2013-02-13T19:05:25.840Z,1360782325.840 [Supervisor](DEBUG): Initializing supervisor.
2013-02-13T19:05:25.843Z,1360782325.843 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-02-13T19:05:25.843Z,1360782325.843 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-02-13T19:05:25.846Z,1360782325.846 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-02-13T19:05:25.850Z,1360782325.851 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-02-13T19:05:25.864Z,1360782325.864 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-02-13T19:05:25.866Z,1360782325.866 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-02-13T19:05:25.867Z,1360782325.867 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-02-13T19:05:25.870Z,1360782325.870 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-02-13T19:05:25.871Z,1360782325.871 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-02-13T19:05:25.875Z,1360782325.875 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-02-13T19:05:26.212Z,1360782326.212 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-02-13T19:05:26.213Z,1360782326.213 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-02-13T19:05:26.435Z,1360782326.435 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-02-13T19:05:26.436Z,1360782326.436 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-02-13T19:05:26.531Z,1360782326.531 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-02-13T19:05:26.533Z,1360782326.533 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-02-13T19:05:26.763Z,1360782326.763 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-02-13T19:05:26.764Z,1360782326.764 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-02-13T19:05:26.918Z,1360782326.918 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-02-13T19:05:26.920Z,1360782326.920 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-02-13T19:05:27.195Z,1360782327.195 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-02-13T19:05:27.196Z,1360782327.196 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-02-13T19:05:27.395Z,1360782327.395 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-02-13T19:05:27.397Z,1360782327.397 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-02-13T19:05:27.704Z,1360782327.704 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-02-13T19:05:27.706Z,1360782327.706 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-02-13T19:05:27.821Z,1360782327.820 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-02-13T19:05:27.821Z,1360782327.821 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-02-13T19:05:28.302Z,1360782328.302 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-02-13T19:05:28.303Z,1360782328.303 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-02-13T19:05:28.440Z,1360782328.440 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-02-13T19:05:28.440Z,1360782328.440 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-02-13T19:05:29.736Z,1360782329.736 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-02-13T19:05:30.349Z,1360782330.349 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-02-13T19:05:30.464Z,1360782330.464 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-02-13T19:05:30.618Z,1360782330.618 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-02-13T19:05:30.718Z,1360782330.718 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-02-13T19:05:30.836Z,1360782330.836 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-02-13T19:05:30.950Z,1360782330.950 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-02-13T19:05:31.088Z,1360782331.088 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-02-13T19:05:31.196Z,1360782331.196 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-02-13T19:05:31.294Z,1360782331.294 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-02-13T19:05:31.329Z,1360782331.329 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-02-13T19:05:31.551Z,1360782331.551 [InternalSim] Loaded
2013-02-13T19:05:31.552Z,1360782331.552 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-02-13T19:05:31.552Z,1360782331.552 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-02-13T19:05:31.553Z,1360782331.553 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-02-13T19:05:31.647Z,1360782331.647 [SBIT](DEBUG): Construct Startup Built In Test.
