2012-10-02T00:41:05.856Z,1349138465.856 [Supervisor](DEBUG): Initializing supervisor.
2012-10-02T00:41:05.859Z,1349138465.859 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-02T00:41:05.859Z,1349138465.859 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-02T00:41:05.860Z,1349138465.860 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-02T00:41:05.864Z,1349138465.864 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-02T00:41:05.874Z,1349138465.874 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-02T00:41:05.875Z,1349138465.875 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-02T00:41:05.876Z,1349138465.876 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-02T00:41:05.877Z,1349138465.877 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-02T00:41:05.878Z,1349138465.878 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-02T00:41:06.145Z,1349138466.145 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-02T00:41:06.145Z,1349138466.145 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-02T00:41:06.323Z,1349138466.323 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-02T00:41:06.323Z,1349138466.323 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-02T00:41:06.408Z,1349138466.408 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-02T00:41:06.409Z,1349138466.409 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-02T00:41:06.599Z,1349138466.599 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-02T00:41:06.600Z,1349138466.600 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-02T00:41:06.730Z,1349138466.730 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-02T00:41:06.730Z,1349138466.730 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-02T00:41:06.951Z,1349138466.951 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-02T00:41:06.952Z,1349138466.952 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-02T00:41:07.117Z,1349138467.117 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-02T00:41:07.117Z,1349138467.117 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-02T00:41:07.356Z,1349138467.356 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-02T00:41:07.356Z,1349138467.356 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-02T00:41:07.535Z,1349138467.535 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-02T00:41:07.535Z,1349138467.535 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-02T00:41:07.919Z,1349138467.919 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-02T00:41:07.920Z,1349138467.920 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-02T00:41:08.032Z,1349138468.032 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-02T00:41:08.033Z,1349138468.033 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-02T00:41:08.118Z,1349138468.118 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-02T00:41:08.119Z,1349138468.119 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-02T00:41:08.219Z,1349138468.219 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-02T00:41:08.345Z,1349138468.345 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-02T00:41:08.431Z,1349138468.431 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-02T00:41:08.531Z,1349138468.531 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-02T00:41:08.630Z,1349138468.630 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-02T00:41:08.745Z,1349138468.745 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-02T00:41:08.834Z,1349138468.833 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-02T00:41:08.920Z,1349138468.920 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-02T00:41:08.948Z,1349138468.948 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-02T00:41:09.083Z,1349138469.083 [InternalSim] Loaded
2012-10-02T00:41:09.083Z,1349138469.083 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-02T00:41:09.084Z,1349138469.084 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-02T00:41:09.084Z,1349138469.084 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-02T00:41:09.141Z,1349138469.141 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-02T00:41:09.154Z,1349138469.154 [SBIT] Loaded
2012-10-02T00:41:09.154Z,1349138469.154 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-02T00:41:09.155Z,1349138469.155 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-02T00:41:09.182Z,1349138469.181 [IBIT] Loaded
2012-10-02T00:41:09.182Z,1349138469.182 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-02T00:41:09.185Z,1349138469.185 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-02T00:41:09.298Z,1349138469.298 [CBIT] Loaded
2012-10-02T00:41:09.299Z,1349138469.299 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-02T00:41:09.299Z,1349138469.299 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-02T00:41:09.299Z,1349138469.299 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-02T00:41:09.440Z,1349138469.440 [BuoyancyServo] Loaded
2012-10-02T00:41:09.441Z,1349138469.441 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-02T00:41:09.453Z,1349138469.453 [RudderServo] Loaded
2012-10-02T00:41:09.453Z,1349138469.453 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-02T00:41:09.464Z,1349138469.464 [ThrusterServo] Loaded
2012-10-02T00:41:09.465Z,1349138469.464 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-02T00:41:09.465Z,1349138469.465 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-02T00:41:09.465Z,1349138469.466 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-02T00:41:09.482Z,1349138469.482 [DepthRateCalculator] Loaded
2012-10-02T00:41:09.482Z,1349138469.482 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-02T00:41:13.367Z,1349138473.367 [HFRadarModelCalc] Loaded
