2013-02-07T20:11:12.035Z,1360267872.035 [Supervisor](DEBUG): Initializing supervisor.
2013-02-07T20:11:12.037Z,1360267872.037 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-02-07T20:11:12.038Z,1360267872.038 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-02-07T20:11:12.039Z,1360267872.039 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-02-07T20:11:12.043Z,1360267872.043 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-02-07T20:11:12.054Z,1360267872.054 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-02-07T20:11:12.056Z,1360267872.056 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-02-07T20:11:12.056Z,1360267872.056 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-02-07T20:11:12.057Z,1360267872.057 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-02-07T20:11:12.058Z,1360267872.058 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-02-07T20:11:12.059Z,1360267872.059 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-02-07T20:11:12.344Z,1360267872.344 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-02-07T20:11:12.345Z,1360267872.345 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-02-07T20:11:12.535Z,1360267872.535 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-02-07T20:11:12.535Z,1360267872.535 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-02-07T20:11:12.619Z,1360267872.619 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-02-07T20:11:12.620Z,1360267872.620 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-02-07T20:11:12.819Z,1360267872.819 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-02-07T20:11:12.819Z,1360267872.819 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-02-07T20:11:12.955Z,1360267872.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-02-07T20:11:12.955Z,1360267872.955 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-02-07T20:11:13.256Z,1360267873.256 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-02-07T20:11:13.257Z,1360267873.257 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-02-07T20:11:13.428Z,1360267873.428 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-02-07T20:11:13.429Z,1360267873.429 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-02-07T20:11:13.692Z,1360267873.693 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-02-07T20:11:13.693Z,1360267873.693 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-02-07T20:11:13.807Z,1360267873.807 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-02-07T20:11:13.808Z,1360267873.807 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-02-07T20:11:14.269Z,1360267874.269 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-02-07T20:11:14.269Z,1360267874.269 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-02-07T20:11:14.384Z,1360267874.384 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-02-07T20:11:14.385Z,1360267874.385 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-02-07T20:11:14.470Z,1360267874.470 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-02-07T20:11:14.471Z,1360267874.471 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-02-07T20:11:14.572Z,1360267874.572 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-02-07T20:11:14.705Z,1360267874.705 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-02-07T20:11:14.790Z,1360267874.790 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-02-07T20:11:14.891Z,1360267874.891 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-02-07T20:11:14.992Z,1360267874.992 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-02-07T20:11:15.216Z,1360267875.216 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-02-07T20:11:15.312Z,1360267875.312 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-02-07T20:11:15.399Z,1360267875.399 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-02-07T20:11:15.433Z,1360267875.433 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-02-07T20:11:15.588Z,1360267875.588 [InternalSim] Loaded
2013-02-07T20:11:15.588Z,1360267875.588 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-02-07T20:11:15.589Z,1360267875.589 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-02-07T20:11:15.590Z,1360267875.589 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-02-07T20:11:15.656Z,1360267875.656 [SBIT](DEBUG): Construct Startup Built In Test.
2013-02-07T20:11:15.686Z,1360267875.685 [SBIT] Loaded
2013-02-07T20:11:15.686Z,1360267875.686 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-02-07T20:11:15.687Z,1360267875.687 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-02-07T20:11:15.717Z,1360267875.717 [IBIT] Loaded
2013-02-07T20:11:15.717Z,1360267875.717 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-02-07T20:11:15.721Z,1360267875.721 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-02-07T20:11:15.845Z,1360267875.845 [CBIT] Loaded
2013-02-07T20:11:15.846Z,1360267875.846 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-02-07T20:11:15.846Z,1360267875.846 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-02-07T20:11:15.847Z,1360267875.847 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-02-07T20:11:15.000Z,1360267876.000 [BuoyancyServo] Loaded
2013-02-07T20:11:16.000Z,1360267876.000 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-02-07T20:11:16.031Z,1360267876.031 [ElevatorServo] Loaded
2013-02-07T20:11:16.032Z,1360267876.032 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-02-07T20:11:16.044Z,1360267876.044 [MassServo] Loaded
2013-02-07T20:11:16.044Z,1360267876.044 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-02-07T20:11:16.056Z,1360267876.056 [RudderServo] Loaded
2013-02-07T20:11:16.057Z,1360267876.057 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-02-07T20:11:16.096Z,1360267876.096 [ThrusterServo] Loaded