2013-02-13T19:05:31.683Z,1360782331.683 [SBIT] Loaded
2013-02-13T19:05:31.683Z,1360782331.683 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-02-13T19:05:31.684Z,1360782331.684 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-02-13T19:05:31.717Z,1360782331.717 [IBIT] Loaded
2013-02-13T19:05:31.717Z,1360782331.717 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-02-13T19:05:31.725Z,1360782331.725 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-02-13T19:05:31.873Z,1360782331.873 [CBIT] Loaded
2013-02-13T19:05:31.873Z,1360782331.873 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-02-13T19:05:31.874Z,1360782331.874 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-02-13T19:05:31.874Z,1360782331.874 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-02-13T19:05:32.070Z,1360782332.070 [BuoyancyServo] Loaded
2013-02-13T19:05:32.070Z,1360782332.070 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-02-13T19:05:32.084Z,1360782332.084 [ElevatorServo] Loaded
2013-02-13T19:05:32.084Z,1360782332.084 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-02-13T19:05:32.101Z,1360782332.101 [MassServo] Loaded
2013-02-13T19:05:32.101Z,1360782332.101 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-02-13T19:05:32.115Z,1360782332.115 [RudderServo] Loaded
2013-02-13T19:05:32.115Z,1360782332.115 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-02-13T19:05:32.128Z,1360782332.128 [ThrusterServo] Loaded
2013-02-13T19:05:32.129Z,1360782332.129 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-02-13T19:05:32.129Z,1360782332.129 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-02-13T19:05:32.130Z,1360782332.130 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-02-13T19:05:32.164Z,1360782332.164 [DepthRateCalculator] Loaded
2013-02-13T19:05:32.165Z,1360782332.165 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-02-13T19:05:36.612Z,1360782336.612 [HFRadarModelCalc] Loaded
2013-02-13T19:05:36.612Z,1360782336.612 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-02-13T19:05:36.630Z,1360782336.630 [NavChart] Loaded
2013-02-13T19:05:36.630Z,1360782336.630 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-02-13T19:05:36.637Z,1360782336.637 [PitchRateCalculator] Loaded
2013-02-13T19:05:36.637Z,1360782336.637 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-02-13T19:05:36.649Z,1360782336.649 [SpeedCalculator] Loaded
2013-02-13T19:05:36.649Z,1360782336.649 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-02-13T19:05:36.666Z,1360782336.666 [TempGradientCalculator] Loaded
2013-02-13T19:05:36.666Z,1360782336.666 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-02-13T19:05:36.673Z,1360782336.673 [YawRateCalculator] Loaded
2013-02-13T19:05:36.673Z,1360782336.673 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-02-13T19:05:36.723Z,1360782336.723 [Navigation] Loaded
2013-02-13T19:05:36.724Z,1360782336.724 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-02-13T19:05:36.724Z,1360782336.724 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-02-13T19:05:36.725Z,1360782336.725 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-02-13T19:05:37.045Z,1360782337.045 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-02-13T19:05:37.046Z,1360782337.046 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-02-13T19:05:37.085Z,1360782337.085 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-02-13T19:05:37.086Z,1360782337.086 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-02-13T19:05:37.160Z,1360782337.159 [VerticalControl](DEBUG): Construct VerticalControl.
2013-02-13T19:05:37.278Z,1360782337.278 [VerticalControl] Loaded
2013-02-13T19:05:37.278Z,1360782337.278 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-02-13T19:05:37.279Z,1360782337.279 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-02-13T19:05:37.351Z,1360782337.351 [HorizontalControl] Loaded
2013-02-13T19:05:37.352Z,1360782337.352 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-02-13T19:05:37.352Z,1360782337.352 [SpeedControl](DEBUG): Construct SpeedControl.
2013-02-13T19:05:37.354Z,1360782337.354 [SpeedControl] Loaded
2013-02-13T19:05:37.355Z,1360782337.355 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-02-13T19:05:37.356Z,1360782337.356 [LoopControl](DEBUG): Construct LoopControl.
