2012-10-04T23:17:09.649Z,1349392629.649 [Supervisor](DEBUG): Initializing supervisor.
2012-10-04T23:17:09.654Z,1349392629.654 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-04T23:17:09.655Z,1349392629.655 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-04T23:17:09.658Z,1349392629.658 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-04T23:17:09.662Z,1349392629.662 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-04T23:17:09.672Z,1349392629.672 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-04T23:17:09.674Z,1349392629.674 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-04T23:17:09.675Z,1349392629.675 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-04T23:17:09.676Z,1349392629.676 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-04T23:17:09.679Z,1349392629.679 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-04T23:17:09.978Z,1349392629.978 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-04T23:17:09.980Z,1349392629.980 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-04T23:17:10.179Z,1349392630.179 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-04T23:17:10.180Z,1349392630.180 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-04T23:17:10.274Z,1349392630.274 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-04T23:17:10.276Z,1349392630.276 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-04T23:17:10.496Z,1349392630.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-04T23:17:10.496Z,1349392630.496 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-04T23:17:10.643Z,1349392630.643 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-04T23:17:10.645Z,1349392630.645 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-04T23:17:10.890Z,1349392630.890 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-04T23:17:10.891Z,1349392630.891 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-04T23:17:11.075Z,1349392631.075 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-04T23:17:11.077Z,1349392631.077 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-04T23:17:11.344Z,1349392631.344 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-04T23:17:11.346Z,1349392631.346 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-04T23:17:11.459Z,1349392631.459 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-04T23:17:11.460Z,1349392631.460 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-04T23:17:11.888Z,1349392631.888 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-04T23:17:11.888Z,1349392631.888 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-04T23:17:12.007Z,1349392632.007 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-04T23:17:12.008Z,1349392632.008 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-04T23:17:12.104Z,1349392632.103 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-04T23:17:12.107Z,1349392632.107 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-04T23:17:12.220Z,1349392632.220 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-04T23:17:12.364Z,1349392632.364 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-04T23:17:12.458Z,1349392632.458 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-04T23:17:12.568Z,1349392632.568 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-04T23:17:12.678Z,1349392632.678 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-04T23:17:12.808Z,1349392632.808 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-04T23:17:12.906Z,1349392632.906 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-04T23:17:13.002Z,1349392633.002 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-10-04T23:17:13.095Z,1349392633.095 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-04T23:17:13.290Z,1349392633.290 [InternalSim] Loaded
2012-10-04T23:17:13.291Z,1349392633.291 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-04T23:17:13.292Z,1349392633.292 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-04T23:17:13.292Z,1349392633.292 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-04T23:17:14.402Z,1349392634.402 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-04T23:17:14.415Z,1349392634.415 [SBIT] Loaded
2012-10-04T23:17:14.415Z,1349392634.415 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-04T23:17:14.416Z,1349392634.416 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-04T23:17:14.451Z,1349392634.451 [IBIT] Loaded
2012-10-04T23:17:14.452Z,1349392634.452 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-04T23:17:14.455Z,1349392634.455 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-04T23:17:14.582Z,1349392634.582 [CBIT] Loaded
2012-10-04T23:17:14.583Z,1349392634.583 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-04T23:17:14.583Z,1349392634.583 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-04T23:17:14.584Z,1349392634.584 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-04T23:17:15.236Z,1349392635.236 [BuoyancyServo] Loaded
2012-10-04T23:17:15.237Z,1349392635.237 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-04T23:17:15.249Z,1349392635.249 [MassServo] Loaded
2012-10-04T23:17:15.249Z,1349392635.249 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-04T23:17:15.260Z,1349392635.260 [RudderServo] Loaded
2012-10-04T23:17:15.261Z,1349392635.261 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-04T23:17:15.261Z,1349392635.261 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-04T23:17:15.262Z,1349392635.262 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-04T23:17:15.295Z,1349392635.295 [DepthRateCalculator] Loaded
