2012-10-04T19:11:47.030Z,1349377907.030 [Supervisor](DEBUG): Initializing supervisor.
2012-10-04T19:11:47.032Z,1349377907.032 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-04T19:11:47.033Z,1349377907.033 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-04T19:11:47.034Z,1349377907.034 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-04T19:11:47.038Z,1349377907.038 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-04T19:11:47.049Z,1349377907.049 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-04T19:11:47.049Z,1349377907.049 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-04T19:11:47.050Z,1349377907.050 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-04T19:11:47.051Z,1349377907.051 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-04T19:11:47.052Z,1349377907.052 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-04T19:11:47.322Z,1349377907.322 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-04T19:11:47.323Z,1349377907.323 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-04T19:11:47.501Z,1349377907.501 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-04T19:11:47.502Z,1349377907.502 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-04T19:11:47.585Z,1349377907.585 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-04T19:11:47.585Z,1349377907.585 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-04T19:11:47.780Z,1349377907.780 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-04T19:11:47.780Z,1349377907.780 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-04T19:11:47.910Z,1349377907.910 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-04T19:11:47.910Z,1349377907.910 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-04T19:11:48.133Z,1349377908.133 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-04T19:11:48.134Z,1349377908.134 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-04T19:11:48.302Z,1349377908.302 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-04T19:11:48.303Z,1349377908.303 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-04T19:11:48.543Z,1349377908.543 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-04T19:11:48.544Z,1349377908.543 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-04T19:11:48.640Z,1349377908.640 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-04T19:11:48.641Z,1349377908.641 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-04T19:11:49.028Z,1349377909.028 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-04T19:11:49.029Z,1349377909.029 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-04T19:11:49.140Z,1349377909.140 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-04T19:11:49.140Z,1349377909.141 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-04T19:11:49.224Z,1349377909.224 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-04T19:11:49.225Z,1349377909.225 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-04T19:11:49.324Z,1349377909.324 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-04T19:11:49.451Z,1349377909.451 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-04T19:11:49.536Z,1349377909.536 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-04T19:11:49.633Z,1349377909.634 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-04T19:11:49.732Z,1349377909.731 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-04T19:11:49.845Z,1349377909.845 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-04T19:11:49.933Z,1349377909.932 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-04T19:11:50.018Z,1349377910.018 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-10-04T19:11:50.047Z,1349377910.046 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-04T19:11:50.191Z,1349377910.191 [InternalSim] Loaded
2012-10-04T19:11:50.191Z,1349377910.191 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-04T19:11:50.192Z,1349377910.192 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-04T19:11:50.193Z,1349377910.193 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-04T19:11:50.252Z,1349377910.252 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-04T19:11:50.265Z,1349377910.265 [SBIT] Loaded
2012-10-04T19:11:50.265Z,1349377910.265 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-04T19:11:50.266Z,1349377910.266 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-04T19:11:50.295Z,1349377910.295 [IBIT] Loaded
2012-10-04T19:11:50.295Z,1349377910.295 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-04T19:11:50.298Z,1349377910.298 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-04T19:11:50.418Z,1349377910.418 [CBIT] Loaded
2012-10-04T19:11:50.418Z,1349377910.418 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-04T19:11:50.419Z,1349377910.418 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-04T19:11:50.419Z,1349377910.419 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-04T19:11:50.576Z,1349377910.576 [BuoyancyServo] Loaded
2012-10-04T19:11:50.577Z,1349377910.577 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-04T19:11:50.589Z,1349377910.589 [MassServo] Loaded
2012-10-04T19:11:50.589Z,1349377910.589 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-04T19:11:50.601Z,1349377910.601 [RudderServo] Loaded
2012-10-04T19:11:50.601Z,1349377910.601 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-04T19:11:50.602Z,1349377910.602 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-04T19:11:50.603Z,1349377910.603 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-04T19:11:50.620Z,1349377910.620 [DepthRateCalculator] Loaded
