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-27T23:14:48.288Z,1348787688.288 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-27T23:14:48.352Z,1348787688.352 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-27T23:14:48.400Z,1348787688.400 [VerticalControl] Loaded
2012-09-27T23:14:48.401Z,1348787688.401 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-27T23:14:48.402Z,1348787688.402 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-27T23:14:48.422Z,1348787688.422 [HorizontalControl] Loaded
2012-09-27T23:14:48.422Z,1348787688.422 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-27T23:14:48.427Z,1348787688.427 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-27T23:14:48.429Z,1348787688.429 [SpeedControl] Loaded
2012-09-27T23:14:48.429Z,1348787688.429 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-27T23:14:48.430Z,1348787688.430 [LoopControl](DEBUG): Construct LoopControl.
2012-09-27T23:14:48.431Z,1348787688.431 [LoopControl] Loaded
2012-09-27T23:14:48.431Z,1348787688.431 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-27T23:14:48.431Z,1348787688.431 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-27T23:14:48.432Z,1348787688.432 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-27T23:14:48.440Z,1348787688.440 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-27T23:14:48.444Z,1348787688.444 [AsyncPiEstimator] Loaded
2012-09-27T23:14:48.445Z,1348787688.445 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-27T23:14:48.447Z,1348787688.447 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-27T23:14:48.447Z,1348787688.447 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-27T23:14:48.448Z,1348787688.448 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-27T23:14:48.624Z,1348787688.624 [AHRS_sp3003D] Loaded
2012-09-27T23:14:48.625Z,1348787688.625 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-27T23:14:48.642Z,1348787688.642 [Depth_Keller] Loaded
2012-09-27T23:14:48.642Z,1348787688.642 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-27T23:14:48.648Z,1348787688.648 [DropWeight] Loaded
2012-09-27T23:14:48.648Z,1348787688.648 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-27T23:14:48.783Z,1348787688.783 [DVL_micro] Loaded
2012-09-27T23:14:48.784Z,1348787688.784 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-27T23:14:48.786Z,1348787688.786 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-27T23:14:48.874Z,1348787688.874 [NAL9602] Loaded
2012-09-27T23:14:48.874Z,1348787688.874 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-27T23:14:48.927Z,1348787688.927 [Onboard] Loaded
2012-09-27T23:14:48.927Z,1348787688.927 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-27T23:14:48.933Z,1348787688.933 [Radio_Freewave] Loaded
2012-09-27T23:14:48.934Z,1348787688.934 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-27T23:14:48.934Z,1348787688.934 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-27T23:14:48.935Z,1348787688.935 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-27T23:14:49.038Z,1348787689.039 [CTD_NeilBrown] Loaded
2012-09-27T23:14:49.039Z,1348787689.039 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-27T23:14:49.043Z,1348787689.043 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-27T23:14:49.053Z,1348787689.053 [PAR_Licor] Loaded
2012-09-27T23:14:49.053Z,1348787689.053 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-27T23:14:49.075Z,1348787689.075 [Turbulence_NPS] Loaded
2012-09-27T23:14:49.075Z,1348787689.075 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-27T23:14:49.079Z,1348787689.079 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-27T23:14:49.111Z,1348787689.111 [WetLabsBB2FL] Loaded
2012-09-27T23:14:49.111Z,1348787689.111 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-27T23:14:49.115Z,1348787689.115 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-27T23:14:49.115Z,1348787689.115 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-27T23:14:49.117Z,1348787689.118 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-27T23:14:49.118Z,1348787689.118 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-27T23:14:49.122Z,1348787689.122 [Supervisor](DEBUG): Running supervisor.
