2012-10-02T00:39:34.038Z,1349138374.038 [Supervisor](DEBUG): Initializing supervisor.
2012-10-02T00:39:34.041Z,1349138374.041 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-02T00:39:34.042Z,1349138374.042 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-02T00:39:34.043Z,1349138374.043 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-02T00:39:34.048Z,1349138374.048 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-02T00:39:34.059Z,1349138374.059 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-02T00:39:34.060Z,1349138374.060 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-02T00:39:34.061Z,1349138374.061 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-02T00:39:34.061Z,1349138374.061 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-02T00:39:34.063Z,1349138374.063 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-02T00:39:34.402Z,1349138374.402 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-02T00:39:34.402Z,1349138374.402 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-02T00:39:34.579Z,1349138374.579 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-02T00:39:34.580Z,1349138374.580 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-02T00:39:34.664Z,1349138374.664 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-02T00:39:34.665Z,1349138374.665 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-02T00:39:34.855Z,1349138374.855 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-02T00:39:34.855Z,1349138374.855 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-02T00:39:34.985Z,1349138374.985 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-02T00:39:34.986Z,1349138374.986 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-02T00:39:35.207Z,1349138375.207 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-02T00:39:35.208Z,1349138375.208 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-02T00:39:35.373Z,1349138375.372 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-02T00:39:35.373Z,1349138375.373 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-02T00:39:35.611Z,1349138375.611 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-02T00:39:35.612Z,1349138375.612 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-02T00:39:35.709Z,1349138375.709 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-02T00:39:35.710Z,1349138375.710 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-02T00:39:36.092Z,1349138376.092 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-02T00:39:36.093Z,1349138376.093 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-02T00:39:36.275Z,1349138376.276 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-02T00:39:36.276Z,1349138376.276 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-02T00:39:36.405Z,1349138376.405 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-02T00:39:36.406Z,1349138376.406 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-02T00:39:36.600Z,1349138376.599 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-02T00:39:36.993Z,1349138376.993 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-02T00:39:37.186Z,1349138377.186 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-02T00:39:37.348Z,1349138377.348 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-02T00:39:37.504Z,1349138377.504 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-02T00:39:37.700Z,1349138377.700 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-02T00:39:37.820Z,1349138377.820 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-02T00:39:37.971Z,1349138377.971 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-02T00:39:38.002Z,1349138378.002 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-02T00:39:38.282Z,1349138378.282 [InternalSim] Loaded
2012-10-02T00:39:38.283Z,1349138378.283 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-02T00:39:38.283Z,1349138378.283 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-02T00:39:38.284Z,1349138378.284 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-02T00:39:38.456Z,1349138378.456 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-02T00:39:38.491Z,1349138378.491 [SBIT] Loaded
2012-10-02T00:39:38.492Z,1349138378.492 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-02T00:39:38.493Z,1349138378.493 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-02T00:39:38.544Z,1349138378.544 [IBIT] Loaded
2012-10-02T00:39:38.545Z,1349138378.545 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-02T00:39:38.556Z,1349138378.556 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-02T00:39:38.799Z,1349138378.799 [CBIT] Loaded
2012-10-02T00:39:38.799Z,1349138378.799 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-02T00:39:38.800Z,1349138378.800 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-02T00:39:38.800Z,1349138378.800 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-02T00:39:39.329Z,1349138379.329 [BuoyancyServo] Loaded
2012-10-02T00:39:39.329Z,1349138379.329 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-02T00:39:39.341Z,1349138379.341 [RudderServo] Loaded
2012-10-02T00:39:39.342Z,1349138379.342 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-02T00:39:39.352Z,1349138379.352 [ThrusterServo] Loaded
2012-10-02T00:39:39.353Z,1349138379.353 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-02T00:39:39.353Z,1349138379.353 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-02T00:39:39.354Z,1349138379.354 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-02T00:39:39.396Z,1349138379.396 [DepthRateCalculator] Loaded
2012-10-02T00:39:39.396Z,1349138379.396 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-02T00:39:47.939Z,1349138387.939 [HFRadarModelCalc] Loaded