2013-02-07T20:11:16.096Z,1360267876.096 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-02-07T20:11:16.097Z,1360267876.097 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-02-07T20:11:16.097Z,1360267876.097 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-02-07T20:11:16.118Z,1360267876.118 [DepthRateCalculator] Loaded
2013-02-07T20:11:16.118Z,1360267876.118 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-02-07T20:11:20.121Z,1360267880.121 [HFRadarModelCalc] Loaded
2013-02-07T20:11:20.121Z,1360267880.121 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-02-07T20:11:20.143Z,1360267880.143 [NavChart] Loaded
2013-02-07T20:11:20.143Z,1360267880.143 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-02-07T20:11:20.149Z,1360267880.149 [PitchRateCalculator] Loaded
2013-02-07T20:11:20.149Z,1360267880.149 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-02-07T20:11:20.156Z,1360267880.156 [SpeedCalculator] Loaded
2013-02-07T20:11:20.156Z,1360267880.156 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-02-07T20:11:20.171Z,1360267880.171 [TempGradientCalculator] Loaded
2013-02-07T20:11:20.171Z,1360267880.171 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-02-07T20:11:20.177Z,1360267880.177 [YawRateCalculator] Loaded
2013-02-07T20:11:20.178Z,1360267880.178 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-02-07T20:11:20.235Z,1360267880.235 [Navigation] Loaded
2013-02-07T20:11:20.236Z,1360267880.236 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-02-07T20:11:20.236Z,1360267880.236 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-02-07T20:11:20.237Z,1360267880.237 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-02-07T20:11:20.461Z,1360267880.461 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-02-07T20:11:20.461Z,1360267880.461 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-02-07T20:11:20.483Z,1360267880.483 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-02-07T20:11:20.484Z,1360267880.484 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-02-07T20:11:20.526Z,1360267880.526 [VerticalControl](DEBUG): Construct VerticalControl.
2013-02-07T20:11:20.622Z,1360267880.622 [VerticalControl] Loaded
2013-02-07T20:11:20.623Z,1360267880.623 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-02-07T20:11:20.624Z,1360267880.624 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-02-07T20:11:20.681Z,1360267880.681 [HorizontalControl] Loaded
2013-02-07T20:11:20.681Z,1360267880.681 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-02-07T20:11:20.682Z,1360267880.682 [SpeedControl](DEBUG): Construct SpeedControl.
2013-02-07T20:11:20.684Z,1360267880.684 [SpeedControl] Loaded
2013-02-07T20:11:20.684Z,1360267880.684 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-02-07T20:11:20.685Z,1360267880.685 [LoopControl](DEBUG): Construct LoopControl.
2013-02-07T20:11:20.686Z,1360267880.686 [LoopControl] Loaded
2013-02-07T20:11:20.686Z,1360267880.686 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-02-07T20:11:20.687Z,1360267880.687 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-02-07T20:11:20.687Z,1360267880.687 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-02-07T20:11:20.692Z,1360267880.692 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-02-07T20:11:20.697Z,1360267880.697 [AsyncPiEstimator] Loaded
2013-02-07T20:11:20.698Z,1360267880.698 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-02-07T20:11:20.699Z,1360267880.699 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A34E0
2013-02-07T20:11:20.700Z,1360267880.700 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-02-07T20:11:20.700Z,1360267880.700 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-02-07T20:11:20.835Z,1360267880.835 [AHRS_sp3003D] Loaded
2013-02-07T20:11:20.836Z,1360267880.836 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-02-07T20:11:21.133Z,1360267881.133 [Batt_Ocean_Server] Loaded
2013-02-07T20:11:21.133Z,1360267881.133 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-02-07T20:11:21.147Z,1360267881.147 [Depth_Keller] Loaded
2013-02-07T20:11:21.147Z,1360267881.147 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-02-07T20:11:21.332Z,1360267881.332 [DVL_micro] Loaded
2013-02-07T20:11:21.332Z,1360267881.332 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-02-07T20:11:21.333Z,1360267881.333 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407274E0
2013-02-07T20:11:21.385Z,1360267881.385 [Onboard] Loaded
2013-02-07T20:11:21.386Z,1360267881.386 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-02-07T20:11:21.393Z,1360267881.393 [Radio_Freewave] Loaded
2013-02-07T20:11:21.393Z,1360267881.393 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-02-07T20:11:21.476Z,1360267881.476 [DAT] Loaded
2013-02-07T20:11:21.477Z,1360267881.477 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-02-07T20:11:21.477Z,1360267881.477 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-02-07T20:11:21.478Z,1360267881.478 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-02-07T20:11:21.534Z,1360267881.534 [PAR_Licor] Loaded
2013-02-07T20:11:21.534Z,1360267881.534 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-02-07T20:11:21.535Z,1360267881.535 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-02-07T20:11:21.538Z,1360267881.538 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-02-07T20:11:21.539Z,1360267881.539 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-02-07T20:11:21.545Z,1360267881.545 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-02-07T20:11:21.547Z,1360267881.546 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2013-02-07T20:11:21.552Z,1360267881.552 [Supervisor](DEBUG): Running supervisor.
