2013-02-13T18:59:20.379Z,1360781960.379 [Supervisor](DEBUG): Initializing supervisor.
2013-02-13T18:59:20.382Z,1360781960.382 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-02-13T18:59:20.382Z,1360781960.382 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-02-13T18:59:20.383Z,1360781960.383 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-02-13T18:59:20.421Z,1360781960.421 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-02-13T18:59:20.434Z,1360781960.434 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-02-13T18:59:20.435Z,1360781960.435 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-02-13T18:59:20.436Z,1360781960.436 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-02-13T18:59:20.437Z,1360781960.437 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-02-13T18:59:20.438Z,1360781960.438 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-02-13T18:59:20.442Z,1360781960.442 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-02-13T18:59:20.804Z,1360781960.804 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-02-13T18:59:20.805Z,1360781960.805 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-02-13T18:59:21.031Z,1360781961.031 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-02-13T18:59:21.032Z,1360781961.032 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-02-13T18:59:21.119Z,1360781961.119 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-02-13T18:59:21.122Z,1360781961.122 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-02-13T18:59:21.407Z,1360781961.408 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-02-13T18:59:21.408Z,1360781961.408 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-02-13T18:59:21.548Z,1360781961.548 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-02-13T18:59:21.550Z,1360781961.550 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-02-13T18:59:21.799Z,1360781961.799 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-02-13T18:59:21.799Z,1360781961.799 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-02-13T18:59:21.977Z,1360781961.977 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-02-13T18:59:21.979Z,1360781961.979 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-02-13T18:59:22.251Z,1360781962.251 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-02-13T18:59:22.253Z,1360781962.253 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-02-13T18:59:22.356Z,1360781962.356 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-02-13T18:59:22.357Z,1360781962.357 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-02-13T18:59:22.783Z,1360781962.783 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-02-13T18:59:22.783Z,1360781962.783 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-02-13T18:59:22.902Z,1360781962.902 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-02-13T18:59:22.902Z,1360781962.902 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-02-13T18:59:22.990Z,1360781962.990 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-02-13T18:59:22.993Z,1360781962.993 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-02-13T18:59:23.099Z,1360781963.099 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-02-13T18:59:23.240Z,1360781963.240 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-02-13T18:59:23.329Z,1360781963.329 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-02-13T18:59:23.434Z,1360781963.434 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-02-13T18:59:23.538Z,1360781963.537 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-02-13T18:59:23.662Z,1360781963.662 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-02-13T18:59:23.757Z,1360781963.757 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-02-13T18:59:23.848Z,1360781963.848 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-02-13T18:59:23.985Z,1360781963.986 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-02-13T18:59:24.207Z,1360781964.207 [InternalSim] Loaded
2013-02-13T18:59:24.207Z,1360781964.207 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-02-13T18:59:24.208Z,1360781964.208 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-02-13T18:59:24.209Z,1360781964.209 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-02-13T18:59:24.291Z,1360781964.291 [SBIT](DEBUG): Construct Startup Built In Test.
2013-02-13T18:59:24.322Z,1360781964.322 [SBIT] Loaded
2013-02-13T18:59:24.323Z,1360781964.323 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-02-13T18:59:24.324Z,1360781964.324 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-02-13T18:59:24.355Z,1360781964.355 [IBIT] Loaded
2013-02-13T18:59:24.356Z,1360781964.355 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-02-13T18:59:24.359Z,1360781964.359 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-02-13T18:59:24.491Z,1360781964.491 [CBIT] Loaded
2013-02-13T18:59:24.492Z,1360781964.492 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-02-13T18:59:24.492Z,1360781964.492 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-02-13T18:59:24.493Z,1360781964.493 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-02-13T18:59:24.674Z,1360781964.674 [BuoyancyServo] Loaded
2013-02-13T18:59:24.674Z,1360781964.674 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-02-13T18:59:24.687Z,1360781964.687 [ElevatorServo] Loaded
2013-02-13T18:59:24.688Z,1360781964.688 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-02-13T18:59:24.700Z,1360781964.700 [MassServo] Loaded
2013-02-13T18:59:24.701Z,1360781964.701 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-02-13T18:59:24.714Z,1360781964.714 [RudderServo] Loaded
2013-02-13T18:59:24.714Z,1360781964.714 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-02-13T18:59:24.727Z,1360781964.727 [ThrusterServo] Loaded