2012-10-04T23:17:15.296Z,1349392635.296 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-04T23:17:19.544Z,1349392639.544 [HFRadarModelCalc] Loaded
2012-10-04T23:17:19.544Z,1349392639.544 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-04T23:17:19.560Z,1349392639.560 [NavChart] Loaded
2012-10-04T23:17:19.560Z,1349392639.560 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-04T23:17:19.566Z,1349392639.566 [PitchRateCalculator] Loaded
2012-10-04T23:17:19.567Z,1349392639.566 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-04T23:17:19.573Z,1349392639.573 [SpeedCalculator] Loaded
2012-10-04T23:17:19.573Z,1349392639.573 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-04T23:17:19.592Z,1349392639.592 [TempGradientCalculator] Loaded
2012-10-04T23:17:19.592Z,1349392639.592 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-04T23:17:19.598Z,1349392639.598 [YawRateCalculator] Loaded
2012-10-04T23:17:19.598Z,1349392639.598 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-04T23:17:19.617Z,1349392639.617 [Navigation] Loaded
2012-10-04T23:17:19.617Z,1349392639.617 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-04T23:17:19.618Z,1349392639.618 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-04T23:17:19.618Z,1349392639.618 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-04T23:17:19.902Z,1349392639.902 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-04T23:17:19.903Z,1349392639.903 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-04T23:17:19.946Z,1349392639.946 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-04T23:17:19.947Z,1349392639.947 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-04T23:17:20.011Z,1349392640.011 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-04T23:17:20.058Z,1349392640.058 [VerticalControl] Loaded
2012-10-04T23:17:20.058Z,1349392640.058 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-04T23:17:20.059Z,1349392640.059 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-04T23:17:20.084Z,1349392640.084 [HorizontalControl] Loaded
2012-10-04T23:17:20.084Z,1349392640.084 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-04T23:17:20.085Z,1349392640.085 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-04T23:17:20.087Z,1349392640.087 [SpeedControl] Loaded
2012-10-04T23:17:20.087Z,1349392640.087 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-04T23:17:20.088Z,1349392640.088 [LoopControl](DEBUG): Construct LoopControl.
2012-10-04T23:17:20.089Z,1349392640.089 [LoopControl] Loaded
2012-10-04T23:17:20.089Z,1349392640.089 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-04T23:17:20.089Z,1349392640.089 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-04T23:17:20.090Z,1349392640.090 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-04T23:17:20.098Z,1349392640.098 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-04T23:17:20.103Z,1349392640.103 [AsyncPiEstimator] Loaded
2012-10-04T23:17:20.103Z,1349392640.103 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-04T23:17:20.106Z,1349392640.106 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-04T23:17:20.107Z,1349392640.107 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-04T23:17:20.108Z,1349392640.108 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-04T23:17:20.284Z,1349392640.284 [AHRS_sp3003D] Loaded
2012-10-04T23:17:20.284Z,1349392640.284 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-04T23:17:20.302Z,1349392640.302 [Depth_Keller] Loaded
2012-10-04T23:17:20.302Z,1349392640.302 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-04T23:17:20.308Z,1349392640.308 [DropWeight] Loaded
2012-10-04T23:17:20.308Z,1349392640.308 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-04T23:17:20.434Z,1349392640.434 [DVL_micro] Loaded
2012-10-04T23:17:20.434Z,1349392640.434 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-04T23:17:20.442Z,1349392640.442 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-04T23:17:20.532Z,1349392640.532 [NAL9602] Loaded
2012-10-04T23:17:20.532Z,1349392640.532 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-04T23:17:20.587Z,1349392640.587 [Onboard] Loaded
2012-10-04T23:17:20.587Z,1349392640.587 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-04T23:17:20.594Z,1349392640.594 [Radio_Freewave] Loaded
2012-10-04T23:17:20.594Z,1349392640.594 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-04T23:17:20.595Z,1349392640.595 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-04T23:17:20.596Z,1349392640.596 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-04T23:17:20.673Z,1349392640.673 [PAR_Licor] Loaded
2012-10-04T23:17:20.674Z,1349392640.674 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-04T23:17:20.694Z,1349392640.694 [Turbulence_NPS] Loaded
2012-10-04T23:17:20.694Z,1349392640.694 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-04T23:17:20.698Z,1349392640.698 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-04T23:17:20.732Z,1349392640.732 [WetLabsBB2FL] Loaded
2012-10-04T23:17:20.732Z,1349392640.732 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-04T23:17:20.734Z,1349392640.734 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-04T23:17:20.735Z,1349392640.735 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-04T23:17:20.737Z,1349392640.737 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-04T23:17:20.738Z,1349392640.738 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-04T23:17:20.748Z,1349392640.748 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-04T23:17:20.751Z,1349392640.751 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-04T23:17:20.755Z,1349392640.755 [Supervisor](DEBUG): Running supervisor.