2012-09-27T23:14:49.123Z,1348787689.123 [CommandLine](INFO): Thread ID is 749
2012-09-27T23:14:49.127Z,1348787689.127 [controlThread](INFO): Thread ID is 748
2012-09-27T23:14:49.127Z,1348787689.127 [controlThread](DEBUG): Initializing ControlThread
2012-09-27T23:14:49.128Z,1348787689.128 [CycleStarter](INFO): Thread ID is 747
2012-09-27T23:14:49.128Z,1348787689.128 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-27T23:14:49.240Z,1348787689.240 [AsyncPiEstimator](INFO): Thread ID is 810
2012-09-27T23:14:49.240Z,1348787689.240 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-27T23:14:49.308Z,1348787689.308 [DVL_micro](INFO): Thread ID is 811
2012-09-27T23:14:49.396Z,1348787689.395 [CTD_NeilBrown](INFO): Thread ID is 812
2012-09-27T23:14:49.396Z,1348787689.396 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-27T23:14:49.403Z,1348787689.403 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-27T23:14:49.435Z,1348787689.435 [Turbulence_NPS](INFO): Thread ID is 813
2012-09-27T23:14:49.436Z,1348787689.436 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-27T23:14:49.436Z,1348787689.436 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-09-27T23:14:49.447Z,1348787689.447 [DVL_micro](INFO): Initializing
2012-09-27T23:14:49.447Z,1348787689.447 [DVL_micro](INFO): start:Powering up
2012-09-27T23:14:49.448Z,1348787689.448 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-27T23:14:49.449Z,1348787689.449 [DVL_micro](INFO): Cycling power to configure device.
2012-09-27T23:14:49.452Z,1348787689.452 [WetLabsBB2FL](INFO): Thread ID is 814
2012-09-27T23:14:49.452Z,1348787689.452 [WetLabsBB2FL](INFO): Powering down
2012-09-27T23:14:49.478Z,1348787689.478 [SBIT](INFO): Initialize SBIT Component.
2012-09-27T23:14:49.478Z,1348787689.478 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9895
2012-09-27T23:14:49.483Z,1348787689.483 [IBIT](INFO): Initialize IBIT Component.
2012-09-27T23:14:49.484Z,1348787689.484 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-27T23:14:49.484Z,1348787689.484 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-27T23:14:49.512Z,1348787689.511 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-27T23:14:49.512Z,1348787689.512 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-27T23:14:49.512Z,1348787689.513 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-27T23:14:49.513Z,1348787689.513 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-27T23:14:49.513Z,1348787689.513 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-27T23:14:49.515Z,1348787689.515 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-27T23:14:49.515Z,1348787689.515 [Navigation](DEBUG): Initializing Navigation.
2012-09-27T23:14:49.516Z,1348787689.516 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-27T23:14:49.517Z,1348787689.517 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-27T23:14:49.518Z,1348787689.518 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-27T23:14:49.519Z,1348787689.519 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-27T23:14:49.524Z,1348787689.524 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-27T23:14:49.552Z,1348787689.552 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-27T23:14:49.583Z,1348787689.583 [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>


2012-09-27T23:14:49.584Z,1348787689.584 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-27T23:14:49.632Z,1348787689.632 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-27T23:14:49.635Z,1348787689.635 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-27T23:14:49.638Z,1348787689.638 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-27T23:14:49.650Z,1348787689.650 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-27T23:14:49.653Z,1348787689.653 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-27T23:14:49.660Z,1348787689.660 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-27T23:14:49.668Z,1348787689.668 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-27T23:14:49.671Z,1348787689.671 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-27T23:14:49.676Z,1348787689.676 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-27T23:14:49.680Z,1348787689.680 [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>


2012-09-27T23:14:49.684Z,1348787689.684 [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,