2012-10-02T00:39:47.940Z,1349138387.940 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-02T00:39:47.980Z,1349138387.980 [NavChart] Loaded
2012-10-02T00:39:47.980Z,1349138387.980 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-02T00:39:47.986Z,1349138387.986 [PitchRateCalculator] Loaded
2012-10-02T00:39:47.986Z,1349138387.986 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-02T00:39:48.005Z,1349138388.005 [SpeedCalculator] Loaded
2012-10-02T00:39:48.005Z,1349138388.005 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-02T00:39:48.032Z,1349138388.032 [TempGradientCalculator] Loaded
2012-10-02T00:39:48.032Z,1349138388.032 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-02T00:39:48.038Z,1349138388.037 [YawRateCalculator] Loaded
2012-10-02T00:39:48.038Z,1349138388.038 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-02T00:39:48.081Z,1349138388.081 [Navigation] Loaded
2012-10-02T00:39:48.081Z,1349138388.081 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-02T00:39:48.082Z,1349138388.082 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-02T00:39:48.082Z,1349138388.082 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-02T00:39:48.537Z,1349138388.537 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-02T00:39:48.537Z,1349138388.537 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-02T00:39:48.584Z,1349138388.584 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-02T00:39:48.585Z,1349138388.585 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-02T00:39:48.675Z,1349138388.675 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-02T00:39:48.754Z,1349138388.754 [VerticalControl] Loaded
2012-10-02T00:39:48.754Z,1349138388.754 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-02T00:39:48.755Z,1349138388.755 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-02T00:39:48.800Z,1349138388.800 [HorizontalControl] Loaded
2012-10-02T00:39:48.800Z,1349138388.800 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-02T00:39:48.801Z,1349138388.801 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-02T00:39:48.803Z,1349138388.803 [SpeedControl] Loaded
2012-10-02T00:39:48.803Z,1349138388.803 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-02T00:39:48.804Z,1349138388.804 [LoopControl](DEBUG): Construct LoopControl.
2012-10-02T00:39:48.805Z,1349138388.805 [LoopControl] Loaded
2012-10-02T00:39:48.805Z,1349138388.805 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-02T00:39:48.805Z,1349138388.805 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-02T00:39:48.806Z,1349138388.806 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-02T00:39:48.823Z,1349138388.823 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-02T00:39:48.828Z,1349138388.828 [AsyncPiEstimator] Loaded
2012-10-02T00:39:48.828Z,1349138388.828 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-02T00:39:48.839Z,1349138388.839 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-02T00:39:48.839Z,1349138388.839 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-02T00:39:48.840Z,1349138388.840 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-02T00:39:49.124Z,1349138389.124 [AHRS_sp3003D] Loaded
2012-10-02T00:39:49.124Z,1349138389.124 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-02T00:39:49.150Z,1349138389.150 [Depth_Keller] Loaded
2012-10-02T00:39:49.150Z,1349138389.150 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-02T00:39:49.168Z,1349138389.168 [DropWeight] Loaded
2012-10-02T00:39:49.168Z,1349138389.168 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-02T00:39:49.446Z,1349138389.446 [DVL_micro] Loaded
2012-10-02T00:39:49.447Z,1349138389.447 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-02T00:39:49.467Z,1349138389.467 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-02T00:39:49.650Z,1349138389.650 [NAL9602] Loaded
2012-10-02T00:39:49.663Z,1349138389.663 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-02T00:39:49.761Z,1349138389.761 [Onboard] Loaded
2012-10-02T00:39:49.762Z,1349138389.761 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-02T00:39:49.769Z,1349138389.769 [Radio_Freewave] Loaded
2012-10-02T00:39:49.769Z,1349138389.769 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-02T00:39:49.770Z,1349138389.770 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-02T00:39:49.771Z,1349138389.770 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-02T00:39:49.914Z,1349138389.914 [CTD_NeilBrown] Loaded
2012-10-02T00:39:49.914Z,1349138389.914 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-02T00:39:49.927Z,1349138389.927 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-02T00:39:49.937Z,1349138389.937 [PAR_Licor] Loaded
2012-10-02T00:39:49.937Z,1349138389.937 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-02T00:39:49.978Z,1349138389.978 [Turbulence_NPS] Loaded
2012-10-02T00:39:49.979Z,1349138389.979 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-02T00:39:49.991Z,1349138389.991 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-02T00:39:50.045Z,1349138390.045 [WetLabsBB2FL] Loaded
2012-10-02T00:39:50.045Z,1349138390.045 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-02T00:39:50.055Z,1349138390.055 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-02T00:39:50.055Z,1349138390.055 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-02T00:39:50.058Z,1349138390.058 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-02T00:39:50.059Z,1349138390.059 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-02T00:39:50.065Z,1349138390.065 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-02T00:39:50.071Z,1349138390.071 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407D94E0
2012-10-02T00:39:50.075Z,1349138390.075 [Supervisor](DEBUG): Running supervisor.