2013-02-13T18:59:24.728Z,1360781964.728 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-02-13T18:59:24.728Z,1360781964.728 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-02-13T18:59:24.729Z,1360781964.729 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-02-13T18:59:24.762Z,1360781964.762 [DepthRateCalculator] Loaded
2013-02-13T18:59:24.762Z,1360781964.762 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-02-13T18:59:28.720Z,1360781968.720 [HFRadarModelCalc] Loaded
2013-02-13T18:59:28.720Z,1360781968.720 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-02-13T18:59:28.738Z,1360781968.738 [NavChart] Loaded
2013-02-13T18:59:28.738Z,1360781968.739 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-02-13T18:59:28.745Z,1360781968.745 [PitchRateCalculator] Loaded
2013-02-13T18:59:28.745Z,1360781968.745 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-02-13T18:59:28.752Z,1360781968.752 [SpeedCalculator] Loaded
2013-02-13T18:59:28.753Z,1360781968.753 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-02-13T18:59:28.769Z,1360781968.769 [TempGradientCalculator] Loaded
2013-02-13T18:59:28.769Z,1360781968.769 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-02-13T18:59:28.776Z,1360781968.776 [YawRateCalculator] Loaded
2013-02-13T18:59:28.776Z,1360781968.776 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-02-13T18:59:28.821Z,1360781968.821 [Navigation] Loaded
2013-02-13T18:59:28.822Z,1360781968.822 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-02-13T18:59:28.822Z,1360781968.822 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-02-13T18:59:28.823Z,1360781968.823 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-02-13T18:59:29.104Z,1360781969.104 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-02-13T18:59:29.105Z,1360781969.105 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-02-13T18:59:29.148Z,1360781969.148 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-02-13T18:59:29.149Z,1360781969.149 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-02-13T18:59:29.212Z,1360781969.212 [VerticalControl](DEBUG): Construct VerticalControl.
2013-02-13T18:59:29.314Z,1360781969.314 [VerticalControl] Loaded
2013-02-13T18:59:29.315Z,1360781969.315 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-02-13T18:59:29.316Z,1360781969.316 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-02-13T18:59:29.378Z,1360781969.378 [HorizontalControl] Loaded
2013-02-13T18:59:29.378Z,1360781969.378 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-02-13T18:59:29.379Z,1360781969.379 [SpeedControl](DEBUG): Construct SpeedControl.
2013-02-13T18:59:29.381Z,1360781969.381 [SpeedControl] Loaded
2013-02-13T18:59:29.381Z,1360781969.381 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-02-13T18:59:29.382Z,1360781969.382 [LoopControl](DEBUG): Construct LoopControl.
2013-02-13T18:59:29.383Z,1360781969.383 [LoopControl] Loaded
2013-02-13T18:59:29.383Z,1360781969.383 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-02-13T18:59:29.384Z,1360781969.384 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-02-13T18:59:29.384Z,1360781969.384 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-02-13T18:59:29.392Z,1360781969.392 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-02-13T18:59:29.398Z,1360781969.398 [AsyncPiEstimator] Loaded
2013-02-13T18:59:29.398Z,1360781969.398 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-02-13T18:59:29.399Z,1360781969.399 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A34E0
2013-02-13T18:59:29.400Z,1360781969.400 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-02-13T18:59:29.401Z,1360781969.401 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-02-13T18:59:29.581Z,1360781969.581 [AHRS_sp3003D] Loaded
2013-02-13T18:59:29.581Z,1360781969.581 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-02-13T18:59:29.860Z,1360781969.860 [Batt_Ocean_Server] Loaded
2013-02-13T18:59:29.860Z,1360781969.860 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-02-13T18:59:29.875Z,1360781969.875 [Depth_Keller] Loaded
2013-02-13T18:59:29.876Z,1360781969.875 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-02-13T18:59:30.054Z,1360781970.053 [DVL_micro] Loaded
2013-02-13T18:59:30.054Z,1360781970.054 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-02-13T18:59:30.055Z,1360781970.055 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407274E0
2013-02-13T18:59:30.111Z,1360781970.111 [Onboard] Loaded
2013-02-13T18:59:30.111Z,1360781970.111 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-02-13T18:59:30.119Z,1360781970.119 [Radio_Freewave] Loaded
2013-02-13T18:59:30.119Z,1360781970.119 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-02-13T18:59:30.208Z,1360781970.208 [DAT] Loaded
2013-02-13T18:59:30.209Z,1360781970.209 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-02-13T18:59:30.209Z,1360781970.209 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-02-13T18:59:30.210Z,1360781970.210 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-02-13T18:59:30.293Z,1360781970.293 [PAR_Licor] Loaded
2013-02-13T18:59:30.293Z,1360781970.293 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-02-13T18:59:30.295Z,1360781970.295 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-02-13T18:59:30.297Z,1360781970.297 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-02-13T18:59:30.298Z,1360781970.298 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-02-13T18:59:30.309Z,1360781970.309 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-02-13T18:59:30.310Z,1360781970.310 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2013-02-13T18:59:30.315Z,1360781970.315 [Supervisor](DEBUG): Running supervisor.