2012-09-27T23:14:49.709Z,1348787689.708 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-27T23:14:49.830Z,1348787689.830 [Radio_Freewave](INFO): Powering up
2012-09-27T23:14:49.938Z,1348787689.938 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-27T23:14:49.943Z,1348787689.943 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-27T23:14:49.949Z,1348787689.949 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-27T23:14:49.951Z,1348787689.951 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-27T23:14:49.956Z,1348787689.956 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-27T23:14:49.959Z,1348787689.959 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-27T23:14:51.507Z,1348787691.507 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-27T23:14:51.507Z,1348787691.507 [DVL_micro](INFO): Querying output modes
2012-09-27T23:14:51.508Z,1348787691.508 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-27T23:14:51.511Z,1348787691.511 [DVL_micro](DEBUG): cmdResponse: 01
2012-09-27T23:14:51.511Z,1348787691.511 [DVL_micro](INFO): NQ1 output enabled
2012-09-27T23:14:51.511Z,1348787691.511 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-27T23:14:51.515Z,1348787691.515 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-27T23:14:51.520Z,1348787691.520 [DVL_micro](INFO): pause:Powering down
2012-09-27T23:14:53.885Z,1348787693.885 [NAL9602](INFO): Powering up NAL9602
2012-09-27T23:14:56.106Z,1348787696.106 [RudderServo](FAULT): Overload Error
2012-09-27T23:14:56.107Z,1348787696.107 [RudderServo] Hardware Fault, FailCount= 1
2012-09-27T23:14:56.107Z,1348787696.107 [RudderServo](ERROR): Hardware Fault
2012-09-27T23:14:56.134Z,1348787696.134 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-27T23:14:56.477Z,1348787696.477 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-27T23:14:56.478Z,1348787696.478 [RudderServo](INFO): Powering down
2012-09-27T23:14:56.490Z,1348787696.490 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-27T23:14:56.490Z,1348787696.490 [RudderServo] No Fault, FailCount= 1
2012-09-27T23:14:57.305Z,1348787697.305 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-27T23:14:57.427Z,1348787697.427 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-27T23:14:57.427Z,1348787697.427 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-27T23:15:02.079Z,1348787702.079 [RudderServo](FAULT): Overload Error
2012-09-27T23:15:02.079Z,1348787702.079 [RudderServo] Hardware Fault, FailCount= 2
2012-09-27T23:15:02.079Z,1348787702.079 [RudderServo](ERROR): Hardware Fault
2012-09-27T23:15:02.106Z,1348787702.106 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-27T23:15:02.458Z,1348787702.457 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-27T23:15:02.458Z,1348787702.458 [RudderServo](INFO): Powering down
2012-09-27T23:15:02.461Z,1348787702.461 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-27T23:15:02.461Z,1348787702.461 [RudderServo] No Fault, FailCount= 2
2012-09-27T23:15:03.257Z,1348787703.257 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-27T23:15:03.375Z,1348787703.375 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-27T23:15:03.376Z,1348787703.376 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-27T23:15:04.459Z,1348787704.459 [NAL9602](INFO): NAL9602 initialized
2012-09-27T23:15:05.275Z,1348787705.275 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-27T23:15:05.278Z,1348787705.277 [CBIT](IMPORTANT): Beginning GF scan
2012-09-27T23:15:06.048Z,1348787706.048 [Radio_Freewave](INFO): Powering down
2012-09-27T23:15:06.451Z,1348787706.451 [Radio_Freewave](INFO): Powering up
2012-09-27T23:15:08.083Z,1348787708.083 [RudderServo](FAULT): Overload Error
2012-09-27T23:15:08.083Z,1348787708.083 [RudderServo] Hardware Fault, FailCount= 3
2012-09-27T23:15:08.083Z,1348787708.083 [RudderServo](ERROR): Hardware Fault
2012-09-27T23:15:08.114Z,1348787708.114 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-27T23:15:08.114Z,1348787708.114 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2012-09-27T23:15:08.457Z,1348787708.457 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-27T23:15:08.457Z,1348787708.457 [RudderServo](INFO): Powering down
2012-09-27T23:15:10.840Z,1348787710.840 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2012-09-27T23:15:10.840Z,1348787710.840 [DropWeight] Hardware Fault, FailCount= 1
2012-09-27T23:15:10.840Z,1348787710.840 [DropWeight](ERROR): Hardware Fault