2012-10-02T00:41:13.367Z,1349138473.367 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-02T00:41:13.383Z,1349138473.383 [NavChart] Loaded
2012-10-02T00:41:13.383Z,1349138473.383 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-02T00:41:13.389Z,1349138473.389 [PitchRateCalculator] Loaded
2012-10-02T00:41:13.389Z,1349138473.389 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-02T00:41:13.395Z,1349138473.395 [SpeedCalculator] Loaded
2012-10-02T00:41:13.395Z,1349138473.395 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-02T00:41:13.410Z,1349138473.409 [TempGradientCalculator] Loaded
2012-10-02T00:41:13.410Z,1349138473.410 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-02T00:41:13.415Z,1349138473.415 [YawRateCalculator] Loaded
2012-10-02T00:41:13.416Z,1349138473.416 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-02T00:41:13.434Z,1349138473.434 [Navigation] Loaded
2012-10-02T00:41:13.434Z,1349138473.434 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-02T00:41:13.435Z,1349138473.435 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-02T00:41:13.435Z,1349138473.435 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-02T00:41:13.752Z,1349138473.752 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-02T00:41:13.752Z,1349138473.753 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-02T00:41:13.775Z,1349138473.775 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-02T00:41:13.775Z,1349138473.775 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-02T00:41:13.815Z,1349138473.815 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-02T00:41:13.857Z,1349138473.857 [VerticalControl] Loaded
2012-10-02T00:41:13.857Z,1349138473.857 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-02T00:41:13.858Z,1349138473.858 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-02T00:41:13.878Z,1349138473.878 [HorizontalControl] Loaded
2012-10-02T00:41:13.878Z,1349138473.878 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-02T00:41:13.879Z,1349138473.879 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-02T00:41:13.881Z,1349138473.881 [SpeedControl] Loaded
2012-10-02T00:41:13.881Z,1349138473.881 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-02T00:41:13.882Z,1349138473.882 [LoopControl](DEBUG): Construct LoopControl.
2012-10-02T00:41:13.883Z,1349138473.883 [LoopControl] Loaded
2012-10-02T00:41:13.883Z,1349138473.883 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-02T00:41:13.884Z,1349138473.884 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-02T00:41:13.884Z,1349138473.884 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-02T00:41:13.889Z,1349138473.889 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-02T00:41:13.894Z,1349138473.894 [AsyncPiEstimator] Loaded
2012-10-02T00:41:13.894Z,1349138473.894 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-02T00:41:13.896Z,1349138473.895 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-02T00:41:13.896Z,1349138473.896 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-02T00:41:13.897Z,1349138473.897 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-02T00:41:14.016Z,1349138474.016 [AHRS_sp3003D] Loaded
2012-10-02T00:41:14.016Z,1349138474.016 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-02T00:41:14.029Z,1349138474.029 [Depth_Keller] Loaded
2012-10-02T00:41:14.029Z,1349138474.029 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-02T00:41:14.035Z,1349138474.035 [DropWeight] Loaded
2012-10-02T00:41:14.035Z,1349138474.035 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-02T00:41:14.144Z,1349138474.144 [DVL_micro] Loaded
2012-10-02T00:41:14.145Z,1349138474.145 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-02T00:41:14.146Z,1349138474.146 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-02T00:41:14.224Z,1349138474.224 [NAL9602] Loaded
2012-10-02T00:41:14.225Z,1349138474.225 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-02T00:41:14.274Z,1349138474.274 [Onboard] Loaded
2012-10-02T00:41:14.274Z,1349138474.274 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-02T00:41:14.280Z,1349138474.280 [Radio_Freewave] Loaded
2012-10-02T00:41:14.281Z,1349138474.281 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-02T00:41:14.282Z,1349138474.282 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-02T00:41:14.282Z,1349138474.282 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-02T00:41:14.349Z,1349138474.349 [CTD_NeilBrown] Loaded
2012-10-02T00:41:14.350Z,1349138474.349 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-02T00:41:14.351Z,1349138474.351 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-02T00:41:14.360Z,1349138474.360 [PAR_Licor] Loaded
2012-10-02T00:41:14.361Z,1349138474.361 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-02T00:41:14.377Z,1349138474.377 [Turbulence_NPS] Loaded
2012-10-02T00:41:14.377Z,1349138474.378 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-02T00:41:14.379Z,1349138474.379 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-02T00:41:14.408Z,1349138474.408 [WetLabsBB2FL] Loaded
2012-10-02T00:41:14.408Z,1349138474.408 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-02T00:41:14.409Z,1349138474.409 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-02T00:41:14.410Z,1349138474.410 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-02T00:41:14.413Z,1349138474.413 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-02T00:41:14.416Z,1349138474.416 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-02T00:41:14.422Z,1349138474.422 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-02T00:41:14.423Z,1349138474.423 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407D94E0
2012-10-02T00:41:14.428Z,1349138474.428 [Supervisor](DEBUG): Running supervisor.