2013-02-13T18:59:30.316Z,1360781970.316 [CommandLine](INFO): Thread ID is 754
2013-02-13T18:59:30.318Z,1360781970.318 [controlThread](INFO): Thread ID is 753
2013-02-13T18:59:30.318Z,1360781970.318 [controlThread](DEBUG): Initializing ControlThread
2013-02-13T18:59:30.319Z,1360781970.319 [CycleStarter](INFO): Thread ID is 752
2013-02-13T18:59:30.319Z,1360781970.319 [InternalSim](DEBUG):  InternalSim initializing...
2013-02-13T18:59:30.420Z,1360781970.420 [logger](INFO): Thread ID is 755
2013-02-13T18:59:30.507Z,1360781970.507 [AsyncPiEstimator](INFO): Thread ID is 816
2013-02-13T18:59:30.507Z,1360781970.507 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-02-13T18:59:30.516Z,1360781970.516 [DVL_micro](INFO): Thread ID is 817
2013-02-13T18:59:30.618Z,1360781970.618 [NavChartDb](INFO): Thread ID is 818
2013-02-13T18:59:30.660Z,1360781970.660 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-02-13T18:59:30.661Z,1360781970.661 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-02-13T18:59:30.661Z,1360781970.661 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-02-13T18:59:30.661Z,1360781970.661 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-02-13T18:59:30.662Z,1360781970.662 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-02-13T18:59:30.677Z,1360781970.677 [SBIT](INFO): Initialize SBIT Component.
2013-02-13T18:59:30.678Z,1360781970.678 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10106
2013-02-13T18:59:30.678Z,1360781970.678 [IBIT](INFO): Initialize IBIT Component.
2013-02-13T18:59:30.684Z,1360781970.684 [DVL_micro](INFO): Initializing
2013-02-13T18:59:30.685Z,1360781970.685 [DVL_micro](INFO): start:Powering up
2013-02-13T18:59:30.686Z,1360781970.686 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T18:59:30.688Z,1360781970.688 [CBIT](DEBUG): Initialize CBIT Component.
2013-02-13T18:59:30.689Z,1360781970.689 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-02-13T18:59:30.691Z,1360781970.691 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T18:59:30.716Z,1360781970.716 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-13T18:59:30.717Z,1360781970.717 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-02-13T18:59:30.717Z,1360781970.717 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-02-13T18:59:30.718Z,1360781970.718 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-02-13T18:59:30.718Z,1360781970.718 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-02-13T18:59:30.720Z,1360781970.720 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-02-13T18:59:30.720Z,1360781970.720 [Navigation](DEBUG): Initializing Navigation.
2013-02-13T18:59:30.720Z,1360781970.720 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-02-13T18:59:30.722Z,1360781970.722 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-02-13T18:59:30.731Z,1360781970.731 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-02-13T18:59:30.732Z,1360781970.732 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-02-13T18:59:31.883Z,1360781971.883 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-02-13T18:59:31.883Z,1360781971.884 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-02-13T18:59:31.884Z,1360781971.884 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2013-02-13T18:59:31.884Z,1360781971.884 [Batt_Ocean_Server](ERROR): Communications Fault
2013-02-13T18:59:31.892Z,1360781971.892 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-02-13T18:59:31.942Z,1360781971.942 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-13T18:59:31.981Z,1360781971.981 [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>


2013-02-13T18:59:31.981Z,1360781971.981 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-02-13T18:59:32.060Z,1360781972.060 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-02-13T18:59:32.062Z,1360781972.062 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-02-13T18:59:32.082Z,1360781972.082 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-13T18:59:32.097Z,1360781972.097 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-02-13T18:59:32.100Z,1360781972.100 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-13T18:59:32.119Z,1360781972.119 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-02-13T18:59:32.160Z,1360781972.160 [Default:D.SetSpeed](DEBUG): Construct.