2013-02-13T19:05:37.356Z,1360782337.356 [LoopControl] Loaded
2013-02-13T19:05:37.357Z,1360782337.357 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-02-13T19:05:37.357Z,1360782337.357 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-02-13T19:05:37.358Z,1360782337.358 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-02-13T19:05:37.366Z,1360782337.366 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-02-13T19:05:37.371Z,1360782337.372 [AsyncPiEstimator] Loaded
2013-02-13T19:05:37.372Z,1360782337.372 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-02-13T19:05:37.375Z,1360782337.375 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A34E0
2013-02-13T19:05:37.375Z,1360782337.375 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-02-13T19:05:37.376Z,1360782337.376 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-02-13T19:05:37.575Z,1360782337.575 [AHRS_sp3003D] Loaded
2013-02-13T19:05:37.575Z,1360782337.575 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-02-13T19:05:37.893Z,1360782337.893 [Batt_Ocean_Server] Loaded
2013-02-13T19:05:37.893Z,1360782337.893 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-02-13T19:05:37.909Z,1360782337.909 [Depth_Keller] Loaded
2013-02-13T19:05:37.909Z,1360782337.909 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-02-13T19:05:38.112Z,1360782338.112 [DVL_micro] Loaded
2013-02-13T19:05:38.112Z,1360782338.112 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-02-13T19:05:38.114Z,1360782338.114 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407274E0
2013-02-13T19:05:38.176Z,1360782338.176 [Onboard] Loaded
2013-02-13T19:05:38.176Z,1360782338.176 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-02-13T19:05:38.188Z,1360782338.188 [Radio_Freewave] Loaded
2013-02-13T19:05:38.188Z,1360782338.188 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-02-13T19:05:38.288Z,1360782338.288 [DAT] Loaded
2013-02-13T19:05:38.288Z,1360782338.288 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-02-13T19:05:38.289Z,1360782338.289 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-02-13T19:05:38.290Z,1360782338.290 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-02-13T19:05:38.382Z,1360782338.382 [PAR_Licor] Loaded
2013-02-13T19:05:38.382Z,1360782338.382 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-02-13T19:05:38.384Z,1360782338.384 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-02-13T19:05:38.386Z,1360782338.386 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-02-13T19:05:38.391Z,1360782338.391 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-02-13T19:05:38.402Z,1360782338.402 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-02-13T19:05:38.406Z,1360782338.406 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2013-02-13T19:05:38.411Z,1360782338.411 [Supervisor](DEBUG): Running supervisor.
2013-02-13T19:05:38.412Z,1360782338.412 [CommandLine](INFO): Thread ID is 749
2013-02-13T19:05:38.415Z,1360782338.415 [controlThread](INFO): Thread ID is 748
2013-02-13T19:05:38.415Z,1360782338.415 [controlThread](DEBUG): Initializing ControlThread
2013-02-13T19:05:38.416Z,1360782338.416 [CycleStarter](INFO): Thread ID is 747
2013-02-13T19:05:38.416Z,1360782338.416 [InternalSim](DEBUG):  InternalSim initializing...
2013-02-13T19:05:38.527Z,1360782338.527 [logger](INFO): Thread ID is 750
2013-02-13T19:05:38.626Z,1360782338.626 [AsyncPiEstimator](INFO): Thread ID is 811
2013-02-13T19:05:38.626Z,1360782338.626 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-02-13T19:05:38.735Z,1360782338.735 [DVL_micro](INFO): Thread ID is 812
2013-02-13T19:05:38.754Z,1360782338.754 [DVL_micro](INFO): Initializing
2013-02-13T19:05:38.754Z,1360782338.754 [DVL_micro](INFO): start:Powering up
2013-02-13T19:05:38.756Z,1360782338.756 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:05:38.756Z,1360782338.756 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T19:05:38.759Z,1360782338.759 [NavChartDb](INFO): Thread ID is 813
2013-02-13T19:05:38.766Z,1360782338.766 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-02-13T19:05:38.767Z,1360782338.767 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-02-13T19:05:38.767Z,1360782338.767 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-02-13T19:05:38.768Z,1360782338.768 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-02-13T19:05:38.768Z,1360782338.768 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-02-13T19:05:38.871Z,1360782338.871 [SBIT](INFO): Initialize SBIT Component.
2013-02-13T19:05:38.871Z,1360782338.871 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10106
2013-02-13T19:05:38.872Z,1360782338.872 [IBIT](INFO): Initialize IBIT Component.
2013-02-13T19:05:38.873Z,1360782338.872 [CBIT](DEBUG): Initialize CBIT Component.