2013-02-07T20:11:21.553Z,1360267881.553 [CommandLine](INFO): Thread ID is 7280
2013-02-07T20:11:21.556Z,1360267881.556 [controlThread](INFO): Thread ID is 7279
2013-02-07T20:11:21.556Z,1360267881.556 [controlThread](DEBUG): Initializing ControlThread
2013-02-07T20:11:21.557Z,1360267881.557 [CycleStarter](INFO): Thread ID is 7278
2013-02-07T20:11:21.557Z,1360267881.557 [InternalSim](DEBUG):  InternalSim initializing...
2013-02-07T20:11:21.591Z,1360267881.591 [logger](INFO): Thread ID is 7281
2013-02-07T20:11:21.618Z,1360267881.618 [SBIT](INFO): Initialize SBIT Component.
2013-02-07T20:11:21.618Z,1360267881.618 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10106
2013-02-07T20:11:21.619Z,1360267881.619 [IBIT](INFO): Initialize IBIT Component.
2013-02-07T20:11:21.620Z,1360267881.620 [CBIT](DEBUG): Initialize CBIT Component.
2013-02-07T20:11:21.620Z,1360267881.620 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-02-07T20:11:21.631Z,1360267881.631 [AsyncPiEstimator](INFO): Thread ID is 7342
2013-02-07T20:11:21.631Z,1360267881.631 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-02-07T20:11:21.646Z,1360267881.646 [DVL_micro](INFO): Thread ID is 7343
2013-02-07T20:11:21.657Z,1360267881.657 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-07T20:11:21.658Z,1360267881.658 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-02-07T20:11:21.659Z,1360267881.658 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-02-07T20:11:21.659Z,1360267881.659 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-02-07T20:11:21.659Z,1360267881.659 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-02-07T20:11:21.661Z,1360267881.661 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-02-07T20:11:21.661Z,1360267881.661 [Navigation](DEBUG): Initializing Navigation.
2013-02-07T20:11:21.661Z,1360267881.661 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-02-07T20:11:21.663Z,1360267881.663 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-02-07T20:11:21.664Z,1360267881.664 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-02-07T20:11:21.664Z,1360267881.664 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-02-07T20:11:21.672Z,1360267881.672 [DVL_micro](INFO): Initializing
2013-02-07T20:11:21.672Z,1360267881.672 [DVL_micro](INFO): start:Powering up
2013-02-07T20:11:21.673Z,1360267881.673 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-07T20:11:21.673Z,1360267881.673 [DVL_micro](INFO): Cycling power to configure device.
2013-02-07T20:11:21.691Z,1360267881.691 [NavChartDb](INFO): Thread ID is 7344
2013-02-07T20:11:21.704Z,1360267881.704 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-02-07T20:11:21.704Z,1360267881.704 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-02-07T20:11:21.705Z,1360267881.705 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-02-07T20:11:21.705Z,1360267881.705 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-02-07T20:11:21.705Z,1360267881.705 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-02-07T20:11:23.150Z,1360267883.150 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-02-07T20:11:23.191Z,1360267883.191 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-02-07T20:11:23.252Z,1360267883.252 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-07T20:11:23.263Z,1360267883.263 [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>


2013-02-07T20:11:23.264Z,1360267883.263 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-02-07T20:11:23.364Z,1360267883.364 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-02-07T20:11:23.375Z,1360267883.375 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-02-07T20:11:23.384Z,1360267883.384 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-07T20:11:23.391Z,1360267883.391 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-02-07T20:11:23.426Z,1360267883.426 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-07T20:11:23.433Z,1360267883.432 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-02-07T20:11:23.469Z,1360267883.469 [Default:D.SetSpeed](DEBUG): Construct.