2012-10-04T19:11:50.620Z,1349377910.620 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-04T19:11:55.346Z,1349377915.346 [HFRadarModelCalc] Loaded
2012-10-04T19:11:55.346Z,1349377915.346 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-04T19:11:55.363Z,1349377915.362 [NavChart] Loaded
2012-10-04T19:11:55.363Z,1349377915.363 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-04T19:11:55.369Z,1349377915.369 [PitchRateCalculator] Loaded
2012-10-04T19:11:55.369Z,1349377915.369 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-04T19:11:55.375Z,1349377915.375 [SpeedCalculator] Loaded
2012-10-04T19:11:55.376Z,1349377915.376 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-04T19:11:55.391Z,1349377915.391 [TempGradientCalculator] Loaded
2012-10-04T19:11:55.391Z,1349377915.391 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-04T19:11:55.397Z,1349377915.397 [YawRateCalculator] Loaded
2012-10-04T19:11:55.397Z,1349377915.397 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-04T19:11:55.416Z,1349377915.416 [Navigation] Loaded
2012-10-04T19:11:55.417Z,1349377915.417 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-04T19:11:55.417Z,1349377915.417 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-04T19:11:55.418Z,1349377915.418 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-04T19:11:55.648Z,1349377915.648 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-04T19:11:55.648Z,1349377915.648 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-04T19:11:55.675Z,1349377915.675 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-04T19:11:55.675Z,1349377915.675 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-04T19:11:55.718Z,1349377915.718 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-04T19:11:55.761Z,1349377915.761 [VerticalControl] Loaded
2012-10-04T19:11:55.761Z,1349377915.761 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-04T19:11:55.762Z,1349377915.762 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-04T19:11:55.783Z,1349377915.783 [HorizontalControl] Loaded
2012-10-04T19:11:55.783Z,1349377915.783 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-04T19:11:55.784Z,1349377915.784 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-04T19:11:55.786Z,1349377915.786 [SpeedControl] Loaded
2012-10-04T19:11:55.786Z,1349377915.786 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-04T19:11:55.787Z,1349377915.787 [LoopControl](DEBUG): Construct LoopControl.
2012-10-04T19:11:55.788Z,1349377915.788 [LoopControl] Loaded
2012-10-04T19:11:55.788Z,1349377915.788 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-04T19:11:55.789Z,1349377915.789 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-04T19:11:55.789Z,1349377915.789 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-04T19:11:55.795Z,1349377915.795 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-04T19:11:55.799Z,1349377915.799 [AsyncPiEstimator] Loaded
2012-10-04T19:11:55.800Z,1349377915.800 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-04T19:11:55.801Z,1349377915.801 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-04T19:11:55.802Z,1349377915.802 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-04T19:11:55.802Z,1349377915.802 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-04T19:11:55.928Z,1349377915.928 [AHRS_sp3003D] Loaded
2012-10-04T19:11:55.928Z,1349377915.928 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-04T19:11:55.942Z,1349377915.942 [Depth_Keller] Loaded
2012-10-04T19:11:55.942Z,1349377915.942 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-04T19:11:55.948Z,1349377915.948 [DropWeight] Loaded
2012-10-04T19:11:55.948Z,1349377915.948 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-04T19:11:56.064Z,1349377916.064 [DVL_micro] Loaded
2012-10-04T19:11:56.064Z,1349377916.065 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-04T19:11:56.066Z,1349377916.066 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-04T19:11:56.149Z,1349377916.149 [NAL9602] Loaded
2012-10-04T19:11:56.150Z,1349377916.150 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-04T19:11:56.201Z,1349377916.201 [Onboard] Loaded
2012-10-04T19:11:56.202Z,1349377916.202 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-04T19:11:56.209Z,1349377916.209 [Radio_Freewave] Loaded
2012-10-04T19:11:56.209Z,1349377916.209 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-04T19:11:56.210Z,1349377916.210 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-04T19:11:56.211Z,1349377916.211 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-04T19:11:56.282Z,1349377916.282 [CTD_NeilBrown] Loaded
2012-10-04T19:11:56.282Z,1349377916.282 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-04T19:11:56.283Z,1349377916.283 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-04T19:11:56.293Z,1349377916.293 [PAR_Licor] Loaded
2012-10-04T19:11:56.294Z,1349377916.294 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-04T19:11:56.324Z,1349377916.324 [WetLabsBB2FL] Loaded
2012-10-04T19:11:56.324Z,1349377916.325 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-04T19:11:56.326Z,1349377916.326 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-04T19:11:56.326Z,1349377916.326 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-04T19:11:56.329Z,1349377916.329 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-04T19:11:56.329Z,1349377916.329 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-04T19:11:56.335Z,1349377916.335 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-04T19:11:56.337Z,1349377916.337 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-04T19:11:56.341Z,1349377916.341 [Supervisor](DEBUG): Running supervisor.