2013-02-13T18:59:32.163Z,1360781972.163 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-13T18:59:32.188Z,1360781972.188 [Default:F.Wait](DEBUG): Construct Wait.
2013-02-13T18:59:32.191Z,1360781972.191 [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>


2013-02-13T18:59:32.199Z,1360781972.199 [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,
2013-02-13T18:59:32.277Z,1360781972.277 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T18:59:32.415Z,1360781972.415 [Radio_Freewave](INFO): Powering up
2013-02-13T18:59:32.421Z,1360781972.421 [DAT](INFO): Powering up
2013-02-13T18:59:32.421Z,1360781972.421 [DAT](DEBUG): Initializing DAT.
2013-02-13T18:59:32.747Z,1360781972.747 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-02-13T18:59:32.751Z,1360781972.751 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T18:59:32.752Z,1360781972.752 [DVL_micro](INFO): Querying output modes
2013-02-13T18:59:32.752Z,1360781972.752 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-13T18:59:32.753Z,1360781972.753 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-02-13T18:59:32.775Z,1360781972.775 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-13T18:59:32.780Z,1360781972.780 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-13T18:59:32.790Z,1360781972.790 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-13T18:59:32.799Z,1360781972.799 [MassServo](DEBUG): Initializing MassServo.
2013-02-13T18:59:32.805Z,1360781972.805 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-13T18:59:32.811Z,1360781972.811 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-13T18:59:32.817Z,1360781972.817 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-02-13T18:59:32.847Z,1360781972.847 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-02-13T18:59:32.883Z,1360781972.883 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-02-13T18:59:32.883Z,1360781972.883 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-02-13T18:59:32.883Z,1360781972.884 [Batt_Ocean_Server] No Fault, FailCount= 1
2013-02-13T18:59:33.311Z,1360781973.311 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T18:59:33.311Z,1360781973.311 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T18:59:33.311Z,1360781973.311 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-02-13T18:59:33.311Z,1360781973.311 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T18:59:34.763Z,1360781974.763 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T18:59:34.763Z,1360781974.763 [DVL_micro](INFO): Output Modes: No Response
2013-02-13T18:59:34.763Z,1360781974.763 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-13T18:59:34.943Z,1360781974.943 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-02-13T18:59:35.369Z,1360781975.369 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T18:59:35.459Z,1360781975.459 [AHRS_sp3003D](INFO): Powering down
2013-02-13T18:59:36.767Z,1360781976.767 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T18:59:36.772Z,1360781976.772 [DVL_micro](INFO): pause:Powering down
2013-02-13T18:59:36.774Z,1360781976.774 [DVL_micro](INFO): NQ1 requested
2013-02-13T18:59:36.775Z,1360781976.775 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T18:59:36.775Z,1360781976.775 [DVL_micro](INFO): resume:Powering up
2013-02-13T18:59:36.775Z,1360781976.776 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T18:59:36.785Z,1360781976.786 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-02-13T18:59:36.786Z,1360781976.786 [AHRS_sp3003D] No Fault, FailCount= 1
2013-02-13T18:59:36.986Z,1360781976.986 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T18:59:38.123Z,1360781978.123 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T18:59:38.123Z,1360781978.123 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T18:59:38.123Z,1360781978.123 [AHRS_sp3003D] Hardware Fault, FailCount= 2
2013-02-13T18:59:38.123Z,1360781978.123 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T18:59:38.605Z,1360781978.605 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T18:59:38.632Z,1360781978.632 [AHRS_sp3003D](INFO): Powering down
2013-02-13T18:59:38.783Z,1360781978.783 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T18:59:38.783Z,1360781978.783 [DVL_micro](INFO): Querying output modes
2013-02-13T18:59:38.784Z,1360781978.784 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-13T18:59:40.014Z,1360781980.014 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-02-13T18:59:40.014Z,1360781980.014 [AHRS_sp3003D] No Fault, FailCount= 2
2013-02-13T18:59:40.285Z,1360781980.285 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T18:59:40.788Z,1360781980.788 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T18:59:40.788Z,1360781980.788 [DVL_micro](INFO): Output Modes: No Response