2012-10-02T00:41:14.429Z,1349138474.429 [CommandLine](INFO): Thread ID is 4898
2012-10-02T00:41:14.432Z,1349138474.432 [controlThread](INFO): Thread ID is 4897
2012-10-02T00:41:14.432Z,1349138474.432 [controlThread](DEBUG): Initializing ControlThread
2012-10-02T00:41:14.432Z,1349138474.432 [CycleStarter](INFO): Thread ID is 4896
2012-10-02T00:41:14.433Z,1349138474.433 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-02T00:41:14.467Z,1349138474.467 [AsyncPiEstimator](INFO): Thread ID is 4959
2012-10-02T00:41:14.467Z,1349138474.467 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-02T00:41:14.476Z,1349138474.476 [SBIT](INFO): Initialize SBIT Component.
2012-10-02T00:41:14.477Z,1349138474.477 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9911
2012-10-02T00:41:14.477Z,1349138474.477 [IBIT](INFO): Initialize IBIT Component.
2012-10-02T00:41:14.478Z,1349138474.478 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-02T00:41:14.478Z,1349138474.478 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-02T00:41:14.479Z,1349138474.480 [DVL_micro](INFO): Thread ID is 4960
2012-10-02T00:41:14.489Z,1349138474.489 [DVL_micro](INFO): Initializing
2012-10-02T00:41:14.489Z,1349138474.489 [DVL_micro](INFO): start:Powering up
2012-10-02T00:41:14.490Z,1349138474.490 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-02T00:41:14.491Z,1349138474.491 [DVL_micro](INFO): Cycling power to configure device.
2012-10-02T00:41:14.503Z,1349138474.503 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-02T00:41:14.504Z,1349138474.504 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-02T00:41:14.504Z,1349138474.504 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-02T00:41:14.505Z,1349138474.505 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-02T00:41:14.505Z,1349138474.505 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-02T00:41:14.507Z,1349138474.507 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-02T00:41:14.507Z,1349138474.507 [Navigation](DEBUG): Initializing Navigation.