2013-02-07T20:11:23.472Z,1360267883.472 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-07T20:11:23.477Z,1360267883.477 [Default:F.Wait](DEBUG): Construct Wait.
2013-02-07T20:11:23.493Z,1360267883.493 [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>


2013-02-07T20:11:23.505Z,1360267883.505 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,Onboard,Radio_Freewave,DAT,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,
2013-02-07T20:11:23.567Z,1360267883.567 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-07T20:11:23.739Z,1360267883.739 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-07T20:11:23.739Z,1360267883.739 [DVL_micro](INFO): Querying output modes
2013-02-07T20:11:23.739Z,1360267883.739 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-07T20:11:23.750Z,1360267883.750 [DVL_micro](DEBUG): cmdResponse: 01
2013-02-07T20:11:23.750Z,1360267883.750 [DVL_micro](INFO): NQ1 output enabled
2013-02-07T20:11:23.751Z,1360267883.751 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-07T20:11:23.762Z,1360267883.762 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-02-07T20:11:23.767Z,1360267883.767 [DVL_micro](INFO): pause:Powering down
2013-02-07T20:11:23.777Z,1360267883.777 [Radio_Freewave](INFO): Powering up
2013-02-07T20:11:23.792Z,1360267883.792 [DAT](INFO): Powering up
2013-02-07T20:11:23.793Z,1360267883.793 [DAT](DEBUG): Initializing DAT.
2013-02-07T20:11:24.181Z,1360267884.181 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-02-07T20:11:24.187Z,1360267884.187 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-02-07T20:11:24.193Z,1360267884.193 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-07T20:11:24.214Z,1360267884.214 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-07T20:11:24.264Z,1360267884.264 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-07T20:11:24.275Z,1360267884.274 [MassServo](DEBUG): Initializing MassServo.
2013-02-07T20:11:24.281Z,1360267884.281 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-07T20:11:24.282Z,1360267884.283 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-07T20:11:24.308Z,1360267884.308 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-02-07T20:11:24.318Z,1360267884.318 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-02-07T20:11:25.262Z,1360267885.262 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2013-02-07T20:11:25.262Z,1360267885.262 [ElevatorServo](FAULT): Elevator failed to initialize
2013-02-07T20:11:25.262Z,1360267885.263 [ElevatorServo] Communications Fault, FailCount= 1
2013-02-07T20:11:25.262Z,1360267885.263 [ElevatorServo](ERROR): Communications Fault
2013-02-07T20:11:25.420Z,1360267885.420 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2013-02-07T20:11:25.677Z,1360267885.677 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-02-07T20:11:25.677Z,1360267885.677 [ElevatorServo](INFO): Powering down
2013-02-07T20:11:26.578Z,1360267886.578 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-07T20:11:26.699Z,1360267886.699 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-07T20:11:26.703Z,1360267886.703 [CBIT](INFO): Clearing failed state for component ElevatorServo
2013-02-07T20:11:26.703Z,1360267886.703 [ElevatorServo] No Fault, FailCount= 1
2013-02-07T20:11:31.618Z,1360267891.618 [CommandLine](IMPORTANT): got command burn on
2013-02-07T20:11:31.623Z,1360267891.622 [CommandLine](IMPORTANT): Activating dropweight wire
2013-02-07T20:11:37.184Z,1360267897.184 [SBIT](IMPORTANT): Beginning Startup BIT
2013-02-07T20:11:37.187Z,1360267897.187 [CBIT](IMPORTANT): Beginning GF scan
2013-02-07T20:11:43.262Z,1360267903.262 [DAT](INFO): Init failed - response: 3, CAL=  54.5, 55.7, ROT= 133.5, 55.7, CM281.5, -9.4,   2.3, 21:32:05.8641 

2013-02-07T20:11:43.262Z,1360267903.262 [DAT](FAULT): DAT failed to initialize
2013-02-07T20:11:43.262Z,1360267903.262 [DAT] Communications Fault, FailCount= 1
2013-02-07T20:11:43.262Z,1360267903.263 [DAT](ERROR): Communications Fault
2013-02-07T20:11:43.449Z,1360267903.450 [CBIT](ERROR): Communications Fault in component: DAT
2013-02-07T20:11:43.757Z,1360267903.757 [DAT](INFO): Powering down
2013-02-07T20:11:44.230Z,1360267904.230 [CommandLine](IMPORTANT): got command burn off
2013-02-07T20:11:44.231Z,1360267904.231 [CommandLine](IMPORTANT): Deactivating dropweight wire
2013-02-07T20:11:44.582Z,1360267904.582 [CBIT](INFO): Clearing failed state for component DAT
2013-02-07T20:11:44.582Z,1360267904.582 [DAT] No Fault, FailCount= 1
2013-02-07T20:11:46.864Z,1360267906.864 [DAT](INFO): Powering up
2013-02-07T20:11:46.865Z,1360267906.865 [DAT](DEBUG): Initializing DAT.