2012-10-02T00:39:50.083Z,1349138390.083 [CommandLine](INFO): Thread ID is 4794
2012-10-02T00:39:50.087Z,1349138390.087 [controlThread](INFO): Thread ID is 4793
2012-10-02T00:39:50.087Z,1349138390.088 [controlThread](DEBUG): Initializing ControlThread
2012-10-02T00:39:50.088Z,1349138390.088 [CycleStarter](INFO): Thread ID is 4792
2012-10-02T00:39:50.088Z,1349138390.088 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-02T00:39:50.127Z,1349138390.127 [AsyncPiEstimator](INFO): Thread ID is 4860
2012-10-02T00:39:50.127Z,1349138390.127 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-02T00:39:50.148Z,1349138390.148 [SBIT](INFO): Initialize SBIT Component.
2012-10-02T00:39:50.148Z,1349138390.148 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9911
2012-10-02T00:39:50.149Z,1349138390.149 [IBIT](INFO): Initialize IBIT Component.
2012-10-02T00:39:50.150Z,1349138390.150 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-02T00:39:50.150Z,1349138390.150 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-02T00:39:50.159Z,1349138390.159 [DVL_micro](INFO): Thread ID is 4861
2012-10-02T00:39:50.168Z,1349138390.168 [DVL_micro](INFO): Initializing
2012-10-02T00:39:50.169Z,1349138390.169 [DVL_micro](INFO): start:Powering up
2012-10-02T00:39:50.170Z,1349138390.170 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-02T00:39:50.195Z,1349138390.195 [DVL_micro](INFO): Cycling power to configure device.
2012-10-02T00:39:50.204Z,1349138390.204 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-02T00:39:50.204Z,1349138390.204 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-02T00:39:50.205Z,1349138390.205 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-02T00:39:50.205Z,1349138390.205 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-02T00:39:50.205Z,1349138390.205 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-02T00:39:50.207Z,1349138390.207 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-02T00:39:50.207Z,1349138390.207 [Navigation](DEBUG): Initializing Navigation.