2012-10-04T23:17:20.756Z,1349392640.756 [CommandLine](INFO): Thread ID is 749
2012-10-04T23:17:20.759Z,1349392640.759 [controlThread](INFO): Thread ID is 748
2012-10-04T23:17:20.759Z,1349392640.759 [controlThread](DEBUG): Initializing ControlThread
2012-10-04T23:17:20.760Z,1349392640.760 [CycleStarter](INFO): Thread ID is 747
2012-10-04T23:17:20.760Z,1349392640.760 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-04T23:17:20.867Z,1349392640.867 [AsyncPiEstimator](INFO): Thread ID is 810
2012-10-04T23:17:20.867Z,1349392640.867 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-04T23:17:20.938Z,1349392640.938 [DVL_micro](INFO): Thread ID is 811
2012-10-04T23:17:21.022Z,1349392641.022 [Turbulence_NPS](INFO): Thread ID is 812
2012-10-04T23:17:21.022Z,1349392641.022 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-04T23:17:21.023Z,1349392641.023 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-04T23:17:21.062Z,1349392641.062 [DVL_micro](INFO): Initializing
2012-10-04T23:17:21.062Z,1349392641.062 [DVL_micro](INFO): start:Powering up
2012-10-04T23:17:21.063Z,1349392641.063 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-04T23:17:21.064Z,1349392641.064 [DVL_micro](INFO): Cycling power to configure device.
2012-10-04T23:17:21.067Z,1349392641.067 [WetLabsBB2FL](INFO): Thread ID is 813
2012-10-04T23:17:21.068Z,1349392641.068 [WetLabsBB2FL](INFO): Powering down
2012-10-04T23:17:21.091Z,1349392641.091 [NavChartDb](INFO): Thread ID is 814
2012-10-04T23:17:21.098Z,1349392641.098 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-04T23:17:21.235Z,1349392641.235 [Turbulence_NPS](INFO): Pause powering down
2012-10-04T23:17:21.240Z,1349392641.240 [SBIT](INFO): Initialize SBIT Component.
2012-10-04T23:17:21.241Z,1349392641.241 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9922
2012-10-04T23:17:21.241Z,1349392641.241 [IBIT](INFO): Initialize IBIT Component.
2012-10-04T23:17:21.243Z,1349392641.243 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-04T23:17:21.243Z,1349392641.243 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-04T23:17:21.243Z,1349392641.243 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2012-10-04T23:17:21.263Z,1349392641.263 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-04T23:17:21.264Z,1349392641.264 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-04T23:17:21.264Z,1349392641.264 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-04T23:17:21.264Z,1349392641.264 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-04T23:17:21.268Z,1349392641.267 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-04T23:17:21.268Z,1349392641.268 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-04T23:17:21.269Z,1349392641.269 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-04T23:17:21.269Z,1349392641.269 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-04T23:17:21.269Z,1349392641.269 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-04T23:17:21.271Z,1349392641.271 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-04T23:17:21.271Z,1349392641.271 [Navigation](DEBUG): Initializing Navigation.
2012-10-04T23:17:21.272Z,1349392641.272 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-04T23:17:21.273Z,1349392641.273 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-04T23:17:21.274Z,1349392641.274 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-04T23:17:21.275Z,1349392641.275 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-04T23:17:21.280Z,1349392641.280 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-04T23:17:21.371Z,1349392641.371 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T23:17:21.382Z,1349392641.382 [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>


2012-10-04T23:17:21.382Z,1349392641.382 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-04T23:17:21.489Z,1349392641.489 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-04T23:17:21.491Z,1349392641.491 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-04T23:17:21.494Z,1349392641.494 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T23:17:21.507Z,1349392641.507 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-04T23:17:21.510Z,1349392641.510 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T23:17:21.517Z,1349392641.517 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-04T23:17:21.526Z,1349392641.526 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-04T23:17:21.533Z,1349392641.533 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T23:17:21.538Z,1349392641.538 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-04T23:17:21.544Z,1349392641.544 [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>


2012-10-04T23:17:21.548Z,1349392641.548 [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,
2012-10-04T23:17:21.571Z,1349392641.571 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-04T23:17:21.763Z,1349392641.763 [Depth_Keller](INFO): A/D timeout, 3 tries over 178 ms

2012-10-04T23:17:21.763Z,1349392641.763 [Depth_Keller] Data Fault, FailCount= 1
2012-10-04T23:17:21.763Z,1349392641.763 [Depth_Keller](ERROR): Data Fault
2012-10-04T23:17:21.819Z,1349392641.819 [Radio_Freewave](INFO): Powering up
2012-10-04T23:17:21.927Z,1349392641.927 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-04T23:17:21.931Z,1349392641.931 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-04T23:17:21.937Z,1349392641.937 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-04T23:17:21.939Z,1349392641.939 [MassServo](DEBUG): Initializing MassServo.