2012-10-04T19:11:56.342Z,1349377916.342 [CommandLine](INFO): Thread ID is 2787
2012-10-04T19:11:56.345Z,1349377916.345 [controlThread](INFO): Thread ID is 2786
2012-10-04T19:11:56.345Z,1349377916.345 [controlThread](DEBUG): Initializing ControlThread
2012-10-04T19:11:56.345Z,1349377916.345 [CycleStarter](INFO): Thread ID is 2785
2012-10-04T19:11:56.346Z,1349377916.346 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-04T19:11:56.379Z,1349377916.379 [AsyncPiEstimator](INFO): Thread ID is 2848
2012-10-04T19:11:56.379Z,1349377916.379 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-04T19:11:56.392Z,1349377916.392 [SBIT](INFO): Initialize SBIT Component.
2012-10-04T19:11:56.393Z,1349377916.392 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9922
2012-10-04T19:11:56.393Z,1349377916.393 [IBIT](INFO): Initialize IBIT Component.
2012-10-04T19:11:56.394Z,1349377916.394 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-04T19:11:56.394Z,1349377916.394 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-04T19:11:56.394Z,1349377916.395 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-04T19:11:56.396Z,1349377916.396 [DVL_micro](INFO): Thread ID is 2849
2012-10-04T19:11:56.405Z,1349377916.405 [DVL_micro](INFO): Initializing
2012-10-04T19:11:56.405Z,1349377916.405 [DVL_micro](INFO): start:Powering up
2012-10-04T19:11:56.406Z,1349377916.406 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-04T19:11:56.407Z,1349377916.407 [DVL_micro](INFO): Cycling power to configure device.
2012-10-04T19:11:56.419Z,1349377916.419 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-04T19:11:56.420Z,1349377916.420 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-04T19:11:56.420Z,1349377916.420 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-04T19:11:56.421Z,1349377916.421 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-04T19:11:56.421Z,1349377916.421 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-04T19:11:56.423Z,1349377916.423 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-04T19:11:56.423Z,1349377916.423 [Navigation](DEBUG): Initializing Navigation.
