2012-10-04T15:34:35.861Z,1349364875.861 [Supervisor](DEBUG): Initializing supervisor.
2012-10-04T15:34:35.863Z,1349364875.863 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-04T15:34:35.864Z,1349364875.864 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-04T15:34:35.865Z,1349364875.865 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-04T15:34:35.869Z,1349364875.869 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-04T15:34:35.879Z,1349364875.879 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-04T15:34:35.880Z,1349364875.880 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-04T15:34:35.881Z,1349364875.881 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-04T15:34:35.881Z,1349364875.881 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-04T15:34:35.882Z,1349364875.882 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-04T15:34:36.164Z,1349364876.164 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-04T15:34:36.165Z,1349364876.165 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-04T15:34:36.349Z,1349364876.349 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-04T15:34:36.350Z,1349364876.350 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-04T15:34:36.433Z,1349364876.433 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-04T15:34:36.433Z,1349364876.433 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-04T15:34:36.625Z,1349364876.625 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-04T15:34:36.626Z,1349364876.626 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-04T15:34:36.755Z,1349364876.755 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-04T15:34:36.755Z,1349364876.755 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-04T15:34:36.976Z,1349364876.976 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-04T15:34:36.977Z,1349364876.977 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-04T15:34:37.141Z,1349364877.141 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-04T15:34:37.141Z,1349364877.141 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-04T15:34:37.379Z,1349364877.379 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-04T15:34:37.379Z,1349364877.379 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-04T15:34:37.476Z,1349364877.476 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-04T15:34:37.477Z,1349364877.477 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-04T15:34:37.861Z,1349364877.861 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-04T15:34:37.861Z,1349364877.861 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-04T15:34:37.973Z,1349364877.973 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-04T15:34:37.974Z,1349364877.974 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-04T15:34:38.058Z,1349364878.058 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-04T15:34:38.058Z,1349364878.059 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-04T15:34:38.157Z,1349364878.157 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-04T15:34:38.282Z,1349364878.282 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-04T15:34:38.366Z,1349364878.366 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-04T15:34:38.465Z,1349364878.465 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-04T15:34:38.564Z,1349364878.564 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-04T15:34:38.678Z,1349364878.678 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-04T15:34:38.765Z,1349364878.765 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-04T15:34:38.850Z,1349364878.851 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-04T15:34:38.878Z,1349364878.878 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-04T15:34:39.017Z,1349364879.017 [InternalSim] Loaded
2012-10-04T15:34:39.017Z,1349364879.017 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-04T15:34:39.018Z,1349364879.018 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-04T15:34:39.019Z,1349364879.019 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-04T15:34:39.075Z,1349364879.076 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-04T15:34:39.089Z,1349364879.089 [SBIT] Loaded
2012-10-04T15:34:39.089Z,1349364879.089 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-04T15:34:39.090Z,1349364879.090 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-04T15:34:39.118Z,1349364879.118 [IBIT] Loaded
2012-10-04T15:34:39.118Z,1349364879.118 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-04T15:34:39.122Z,1349364879.122 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-04T15:34:39.237Z,1349364879.237 [CBIT] Loaded