2012-10-04T23:17:21.945Z,1349392641.945 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-04T23:17:21.947Z,1349392641.947 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-04T23:17:21.965Z,1349392641.965 [CBIT](ERROR): Data Fault in component: Depth_Keller
2012-10-04T23:17:21.965Z,1349392641.965 [CBIT](INFO): Clearing failed state for component Depth_Keller
2012-10-04T23:17:21.965Z,1349392641.965 [Depth_Keller] No Fault, FailCount= 1
2012-10-04T23:17:23.255Z,1349392643.255 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-04T23:17:23.255Z,1349392643.255 [DVL_micro](INFO): Querying output modes
2012-10-04T23:17:23.255Z,1349392643.256 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-04T23:17:23.259Z,1349392643.259 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-04T23:17:23.259Z,1349392643.259 [DVL_micro](INFO): NQ1 output enabled
2012-10-04T23:17:23.259Z,1349392643.259 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-04T23:17:23.263Z,1349392643.263 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-04T23:17:23.268Z,1349392643.268 [DVL_micro](INFO): pause:Powering down
2012-10-04T23:17:25.801Z,1349392645.801 [NAL9602](INFO): Powering up NAL9602
2012-10-04T23:17:37.202Z,1349392657.202 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-04T23:17:37.211Z,1349392657.211 [CBIT](IMPORTANT): Beginning GF scan
2012-10-04T23:17:37.807Z,1349392657.807 [NAL9602](INFO): NAL9602 initialized
2012-10-04T23:17:39.055Z,1349392659.055 [Radio_Freewave](INFO): Powering down
2012-10-04T23:17:39.687Z,1349392659.687 [Radio_Freewave](INFO): Powering up
2012-10-04T23:18:06.831Z,1349392686.830 [CBIT](IMPORTANT): No ground fault detected
2012-10-04T23:18:18.157Z,1349392698.157 [SBIT](FAULT): Mass: EXPECTED:-0.004800 ACTUAL:-0.004750
2012-10-04T23:18:18.157Z,1349392698.157 [SBIT](FAULT): Control surface position failure.
2012-10-04T23:18:32.475Z,1349392712.475 [SBIT](CRITICAL): SBIT FAILED
2012-10-04T23:18:32.865Z,1349392712.865 [MissionManager](IMPORTANT): Started mission Startup
2012-10-04T23:18:32.865Z,1349392712.865 [Startup] Running Loop=1
2012-10-04T23:18:32.865Z,1349392712.865 [Startup](INFO): Aggregate::initialize Startup
2012-10-04T23:18:32.865Z,1349392712.865 [Startup:A.GoToSurface] Running Loop=1
2012-10-04T23:18:32.865Z,1349392712.865 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-04T23:18:32.874Z,1349392712.874 [Startup:StartupSatComms] Running Loop=1
2012-10-04T23:18:32.874Z,1349392712.874 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-04T23:18:32.874Z,1349392712.874 [Startup:StartupSatComms:A] Running Loop=1
2012-10-04T23:18:33.260Z,1349392713.260 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-10-04T23:19:33.261Z,1349392773.260 [Startup:StartupSatComms:A](INFO): Timed out from 2012-10-04T23:18:32.9Z
2012-10-04T23:19:33.261Z,1349392773.261 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2012-10-04T23:19:33.261Z,1349392773.261 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2012-10-04T23:19:33.261Z,1349392773.261 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2012-10-04T23:19:33.261Z,1349392773.261 [Startup:StartupSatComms:A] Stopped
2012-10-04T23:19:33.261Z,1349392773.261 [Startup:StartupSatComms:B] Running Loop=1
2012-10-04T23:19:33.660Z,1349392773.660 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-10-04T23:19:36.754Z,1349392776.754 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-10-04T23:19:41.136Z,1349392781.136 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0