2013-02-07T20:11:57.951Z,1360267917.951 [CommandLine](IMPORTANT): got command ! echo 1 > /dev/loadB1
2013-02-07T20:12:03.879Z,1360267923.879 [CBIT](IMPORTANT): No ground fault detected
2013-02-07T20:12:06.470Z,1360267926.470 [DAT](INFO): Init failed - response: 
2013-02-07T20:12:06.470Z,1360267926.470 [DAT](FAULT): DAT failed to initialize
2013-02-07T20:12:06.470Z,1360267926.470 [DAT] Communications Fault, FailCount= 2
2013-02-07T20:12:06.470Z,1360267926.470 [DAT](ERROR): Communications Fault
2013-02-07T20:12:06.530Z,1360267926.530 [CBIT](ERROR): Communications Fault in component: DAT
2013-02-07T20:12:06.719Z,1360267926.719 [DAT](INFO): Powering down
2013-02-07T20:12:07.570Z,1360267927.570 [CBIT](INFO): Clearing failed state for component DAT
2013-02-07T20:12:07.570Z,1360267927.570 [DAT] No Fault, FailCount= 2
2013-02-07T20:12:09.919Z,1360267929.919 [DAT](INFO): Powering up
2013-02-07T20:12:09.919Z,1360267929.919 [DAT](DEBUG): Initializing DAT.
2013-02-07T20:12:29.282Z,1360267949.282 [DAT](INFO): Init failed - response: 
2013-02-07T20:12:29.282Z,1360267949.282 [DAT](FAULT): DAT failed to initialize
2013-02-07T20:12:29.282Z,1360267949.282 [DAT] Communications Fault, FailCount= 3
2013-02-07T20:12:29.282Z,1360267949.282 [DAT](ERROR): Communications Fault
2013-02-07T20:12:29.426Z,1360267949.426 [CBIT](ERROR): Communications Fault in component: DAT
2013-02-07T20:12:29.426Z,1360267949.426 [CBIT](CRITICAL): Communications Fault in component: DAT
2013-02-07T20:12:29.670Z,1360267949.670 [DAT](INFO): Powering down
2013-02-07T20:12:31.231Z,1360267951.231 [SBIT](IMPORTANT): SBIT PASSED
2013-02-07T20:12:31.622Z,1360267951.622 [MissionManager](IMPORTANT): Started mission Startup
2013-02-07T20:12:31.622Z,1360267951.622 [Startup] Running Loop=1
2013-02-07T20:12:31.622Z,1360267951.622 [Startup](INFO): Aggregate::initialize Startup
2013-02-07T20:12:31.623Z,1360267951.622 [Startup:A.GoToSurface] Running Loop=1
2013-02-07T20:12:31.623Z,1360267951.622 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-02-07T20:12:31.628Z,1360267951.628 [Startup:StartupSatComms] Running Loop=1
2013-02-07T20:12:31.628Z,1360267951.628 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-02-07T20:12:31.629Z,1360267951.629 [Startup:StartupSatComms:A] Running Loop=1
2013-02-07T20:12:32.053Z,1360267952.053 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-02-07T20:12:42.827Z,1360267962.827 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction 2.300000 centimeter
2013-02-07T20:12:42.828Z,1360267962.828 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.massPositionAction" handled in the control thread.