2012-10-02T00:39:50.208Z,1349138390.208 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-02T00:39:50.209Z,1349138390.209 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-02T00:39:50.210Z,1349138390.210 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-02T00:39:50.215Z,1349138390.215 [CTD_NeilBrown](INFO): Thread ID is 4862
2012-10-02T00:39:50.216Z,1349138390.216 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-02T00:39:50.223Z,1349138390.223 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-02T00:39:50.231Z,1349138390.231 [Turbulence_NPS](INFO): Thread ID is 4863
2012-10-02T00:39:50.232Z,1349138390.232 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-02T00:39:50.232Z,1349138390.232 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-02T00:39:50.239Z,1349138390.239 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-02T00:39:50.257Z,1349138390.257 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-02T00:39:50.268Z,1349138390.268 [WetLabsBB2FL](INFO): Thread ID is 4864
2012-10-02T00:39:50.268Z,1349138390.268 [WetLabsBB2FL](INFO): Powering down
2012-10-02T00:39:50.336Z,1349138390.336 [NavChartDb](INFO): Thread ID is 4865
2012-10-02T00:39:50.340Z,1349138390.340 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T00:39:50.375Z,1349138390.375 [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>


2012-10-02T00:39:50.376Z,1349138390.376 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-02T00:39:50.509Z,1349138390.509 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-02T00:39:50.520Z,1349138390.520 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-02T00:39:50.532Z,1349138390.532 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T00:39:50.558Z,1349138390.558 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-02T00:39:50.570Z,1349138390.570 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T00:39:50.597Z,1349138390.597 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-02T00:39:50.644Z,1349138390.644 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-02T00:39:50.672Z,1349138390.672 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T00:39:50.677Z,1349138390.677 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-02T00:39:50.721Z,1349138390.721 [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>


2012-10-02T00:39:50.725Z,1349138390.725 [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,
2012-10-02T00:39:50.785Z,1349138390.785 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-02T00:39:51.303Z,1349138391.303 [Radio_Freewave](INFO): Powering up
2012-10-02T00:39:51.787Z,1349138391.787 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-02T00:39:51.798Z,1349138391.798 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-02T00:39:51.815Z,1349138391.815 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-02T00:39:51.823Z,1349138391.823 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-02T00:39:51.829Z,1349138391.829 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-02T00:39:51.835Z,1349138391.835 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-02T00:39:52.336Z,1349138392.336 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-02T00:39:52.336Z,1349138392.336 [DVL_micro](INFO): Querying output modes
2012-10-02T00:39:52.336Z,1349138392.336 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-02T00:39:52.343Z,1349138392.343 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-02T00:39:52.343Z,1349138392.343 [DVL_micro](INFO): NQ1 output enabled
2012-10-02T00:39:52.343Z,1349138392.343 [DVL_micro](INFO): RSSI output enabled
2012-10-02T00:39:52.343Z,1349138392.343 [DVL_micro](INFO): ADCP output enabled
2012-10-02T00:39:52.344Z,1349138392.344 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-02T00:39:52.351Z,1349138392.351 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-02T00:39:52.356Z,1349138392.356 [DVL_micro](INFO): pause:Powering down
2012-10-02T00:39:53.688Z,1349138393.688 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-02T00:39:53.689Z,1349138393.689 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-02T00:39:53.689Z,1349138393.690 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-02T00:39:53.690Z,1349138393.690 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-02T00:39:53.690Z,1349138393.690 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-02T00:39:55.733Z,1349138395.733 [NAL9602](INFO): Powering up NAL9602
2012-10-02T00:39:58.067Z,1349138398.067 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-10-02T00:39:58.067Z,1349138398.067 [ThrusterServo](FAULT): Thruster failed to initialize
2012-10-02T00:39:58.067Z,1349138398.067 [ThrusterServo] Communications Fault, FailCount= 1
2012-10-02T00:39:58.067Z,1349138398.067 [ThrusterServo](ERROR): Communications Fault