2012-09-27T23:15:10.863Z,1348787710.863 [CBIT](ERROR): Hardware Fault in component: DropWeight
2012-09-27T23:15:10.863Z,1348787710.863 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2012-09-27T23:15:18.485Z,1348787718.485 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.001040
2012-09-27T23:15:31.665Z,1348787731.665 [CBIT](IMPORTANT): No ground fault detected
2012-09-27T23:15:59.261Z,1348787759.261 [SBIT](CRITICAL): SBIT FAILED
2012-09-27T23:15:59.654Z,1348787759.654 [MissionManager](IMPORTANT): Started mission Startup
2012-09-27T23:15:59.654Z,1348787759.654 [Startup] Running Loop=1
2012-09-27T23:15:59.654Z,1348787759.654 [Startup](INFO): Aggregate::initialize Startup
2012-09-27T23:15:59.654Z,1348787759.654 [Startup:A.GoToSurface] Running Loop=1
2012-09-27T23:15:59.654Z,1348787759.654 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-27T23:15:59.660Z,1348787759.660 [Startup:StartupSatComms] Running Loop=1
2012-09-27T23:15:59.660Z,1348787759.660 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-27T23:15:59.660Z,1348787759.661 [Startup:StartupSatComms:A] Running Loop=1
2012-09-27T23:16:00.053Z,1348787760.053 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-27T23:16:47.735Z,1348787807.735 [CommandLine](IMPORTANT): got command quit
2012-09-27T23:16:48.850Z,1348787808.851 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-27T23:16:48.851Z,1348787808.851 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-27T23:16:49.091Z,1348787809.091 [WetLabsBB2FL](INFO): Powering down
2012-09-27T23:16:49.092Z,1348787809.092 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-27T23:16:49.192Z,1348787809.192 [Turbulence_NPS](INFO): Powering down
2012-09-27T23:16:49.211Z,1348787809.211 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-27T23:16:49.311Z,1348787809.311 [CTD_NeilBrown](INFO): Powering down
2012-09-27T23:16:49.331Z,1348787809.330 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-27T23:16:49.495Z,1348787809.495 [DVL_micro](INFO): uninitialize:Powering down
2012-09-27T23:16:49.511Z,1348787809.511 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-27T23:16:49.575Z,1348787809.575 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-27T23:16:49.592Z,1348787809.592 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-27T23:16:49.593Z,1348787809.593 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-27T23:16:49.678Z,1348787809.678 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-27T23:16:49.678Z,1348787809.678 [AHRS_sp3003D](INFO): Powering down
2012-09-27T23:16:49.763Z,1348787809.763 [NAL9602](INFO): Powering down
2012-09-27T23:16:49.765Z,1348787809.765 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-27T23:16:49.766Z,1348787809.766 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-27T23:16:49.770Z,1348787809.770 [Startup] Stopped
2012-09-27T23:16:49.770Z,1348787809.770 [Startup](INFO): Aggregate::uninitialize Startup
2012-09-27T23:16:49.770Z,1348787809.770 [Startup:A.GoToSurface] Stopped
2012-09-27T23:16:49.770Z,1348787809.770 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-09-27T23:16:49.771Z,1348787809.770 [Startup:StartupSatComms] Stopped
2012-09-27T23:16:49.771Z,1348787809.771 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-09-27T23:16:49.771Z,1348787809.771 [Startup:StartupSatComms:A] Stopped
2012-09-27T23:16:49.772Z,1348787809.772 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-27T23:16:49.772Z,1348787809.772 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-27T23:16:49.773Z,1348787809.773 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-27T23:16:49.773Z,1348787809.773 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-27T23:16:49.773Z,1348787809.773 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-27T23:16:49.773Z,1348787809.773 [BuoyancyServo](INFO): Powering down
2012-09-27T23:16:49.779Z,1348787809.779 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-27T23:16:49.779Z,1348787809.779 [RudderServo](INFO): Powering down
2012-09-27T23:16:49.780Z,1348787809.780 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-27T23:16:49.780Z,1348787809.780 [ThrusterServo](INFO): Powering down
2012-09-27T23:16:49.780Z,1348787809.780 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-27T23:16:49.781Z,1348787809.781 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-27T23:16:49.781Z,1348787809.781 [CBIT](DEBUG): Uninitialize CBIT Component.