2013-02-13T18:59:40.788Z,1360781980.788 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-13T18:59:41.419Z,1360781981.419 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T18:59:41.419Z,1360781981.419 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T18:59:41.419Z,1360781981.419 [AHRS_sp3003D] Hardware Fault, FailCount= 3
2013-02-13T18:59:41.419Z,1360781981.419 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T18:59:41.518Z,1360781981.518 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T18:59:41.546Z,1360781981.546 [AHRS_sp3003D](INFO): Powering down
2013-02-13T18:59:42.799Z,1360781982.799 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T18:59:42.800Z,1360781982.800 [DVL_micro](INFO): NQ1 requested
2013-02-13T18:59:42.801Z,1360781982.801 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T18:59:42.834Z,1360781982.834 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-02-13T18:59:42.834Z,1360781982.834 [AHRS_sp3003D] No Fault, FailCount= 3
2013-02-13T18:59:43.135Z,1360781983.135 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T18:59:44.279Z,1360781984.279 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T18:59:44.279Z,1360781984.279 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T18:59:44.279Z,1360781984.279 [AHRS_sp3003D] Hardware Fault, FailCount= 4
2013-02-13T18:59:44.279Z,1360781984.279 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T18:59:44.378Z,1360781984.378 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T18:59:44.398Z,1360781984.398 [AHRS_sp3003D](INFO): Powering down
2013-02-13T18:59:44.807Z,1360781984.807 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T18:59:44.808Z,1360781984.807 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-02-13T18:59:45.674Z,1360781985.674 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-02-13T18:59:45.674Z,1360781985.674 [AHRS_sp3003D] No Fault, FailCount= 4
2013-02-13T18:59:45.993Z,1360781985.993 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T18:59:46.477Z,1360781986.477 [SBIT](IMPORTANT): Beginning Startup BIT
2013-02-13T18:59:46.479Z,1360781986.480 [CBIT](IMPORTANT): Beginning GF scan
2013-02-13T18:59:46.819Z,1360781986.819 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T18:59:46.819Z,1360781986.819 [DVL_micro](INFO): Enabling NQ1 output
2013-02-13T18:59:46.819Z,1360781986.819 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-02-13T18:59:47.135Z,1360781987.135 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T18:59:47.135Z,1360781987.135 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T18:59:47.135Z,1360781987.135 [AHRS_sp3003D] Hardware Fault, FailCount= 5
2013-02-13T18:59:47.135Z,1360781987.135 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T18:59:47.372Z,1360781987.372 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T18:59:47.372Z,1360781987.372 [CBIT](CRITICAL): Hardware Fault in component: AHRS_sp3003D
2013-02-13T18:59:47.389Z,1360781987.388 [AHRS_sp3003D](INFO): Powering down
2013-02-13T18:59:48.827Z,1360781988.827 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T18:59:48.827Z,1360781988.827 [DVL_micro](INFO): Querying output modes
2013-02-13T18:59:48.827Z,1360781988.827 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-13T18:59:50.831Z,1360781990.831 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T18:59:50.831Z,1360781990.831 [DVL_micro](INFO): Output Modes: No Response
2013-02-13T18:59:50.831Z,1360781990.831 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-13T18:59:52.282Z,1360781992.282 [DAT](INFO): Powering down
2013-02-13T18:59:52.839Z,1360781992.839 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T18:59:54.851Z,1360781994.851 [DVL_micro](INFO): NQ1 requested
2013-02-13T18:59:54.851Z,1360781994.851 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T18:59:56.859Z,1360781996.859 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T18:59:56.859Z,1360781996.859 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-02-13T18:59:58.871Z,1360781998.871 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T18:59:58.871Z,1360781998.871 [DVL_micro](INFO): Enabling NQ1 output
2013-02-13T18:59:58.871Z,1360781998.871 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-02-13T19:00:00.883Z,1360782000.883 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:00:00.883Z,1360782000.883 [DVL_micro](INFO): Querying output modes
2013-02-13T19:00:00.883Z,1360782000.883 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-13T19:00:02.895Z,1360782002.895 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:00:02.895Z,1360782002.895 [DVL_micro](INFO): Output Modes: No Response
2013-02-13T19:00:02.895Z,1360782002.895 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-13T19:00:04.524Z,1360782004.524 [CommandLine](IMPORTANT): got command @ shutdown -r now