2012-10-02T00:41:14.507Z,1349138474.507 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-02T00:41:14.509Z,1349138474.509 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-02T00:41:14.510Z,1349138474.510 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-02T00:41:14.510Z,1349138474.510 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-02T00:41:14.517Z,1349138474.517 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-02T00:41:14.519Z,1349138474.519 [CTD_NeilBrown](INFO): Thread ID is 4961
2012-10-02T00:41:14.520Z,1349138474.520 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-02T00:41:14.527Z,1349138474.527 [Turbulence_NPS](INFO): Thread ID is 4962
2012-10-02T00:41:14.528Z,1349138474.528 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-02T00:41:14.537Z,1349138474.537 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-02T00:41:14.538Z,1349138474.537 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-02T00:41:14.557Z,1349138474.557 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T00:41:14.560Z,1349138474.560 [WetLabsBB2FL](INFO): Thread ID is 4963
2012-10-02T00:41:14.560Z,1349138474.560 [WetLabsBB2FL](INFO): Powering down
2012-10-02T00:41:14.591Z,1349138474.592 [NavChartDb](INFO): Thread ID is 4964
2012-10-02T00:41:14.595Z,1349138474.595 [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>


2012-10-02T00:41:14.596Z,1349138474.596 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-02T00:41:14.644Z,1349138474.644 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-02T00:41:14.646Z,1349138474.646 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-02T00:41:14.649Z,1349138474.649 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T00:41:14.657Z,1349138474.657 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-02T00:41:14.660Z,1349138474.660 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T00:41:14.667Z,1349138474.667 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-02T00:41:14.675Z,1349138474.675 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-02T00:41:14.679Z,1349138474.679 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T00:41:14.683Z,1349138474.683 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-02T00:41:14.687Z,1349138474.687 [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>


2012-10-02T00:41:14.691Z,1349138474.691 [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,
2012-10-02T00:41:14.711Z,1349138474.711 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-02T00:41:14.754Z,1349138474.754 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-02T00:41:14.755Z,1349138474.755 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-02T00:41:14.755Z,1349138474.755 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-02T00:41:14.755Z,1349138474.755 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-02T00:41:14.756Z,1349138474.756 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-02T00:41:16.196Z,1349138476.196 [Radio_Freewave](INFO): Powering up
2012-10-02T00:41:16.384Z,1349138476.384 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-02T00:41:16.387Z,1349138476.387 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-02T00:41:16.393Z,1349138476.393 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-02T00:41:16.394Z,1349138476.394 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-02T00:41:16.400Z,1349138476.400 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-02T00:41:16.403Z,1349138476.403 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-02T00:41:16.655Z,1349138476.655 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-02T00:41:16.655Z,1349138476.655 [DVL_micro](INFO): Querying output modes
2012-10-02T00:41:16.656Z,1349138476.656 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-02T00:41:16.659Z,1349138476.659 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-02T00:41:16.659Z,1349138476.659 [DVL_micro](INFO): NQ1 output enabled
2012-10-02T00:41:16.659Z,1349138476.659 [DVL_micro](INFO): RSSI output enabled
2012-10-02T00:41:16.659Z,1349138476.659 [DVL_micro](INFO): ADCP output enabled
2012-10-02T00:41:16.660Z,1349138476.660 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-02T00:41:16.667Z,1349138476.667 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-02T00:41:16.672Z,1349138476.672 [DVL_micro](INFO): pause:Powering down
2012-10-02T00:41:19.245Z,1349138479.245 [NAL9602](INFO): Powering up NAL9602
2012-10-02T00:41:23.864Z,1349138483.864 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.820000 degree
2012-10-02T00:41:23.865Z,1349138483.865 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2012-10-02T00:41:23.866Z,1349138483.866 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.820000 degree
2012-10-02T00:41:23.867Z,1349138483.867 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2012-10-02T00:41:23.868Z,1349138483.868 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-10-02T00:41:24.101Z,1349138484.101 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-10-02T00:41:25.387Z,1349138485.387 [RudderServo](FAULT): Overload Error
2012-10-02T00:41:25.387Z,1349138485.387 [RudderServo] Hardware Fault, FailCount= 1
2012-10-02T00:41:25.387Z,1349138485.387 [RudderServo](ERROR): Hardware Fault
2012-10-02T00:41:25.414Z,1349138485.414 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:40%. Temp:22 C. ABORTING MISSION