2012-10-02T00:39:58.069Z,1349138398.069 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-10-02T00:39:59.605Z,1349138399.605 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-02T00:39:59.605Z,1349138399.605 [ThrusterServo](INFO): Powering down
2012-10-02T00:39:59.626Z,1349138399.626 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-10-02T00:39:59.626Z,1349138399.626 [ThrusterServo] No Fault, FailCount= 1
2012-10-02T00:40:00.249Z,1349138400.249 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-02T00:40:00.368Z,1349138400.368 [ThrusterServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-02T00:40:00.368Z,1349138400.368 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-02T00:40:00.371Z,1349138400.371 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:40%. Temp:22 C. ABORTING MISSION
2012-10-02T00:40:01.775Z,1349138401.775 [RudderServo](ERROR): getPosition uart error serial timeout
2012-10-02T00:40:01.775Z,1349138401.775 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2012-10-02T00:40:01.775Z,1349138401.775 [RudderServo] Communications Fault, FailCount= 1
2012-10-02T00:40:01.776Z,1349138401.776 [RudderServo](ERROR): Communications Fault
2012-10-02T00:40:01.792Z,1349138401.792 [CBIT](ERROR): Communications Fault in component: RudderServo
2012-10-02T00:40:04.199Z,1349138404.200 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-02T00:40:04.200Z,1349138404.200 [RudderServo](INFO): Powering down
2012-10-02T00:40:04.225Z,1349138404.224 [CBIT](INFO): Clearing failed state for component RudderServo
2012-10-02T00:40:04.225Z,1349138404.225 [RudderServo] No Fault, FailCount= 1
2012-10-02T00:40:07.828Z,1349138407.828 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-02T00:40:07.948Z,1349138407.948 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-02T00:40:07.948Z,1349138407.948 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-02T00:40:07.950Z,1349138407.950 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-02T00:40:07.952Z,1349138407.952 [CBIT](IMPORTANT): Beginning GF scan
2012-10-02T00:40:09.003Z,1349138409.003 [NAL9602](INFO): NAL9602 initialized
2012-10-02T00:40:09.964Z,1349138409.964 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2012-10-02T00:40:09.964Z,1349138409.964 [ThrusterServo] Communications Fault, FailCount= 2
2012-10-02T00:40:09.964Z,1349138409.964 [ThrusterServo](ERROR): Communications Fault
2012-10-02T00:40:09.972Z,1349138409.972 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-10-02T00:40:09.972Z,1349138409.972 [CBIT](CRITICAL): Communications Fault in component: ThrusterServo
2012-10-02T00:40:10.964Z,1349138410.964 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-02T00:40:10.964Z,1349138410.964 [ThrusterServo](INFO): Powering down
2012-10-02T00:40:13.896Z,1349138413.896 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2012-10-02T00:40:13.896Z,1349138413.896 [DropWeight] Hardware Fault, FailCount= 1
2012-10-02T00:40:13.896Z,1349138413.896 [DropWeight](ERROR): Hardware Fault
2012-10-02T00:40:14.358Z,1349138414.358 [CBIT](ERROR): Hardware Fault in component: DropWeight
2012-10-02T00:40:14.359Z,1349138414.359 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2012-10-02T00:40:15.111Z,1349138415.111 [RudderServo](FAULT): Overload Error
2012-10-02T00:40:15.111Z,1349138415.111 [RudderServo] Hardware Fault, FailCount= 2
2012-10-02T00:40:15.111Z,1349138415.111 [RudderServo](ERROR): Hardware Fault
2012-10-02T00:40:15.141Z,1349138415.141 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-10-02T00:40:16.408Z,1349138416.408 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-02T00:40:16.408Z,1349138416.408 [RudderServo](INFO): Powering down
2012-10-02T00:40:16.411Z,1349138416.411 [CBIT](INFO): Clearing failed state for component RudderServo
2012-10-02T00:40:16.411Z,1349138416.411 [RudderServo] No Fault, FailCount= 2
2012-10-02T00:40:18.428Z,1349138418.428 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-02T00:40:18.548Z,1349138418.548 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-02T00:40:18.548Z,1349138418.548 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-02T00:40:24.519Z,1349138424.519 [RudderServo](FAULT): Overload Error
2012-10-02T00:40:24.519Z,1349138424.519 [RudderServo] Hardware Fault, FailCount= 3
2012-10-02T00:40:24.519Z,1349138424.519 [RudderServo](ERROR): Hardware Fault
2012-10-02T00:40:24.554Z,1349138424.554 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-10-02T00:40:24.554Z,1349138424.554 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2012-10-02T00:40:25.883Z,1349138425.884 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-02T00:40:25.884Z,1349138425.884 [RudderServo](INFO): Powering down
2012-10-02T00:40:37.079Z,1349138437.079 [CBIT](IMPORTANT): No ground fault detected