2012-10-04T15:34:39.238Z,1349364879.238 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-04T15:34:39.238Z,1349364879.238 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-04T15:34:39.239Z,1349364879.239 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-04T15:34:39.380Z,1349364879.380 [BuoyancyServo] Loaded
2012-10-04T15:34:39.381Z,1349364879.381 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-04T15:34:39.390Z,1349364879.390 [ElevatorServo] Loaded
2012-10-04T15:34:39.390Z,1349364879.390 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-04T15:34:39.401Z,1349364879.401 [MassServo] Loaded
2012-10-04T15:34:39.402Z,1349364879.402 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-04T15:34:39.413Z,1349364879.413 [RudderServo] Loaded
2012-10-04T15:34:39.414Z,1349364879.414 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-04T15:34:39.425Z,1349364879.425 [ThrusterServo] Loaded
2012-10-04T15:34:39.426Z,1349364879.425 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-04T15:34:39.426Z,1349364879.426 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-04T15:34:39.426Z,1349364879.427 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-04T15:34:39.443Z,1349364879.443 [DepthRateCalculator] Loaded
2012-10-04T15:34:39.444Z,1349364879.444 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-04T15:34:43.396Z,1349364883.396 [HFRadarModelCalc] Loaded
2012-10-04T15:34:43.396Z,1349364883.396 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-04T15:34:43.412Z,1349364883.412 [NavChart] Loaded
2012-10-04T15:34:43.412Z,1349364883.412 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-04T15:34:43.418Z,1349364883.418 [PitchRateCalculator] Loaded
2012-10-04T15:34:43.419Z,1349364883.418 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-04T15:34:43.425Z,1349364883.425 [SpeedCalculator] Loaded
2012-10-04T15:34:43.425Z,1349364883.425 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-04T15:34:43.439Z,1349364883.439 [TempGradientCalculator] Loaded
2012-10-04T15:34:43.440Z,1349364883.440 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-04T15:34:43.445Z,1349364883.445 [YawRateCalculator] Loaded
2012-10-04T15:34:43.446Z,1349364883.446 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-04T15:34:43.465Z,1349364883.465 [Navigation] Loaded
2012-10-04T15:34:43.465Z,1349364883.465 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-04T15:34:43.466Z,1349364883.466 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-04T15:34:43.466Z,1349364883.466 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-04T15:34:43.786Z,1349364883.786 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-04T15:34:43.792Z,1349364883.792 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-04T15:34:43.815Z,1349364883.815 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-04T15:34:43.816Z,1349364883.816 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-04T15:34:43.855Z,1349364883.855 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-04T15:34:43.899Z,1349364883.899 [VerticalControl] Loaded
2012-10-04T15:34:43.899Z,1349364883.899 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-04T15:34:43.900Z,1349364883.900 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-04T15:34:43.921Z,1349364883.921 [HorizontalControl] Loaded
2012-10-04T15:34:43.921Z,1349364883.921 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-04T15:34:43.922Z,1349364883.922 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-04T15:34:43.924Z,1349364883.924 [SpeedControl] Loaded
2012-10-04T15:34:43.924Z,1349364883.924 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-04T15:34:43.925Z,1349364883.925 [LoopControl](DEBUG): Construct LoopControl.
2012-10-04T15:34:43.925Z,1349364883.925 [LoopControl] Loaded
2012-10-04T15:34:43.925Z,1349364883.925 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-04T15:34:43.926Z,1349364883.926 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-04T15:34:43.927Z,1349364883.927 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-04T15:34:43.932Z,1349364883.932 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-04T15:34:43.937Z,1349364883.937 [AsyncPiEstimator] Loaded
2012-10-04T15:34:43.937Z,1349364883.937 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-04T15:34:43.938Z,1349364883.938 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-04T15:34:43.939Z,1349364883.939 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-04T15:34:43.939Z,1349364883.939 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-04T15:34:44.062Z,1349364884.062 [AHRS_sp3003D] Loaded