2012-10-02T00:41:25.415Z,1349138485.415 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-10-02T00:41:26.807Z,1349138486.807 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-02T00:41:26.807Z,1349138486.807 [RudderServo](INFO): Powering down
2012-10-02T00:41:26.819Z,1349138486.819 [CBIT](INFO): Clearing failed state for component RudderServo
2012-10-02T00:41:26.819Z,1349138486.819 [RudderServo] No Fault, FailCount= 1
2012-10-02T00:41:28.368Z,1349138488.368 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-02T00:41:28.491Z,1349138488.491 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-02T00:41:28.491Z,1349138488.491 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-02T00:41:30.447Z,1349138490.447 [NAL9602](INFO): NAL9602 initialized
2012-10-02T00:41:31.484Z,1349138491.484 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-02T00:41:31.486Z,1349138491.486 [CBIT](IMPORTANT): Beginning GF scan
2012-10-02T00:41:34.907Z,1349138494.907 [RudderServo](FAULT): Overload Error
2012-10-02T00:41:34.907Z,1349138494.907 [RudderServo] Hardware Fault, FailCount= 2
2012-10-02T00:41:34.907Z,1349138494.907 [RudderServo](ERROR): Hardware Fault
2012-10-02T00:41:34.938Z,1349138494.938 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-10-02T00:41:35.560Z,1349138495.560 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-02T00:41:35.560Z,1349138495.560 [RudderServo](INFO): Powering down
2012-10-02T00:41:35.564Z,1349138495.564 [CBIT](INFO): Clearing failed state for component RudderServo
2012-10-02T00:41:35.564Z,1349138495.564 [RudderServo] No Fault, FailCount= 2
2012-10-02T00:41:37.147Z,1349138497.147 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2012-10-02T00:41:37.147Z,1349138497.148 [DropWeight] Hardware Fault, FailCount= 1
2012-10-02T00:41:37.148Z,1349138497.148 [DropWeight](ERROR): Hardware Fault
2012-10-02T00:41:37.148Z,1349138497.148 [NAL9602](INFO): Powering down
2012-10-02T00:41:37.428Z,1349138497.428 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-02T00:41:37.626Z,1349138497.626 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-02T00:41:37.626Z,1349138497.626 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-02T00:41:37.634Z,1349138497.634 [CBIT](ERROR): Hardware Fault in component: DropWeight
2012-10-02T00:41:37.634Z,1349138497.634 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2012-10-02T00:41:38.207Z,1349138498.207 [CommandLine](IMPORTANT): got command quit
2012-10-02T00:41:39.227Z,1349138499.227 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-02T00:41:39.227Z,1349138499.227 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-02T00:41:40.625Z,1349138500.625 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:41%. Temp:22 C. ABORTING MISSION
2012-10-02T00:41:40.715Z,1349138500.714 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-02T00:41:40.923Z,1349138500.923 [WetLabsBB2FL](INFO): Powering down
2012-10-02T00:41:40.935Z,1349138500.935 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-02T00:41:40.991Z,1349138500.991 [Turbulence_NPS](INFO): Powering down
2012-10-02T00:41:40.998Z,1349138500.999 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-02T00:41:41.291Z,1349138501.291 [CTD_NeilBrown](INFO): Powering down
2012-10-02T00:41:41.299Z,1349138501.299 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-02T00:41:41.395Z,1349138501.395 [DVL_micro](INFO): uninitialize:Powering down
2012-10-02T00:41:41.400Z,1349138501.399 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-02T00:41:41.595Z,1349138501.595 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-02T00:41:41.600Z,1349138501.599 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-02T00:41:41.601Z,1349138501.601 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-02T00:41:41.851Z,1349138501.852 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-02T00:41:41.852Z,1349138501.852 [AHRS_sp3003D](INFO): Powering down
2012-10-02T00:41:41.939Z,1349138501.939 [NAL9602](INFO): Powering down
2012-10-02T00:41:41.942Z,1349138501.941 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-02T00:41:41.942Z,1349138501.942 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-02T00:41:41.947Z,1349138501.947 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-02T00:41:41.947Z,1349138501.947 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-02T00:41:41.948Z,1349138501.948 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-02T00:41:41.948Z,1349138501.948 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-02T00:41:41.948Z,1349138501.948 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-02T00:41:41.948Z,1349138501.948 [BuoyancyServo](INFO): Powering down
2012-10-02T00:41:41.975Z,1349138501.975 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-02T00:41:41.975Z,1349138501.975 [RudderServo](INFO): Powering down
2012-10-02T00:41:41.976Z,1349138501.976 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-02T00:41:41.976Z,1349138501.976 [ThrusterServo](INFO): Powering down
2012-10-02T00:41:41.976Z,1349138501.976 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-02T00:41:41.977Z,1349138501.977 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-02T00:41:41.977Z,1349138501.977 [CBIT](DEBUG): Uninitialize CBIT Component.