2012-10-04T19:11:56.423Z,1349377916.423 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-04T19:11:56.425Z,1349377916.425 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-04T19:11:56.426Z,1349377916.426 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-04T19:11:56.426Z,1349377916.426 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-04T19:11:56.431Z,1349377916.431 [CTD_NeilBrown](INFO): Thread ID is 2850
2012-10-04T19:11:56.432Z,1349377916.432 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-04T19:11:56.436Z,1349377916.436 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-04T19:11:56.439Z,1349377916.439 [WetLabsBB2FL](INFO): Thread ID is 2851
2012-10-04T19:11:56.440Z,1349377916.440 [WetLabsBB2FL](INFO): Powering down
2012-10-04T19:11:56.458Z,1349377916.458 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-04T19:11:56.479Z,1349377916.479 [NavChartDb](INFO): Thread ID is 2852
2012-10-04T19:11:56.481Z,1349377916.481 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-04T19:11:56.482Z,1349377916.482 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-04T19:11:56.488Z,1349377916.488 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T19:11:56.498Z,1349377916.499 [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>


2012-10-04T19:11:56.499Z,1349377916.499 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-04T19:11:56.527Z,1349377916.527 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-04T19:11:56.530Z,1349377916.530 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-04T19:11:56.533Z,1349377916.533 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T19:11:56.541Z,1349377916.541 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-04T19:11:56.544Z,1349377916.544 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T19:11:56.551Z,1349377916.551 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-04T19:11:56.560Z,1349377916.560 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-04T19:11:56.563Z,1349377916.563 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T19:11:56.568Z,1349377916.568 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-04T19:11:56.572Z,1349377916.572 [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>


2012-10-04T19:11:56.576Z,1349377916.576 [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,MassServo,RudderServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-10-04T19:11:56.597Z,1349377916.597 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-04T19:11:56.607Z,1349377916.607 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-04T19:11:56.607Z,1349377916.607 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-04T19:11:56.607Z,1349377916.607 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-04T19:11:57.791Z,1349377917.792 [Radio_Freewave](INFO): Powering up
2012-10-04T19:11:57.900Z,1349377917.900 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-04T19:11:57.903Z,1349377917.903 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-04T19:11:57.909Z,1349377917.909 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-04T19:11:57.910Z,1349377917.911 [MassServo](DEBUG): Initializing MassServo.
2012-10-04T19:11:57.916Z,1349377917.916 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-04T19:11:57.919Z,1349377917.919 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-04T19:11:58.723Z,1349377918.723 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-04T19:11:58.723Z,1349377918.723 [DVL_micro](INFO): Querying output modes
2012-10-04T19:11:58.724Z,1349377918.724 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-04T19:11:58.727Z,1349377918.727 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-04T19:11:58.727Z,1349377918.727 [DVL_micro](INFO): NQ1 output enabled
2012-10-04T19:11:58.727Z,1349377918.727 [DVL_micro](INFO): RSSI output enabled
2012-10-04T19:11:58.727Z,1349377918.727 [DVL_micro](INFO): ADCP output enabled
2012-10-04T19:11:58.728Z,1349377918.728 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-04T19:11:58.735Z,1349377918.735 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-04T19:11:58.740Z,1349377918.740 [DVL_micro](INFO): pause:Powering down
2012-10-04T19:12:01.401Z,1349377921.401 [NAL9602](INFO): Powering up NAL9602
2012-10-04T19:12:12.139Z,1349377932.139 [NAL9602](INFO): NAL9602 initialized
2012-10-04T19:12:12.210Z,1349377932.210 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-04T19:12:12.213Z,1349377932.213 [CBIT](IMPORTANT): Beginning GF scan
2012-10-04T19:12:14.105Z,1349377934.105 [NAL9602](IMPORTANT): GPS fix at: 1349377934.00
2012-10-04T19:12:22.964Z,1349377942.964 [NAL9602](INFO): Powering down
2012-10-04T19:12:23.279Z,1349377943.279 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.823200 degree
2012-10-04T19:12:23.281Z,1349377943.281 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2012-10-04T19:12:23.281Z,1349377943.281 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121827.000000 degree
2012-10-04T19:12:23.283Z,1349377943.283 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2012-10-04T19:12:23.283Z,1349377943.283 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-10-04T19:12:23.284Z,1349377943.284 [CommandLine](IMPORTANT): got command report touch 
2012-10-04T19:12:23.284Z,1349377943.284 [CommandLine](FAULT): Incomplete syntax. Try: help report
2012-10-04T19:12:24.087Z,1349377944.087 [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,MassServo,RudderServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-10-04T19:12:39.251Z,1349377959.251 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.823200 degree
2012-10-04T19:12:39.252Z,1349377959.252 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121827.000000 degree
2012-10-04T19:12:39.253Z,1349377959.253 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2012-10-04T19:12:39.253Z,1349377959.253 [CommandLine](IMPORTANT): got command report touch 
2012-10-04T19:12:39.253Z,1349377959.253 [CommandLine](FAULT): Incomplete syntax. Try: help report
2012-10-04T19:12:42.083Z,1349377962.083 [CBIT](IMPORTANT): No ground fault detected