2013-02-07T20:12:42.983Z,1360267962.983 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,Onboard,Radio_Freewave,DAT,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-02-07T20:12:50.182Z,1360267970.182 [CommandLine](IMPORTANT): got command failComponent
2013-02-07T20:12:50.183Z,1360267970.183 [CommandLine](IMPORTANT): Failed components:
2013-02-07T20:12:50.183Z,1360267970.183 [CommandLine](IMPORTANT): DAT: Communications Fault
2013-02-07T20:13:13.743Z,1360267993.743 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction 1.700000 centimeter
2013-02-07T20:13:31.571Z,1360268011.571 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction 1.500000 centimeter
2013-02-07T20:13:31.709Z,1360268011.709 [Startup:StartupSatComms:A](INFO): Timed out from 2013-02-07T20:12:31.6Z
2013-02-07T20:13:31.709Z,1360268011.709 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-02-07T20:13:31.710Z,1360268011.710 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-02-07T20:13:31.710Z,1360268011.710 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-02-07T20:13:31.710Z,1360268011.710 [Startup:StartupSatComms:A] Stopped
2013-02-07T20:13:31.730Z,1360268011.730 [Startup:StartupSatComms:B] Running Loop=1
2013-02-07T20:13:32.121Z,1360268012.121 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-02-07T20:13:40.575Z,1360268020.575 [CommandLine](IMPORTANT): got command quit
2013-02-07T20:13:41.650Z,1360268021.650 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-02-07T20:13:41.650Z,1360268021.650 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-02-07T20:13:41.690Z,1360268021.690 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-02-07T20:13:42.023Z,1360268022.023 [DVL_micro](INFO): uninitialize:Powering down
2013-02-07T20:13:42.042Z,1360268022.042 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-02-07T20:13:42.298Z,1360268022.298 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-02-07T20:13:42.306Z,1360268022.306 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-02-07T20:13:42.332Z,1360268022.332 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-02-07T20:13:42.351Z,1360268022.351 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-02-07T20:13:42.575Z,1360268022.575 [controlThread](DEBUG): Uninitializing ControlThread
2013-02-07T20:13:42.575Z,1360268022.575 [AHRS_sp3003D](INFO): Powering down
2013-02-07T20:13:42.664Z,1360268022.664 [DAT](INFO): Powering down
2013-02-07T20:13:42.665Z,1360268022.665 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-07T20:13:42.666Z,1360268022.666 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-02-07T20:13:42.670Z,1360268022.670 [Startup] Stopped
2013-02-07T20:13:42.670Z,1360268022.670 [Startup](INFO): Aggregate::uninitialize Startup
2013-02-07T20:13:42.670Z,1360268022.670 [Startup:A.GoToSurface] Stopped
2013-02-07T20:13:42.670Z,1360268022.670 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-02-07T20:13:42.670Z,1360268022.670 [Startup:StartupSatComms] Stopped
2013-02-07T20:13:42.670Z,1360268022.671 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-02-07T20:13:42.671Z,1360268022.671 [Startup:StartupSatComms:B] Stopped
2013-02-07T20:13:42.672Z,1360268022.672 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-02-07T20:13:42.672Z,1360268022.672 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-02-07T20:13:42.672Z,1360268022.672 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-02-07T20:13:42.673Z,1360268022.672 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-02-07T20:13:42.673Z,1360268022.673 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-02-07T20:13:42.673Z,1360268022.673 [BuoyancyServo](INFO): Powering down
2013-02-07T20:13:42.687Z,1360268022.687 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-02-07T20:13:42.687Z,1360268022.687 [ElevatorServo](INFO): Powering down
2013-02-07T20:13:42.688Z,1360268022.688 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-07T20:13:42.688Z,1360268022.688 [MassServo](INFO): Powering down
2013-02-07T20:13:42.689Z,1360268022.689 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-02-07T20:13:42.689Z,1360268022.689 [RudderServo](INFO): Powering down
2013-02-07T20:13:42.690Z,1360268022.690 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-02-07T20:13:42.690Z,1360268022.690 [ThrusterServo](INFO): Powering down
2013-02-07T20:13:42.691Z,1360268022.691 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-02-07T20:13:42.691Z,1360268022.691 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-02-07T20:13:42.692Z,1360268022.691 [CBIT](DEBUG): Uninitialize CBIT Component.