2012-10-02T00:40:40.321Z,1349138440.321 [CBIT](INFO): Clearing failed count for component ThrusterServo
2012-10-02T00:40:40.321Z,1349138440.321 [ThrusterServo] No Fault, FailCount= 2
2012-10-02T00:40:42.048Z,1349138442.048 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-02T00:40:42.171Z,1349138442.171 [ThrusterServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-02T00:40:42.171Z,1349138442.171 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-02T00:40:43.918Z,1349138443.918 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:41%. Temp:22 C. ABORTING MISSION
2012-10-02T00:41:02.551Z,1349138462.551 [CommandLine](IMPORTANT): got command restart application
2012-10-02T00:41:04.004Z,1349138464.004 [SBIT](IMPORTANT): SBIT PASSED
2012-10-02T00:41:04.014Z,1349138464.014 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-02T00:41:04.015Z,1349138464.015 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-02T00:41:04.094Z,1349138464.095 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-02T00:41:04.191Z,1349138464.191 [WetLabsBB2FL](INFO): Powering down
2012-10-02T00:41:04.207Z,1349138464.207 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-02T00:41:04.268Z,1349138464.268 [MissionManager](IMPORTANT): Started mission Startup
2012-10-02T00:41:04.268Z,1349138464.268 [Startup] Running Loop=1
2012-10-02T00:41:04.268Z,1349138464.268 [Startup](INFO): Aggregate::initialize Startup
2012-10-02T00:41:04.269Z,1349138464.269 [Startup:A.GoToSurface] Running Loop=1
2012-10-02T00:41:04.269Z,1349138464.269 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-02T00:41:04.285Z,1349138464.285 [Startup:StartupSatComms] Running Loop=1
2012-10-02T00:41:04.285Z,1349138464.286 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-02T00:41:04.286Z,1349138464.286 [Startup:StartupSatComms:A] Running Loop=1
2012-10-02T00:41:04.527Z,1349138464.527 [Turbulence_NPS](INFO): Powering down
2012-10-02T00:41:04.547Z,1349138464.547 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-02T00:41:04.551Z,1349138464.551 [CTD_NeilBrown](INFO): Powering down
2012-10-02T00:41:04.567Z,1349138464.567 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-02T00:41:04.575Z,1349138464.575 [DVL_micro](INFO): uninitialize:Powering down
2012-10-02T00:41:04.589Z,1349138464.589 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-02T00:41:04.605Z,1349138464.605 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-10-02T00:41:04.715Z,1349138464.715 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-02T00:41:04.731Z,1349138464.731 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-02T00:41:04.733Z,1349138464.733 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-02T00:41:04.835Z,1349138464.835 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-02T00:41:04.835Z,1349138464.835 [AHRS_sp3003D](INFO): Powering down
2012-10-02T00:41:04.923Z,1349138464.923 [NAL9602](INFO): Powering down
2012-10-02T00:41:04.925Z,1349138464.925 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-02T00:41:04.925Z,1349138464.925 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-02T00:41:04.930Z,1349138464.930 [Startup] Stopped
2012-10-02T00:41:04.930Z,1349138464.930 [Startup](INFO): Aggregate::uninitialize Startup
2012-10-02T00:41:04.930Z,1349138464.930 [Startup:A.GoToSurface] Stopped
2012-10-02T00:41:04.930Z,1349138464.930 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-02T00:41:04.930Z,1349138464.930 [Startup:StartupSatComms] Stopped
2012-10-02T00:41:04.930Z,1349138464.930 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-10-02T00:41:04.931Z,1349138464.931 [Startup:StartupSatComms:A] Stopped
2012-10-02T00:41:04.932Z,1349138464.932 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-02T00:41:04.932Z,1349138464.932 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-02T00:41:04.932Z,1349138464.932 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-02T00:41:04.933Z,1349138464.933 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-02T00:41:04.933Z,1349138464.933 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-02T00:41:04.933Z,1349138464.933 [BuoyancyServo](INFO): Powering down
2012-10-02T00:41:04.939Z,1349138464.939 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-02T00:41:04.939Z,1349138464.939 [RudderServo](INFO): Powering down
2012-10-02T00:41:04.940Z,1349138464.940 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-02T00:41:04.940Z,1349138464.940 [ThrusterServo](INFO): Powering down
2012-10-02T00:41:04.941Z,1349138464.941 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-02T00:41:04.941Z,1349138464.941 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-02T00:41:04.941Z,1349138464.941 [CBIT](DEBUG): Uninitialize CBIT Component.