2012-10-04T15:34:44.062Z,1349364884.062 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-04T15:34:44.076Z,1349364884.076 [Depth_Keller] Loaded
2012-10-04T15:34:44.076Z,1349364884.076 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-04T15:34:44.082Z,1349364884.082 [DropWeight] Loaded
2012-10-04T15:34:44.082Z,1349364884.082 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-04T15:34:44.162Z,1349364884.162 [NAL9602] Loaded
2012-10-04T15:34:44.162Z,1349364884.162 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-04T15:34:44.211Z,1349364884.211 [Onboard] Loaded
2012-10-04T15:34:44.212Z,1349364884.212 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-04T15:34:44.218Z,1349364884.218 [Radio_Freewave] Loaded
2012-10-04T15:34:44.219Z,1349364884.219 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-04T15:34:44.220Z,1349364884.220 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-04T15:34:44.220Z,1349364884.220 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-04T15:34:44.267Z,1349364884.267 [PAR_Licor] Loaded
2012-10-04T15:34:44.268Z,1349364884.268 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-04T15:34:44.284Z,1349364884.284 [Turbulence_NPS] Loaded
2012-10-04T15:34:44.285Z,1349364884.285 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-04T15:34:44.286Z,1349364884.286 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407194E0
2012-10-04T15:34:44.316Z,1349364884.316 [WetLabsBB2FL] Loaded
2012-10-04T15:34:44.316Z,1349364884.316 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-04T15:34:44.317Z,1349364884.317 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-04T15:34:44.318Z,1349364884.318 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-04T15:34:44.320Z,1349364884.320 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-04T15:34:44.321Z,1349364884.321 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-04T15:34:44.327Z,1349364884.327 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-04T15:34:44.328Z,1349364884.328 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-04T15:34:44.333Z,1349364884.332 [Supervisor](DEBUG): Running supervisor.
2012-10-04T15:34:44.333Z,1349364884.333 [CommandLine](INFO): Thread ID is 1484
2012-10-04T15:34:44.336Z,1349364884.336 [controlThread](INFO): Thread ID is 1483
2012-10-04T15:34:44.336Z,1349364884.336 [controlThread](DEBUG): Initializing ControlThread
2012-10-04T15:34:44.337Z,1349364884.337 [CycleStarter](INFO): Thread ID is 1482
2012-10-04T15:34:44.337Z,1349364884.337 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-04T15:34:44.371Z,1349364884.371 [AsyncPiEstimator](INFO): Thread ID is 1545
2012-10-04T15:34:44.371Z,1349364884.371 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-04T15:34:44.383Z,1349364884.383 [SBIT](INFO): Initialize SBIT Component.
2012-10-04T15:34:44.383Z,1349364884.383 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9922
2012-10-04T15:34:44.384Z,1349364884.384 [IBIT](INFO): Initialize IBIT Component.
2012-10-04T15:34:44.385Z,1349364884.385 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-04T15:34:44.385Z,1349364884.385 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-04T15:34:44.386Z,1349364884.386 [Turbulence_NPS](INFO): Thread ID is 1546
2012-10-04T15:34:44.387Z,1349364884.387 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-04T15:34:44.388Z,1349364884.388 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-04T15:34:44.395Z,1349364884.395 [WetLabsBB2FL](INFO): Thread ID is 1547
2012-10-04T15:34:44.396Z,1349364884.396 [WetLabsBB2FL](INFO): Powering down
2012-10-04T15:34:44.412Z,1349364884.412 [NavChartDb](INFO): Thread ID is 1548
2012-10-04T15:34:44.414Z,1349364884.414 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-04T15:34:44.416Z,1349364884.416 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-04T15:34:44.416Z,1349364884.416 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-04T15:34:44.417Z,1349364884.417 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-04T15:34:44.417Z,1349364884.417 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-04T15:34:44.417Z,1349364884.417 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-04T15:34:44.419Z,1349364884.419 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-04T15:34:44.420Z,1349364884.420 [Navigation](DEBUG): Initializing Navigation.
2012-10-04T15:34:44.420Z,1349364884.420 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-04T15:34:44.435Z,1349364884.435 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-04T15:34:44.436Z,1349364884.436 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-04T15:34:44.436Z,1349364884.436 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-04T15:34:44.647Z,1349364884.647 [Turbulence_NPS](INFO): Pause powering down
2012-10-04T15:34:44.688Z,1349364884.688 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-04T15:34:44.699Z,1349364884.699 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-04T15:34:44.699Z,1349364884.699 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-04T15:34:44.699Z,1349364884.699 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-04T15:34:44.700Z,1349364884.700 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-04T15:34:44.703Z,1349364884.703 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T15:34:44.713Z,1349364884.713 [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>


2012-10-04T15:34:44.714Z,1349364884.714 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-04T15:34:44.741Z,1349364884.741 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-04T15:34:44.743Z,1349364884.743 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-04T15:34:44.747Z,1349364884.747 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T15:34:44.755Z,1349364884.755 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-04T15:34:44.758Z,1349364884.758 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T15:34:44.765Z,1349364884.765 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-04T15:34:44.774Z,1349364884.774 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-04T15:34:44.777Z,1349364884.777 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T15:34:44.782Z,1349364884.782 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-04T15:34:44.786Z,1349364884.786 [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>


2012-10-04T15:34:44.790Z,1349364884.790 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-10-04T15:34:44.811Z,1349364884.811 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-04T15:34:44.950Z,1349364884.950 [Radio_Freewave](INFO): Powering up
2012-10-04T15:34:45.141Z,1349364885.141 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-04T15:34:45.143Z,1349364885.143 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-04T15:34:45.149Z,1349364885.149 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-04T15:34:45.154Z,1349364885.155 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-04T15:34:45.156Z,1349364885.156 [MassServo](DEBUG): Initializing MassServo.
2012-10-04T15:34:45.162Z,1349364885.162 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-04T15:34:45.163Z,1349364885.163 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-04T15:34:45.168Z,1349364885.168 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-04T15:34:45.169Z,1349364885.169 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-04T15:34:49.409Z,1349364889.409 [NAL9602](INFO): Powering up NAL9602
2012-10-04T15:35:00.231Z,1349364900.231 [NAL9602](INFO): NAL9602 initialized
2012-10-04T15:35:00.764Z,1349364900.764 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-04T15:35:00.766Z,1349364900.766 [CBIT](IMPORTANT): Beginning GF scan
2012-10-04T15:35:17.543Z,1349364917.543 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.823200 degree
2012-10-04T15:35:17.545Z,1349364917.545 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2012-10-04T15:35:17.545Z,1349364917.546 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121827.000000 degree
2012-10-04T15:35:17.547Z,1349364917.547 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2012-10-04T15:35:17.547Z,1349364917.547 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-10-04T15:35:17.548Z,1349364917.548 [CommandLine](IMPORTANT): got command report touch Turbulence_NPS.packetNum
2012-10-04T15:35:17.732Z,1349364917.732 [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,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-10-04T15:35:28.299Z,1349364928.299 [NAL9602](INFO): Powering down
2012-10-04T15:35:28.815Z,1349364928.815 [CBIT](IMPORTANT): No ground fault detected
2012-10-04T15:35:42.101Z,1349364942.101 [SBIT](FAULT): Mass: EXPECTED:-0.004800 ACTUAL:-0.004747
2012-10-04T15:35:42.101Z,1349364942.101 [SBIT](FAULT): Control surface position failure.
2012-10-04T15:35:56.660Z,1349364956.660 [SBIT](CRITICAL): SBIT FAILED
2012-10-04T15:35:57.031Z,1349364957.031 [MissionManager](IMPORTANT): Started mission Startup
2012-10-04T15:35:57.031Z,1349364957.031 [Startup] Running Loop=1
2012-10-04T15:35:57.031Z,1349364957.031 [Startup](INFO): Aggregate::initialize Startup
2012-10-04T15:35:57.031Z,1349364957.031 [Startup:A.GoToSurface] Running Loop=1
2012-10-04T15:35:57.031Z,1349364957.031 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-04T15:35:57.037Z,1349364957.037 [Startup:StartupSatComms] Running Loop=1
2012-10-04T15:35:57.037Z,1349364957.037 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-04T15:35:57.037Z,1349364957.037 [Startup:StartupSatComms:A] Running Loop=1