2013-02-13T19:05:38.873Z,1360782338.873 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-02-13T19:05:38.873Z,1360782338.873 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-02-13T19:05:38.900Z,1360782338.900 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-13T19:05:38.900Z,1360782338.900 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-02-13T19:05:38.901Z,1360782338.901 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-02-13T19:05:38.901Z,1360782338.901 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-02-13T19:05:38.901Z,1360782338.901 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-02-13T19:05:38.903Z,1360782338.903 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-02-13T19:05:38.903Z,1360782338.903 [Navigation](DEBUG): Initializing Navigation.
2013-02-13T19:05:38.904Z,1360782338.904 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-02-13T19:05:38.905Z,1360782338.905 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-02-13T19:05:38.906Z,1360782338.906 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-02-13T19:05:38.907Z,1360782338.907 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-02-13T19:05:40.561Z,1360782340.561 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-02-13T19:05:40.615Z,1360782340.615 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-02-13T19:05:40.658Z,1360782340.658 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-13T19:05:40.688Z,1360782340.688 [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>


2013-02-13T19:05:40.689Z,1360782340.689 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-02-13T19:05:40.754Z,1360782340.754 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-02-13T19:05:40.772Z,1360782340.772 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-02-13T19:05:40.775Z,1360782340.775 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-13T19:05:40.792Z,1360782340.792 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-02-13T19:05:40.795Z,1360782340.795 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-13T19:05:40.812Z,1360782340.812 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:05:40.812Z,1360782340.812 [DVL_micro](INFO): Querying output modes
2013-02-13T19:05:40.812Z,1360782340.812 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-13T19:05:40.816Z,1360782340.816 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-02-13T19:05:40.865Z,1360782340.865 [Default:D.SetSpeed](DEBUG): Construct.
2013-02-13T19:05:40.868Z,1360782340.868 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-13T19:05:40.890Z,1360782340.889 [Default:F.Wait](DEBUG): Construct Wait.
2013-02-13T19:05:40.893Z,1360782340.893 [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>


2013-02-13T19:05:40.902Z,1360782340.902 [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,
2013-02-13T19:05:40.958Z,1360782340.958 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T19:05:41.166Z,1360782341.166 [Radio_Freewave](INFO): Powering up
2013-02-13T19:05:41.189Z,1360782341.189 [DAT](INFO): Powering up
2013-02-13T19:05:41.189Z,1360782341.189 [DAT](DEBUG): Initializing DAT.
2013-02-13T19:05:41.525Z,1360782341.525 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:05:41.543Z,1360782341.543 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-02-13T19:05:41.549Z,1360782341.549 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:05:41.555Z,1360782341.555 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-13T19:05:41.573Z,1360782341.573 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:05:41.583Z,1360782341.583 [MassServo](DEBUG): Initializing MassServo.
2013-02-13T19:05:41.598Z,1360782341.598 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:05:41.607Z,1360782341.607 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-13T19:05:41.613Z,1360782341.612 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:05:41.619Z,1360782341.619 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-02-13T19:05:42.099Z,1360782342.099 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T19:05:42.099Z,1360782342.099 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T19:05:42.099Z,1360782342.099 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-02-13T19:05:42.099Z,1360782342.099 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T19:05:42.687Z,1360782342.687 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-02-13T19:05:42.687Z,1360782342.687 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-02-13T19:05:42.687Z,1360782342.687 [BuoyancyServo] Communications Fault, FailCount= 1
2013-02-13T19:05:42.687Z,1360782342.687 [BuoyancyServo](ERROR): Communications Fault
2013-02-13T19:05:42.819Z,1360782342.819 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:05:42.819Z,1360782342.819 [DVL_micro](INFO): Output Modes: No Response
2013-02-13T19:05:42.819Z,1360782342.819 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-13T19:05:42.893Z,1360782342.893 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-02-13T19:05:42.893Z,1360782342.893 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T19:05:42.922Z,1360782342.922 [AHRS_sp3003D](INFO): Powering down
2013-02-13T19:05:43.162Z,1360782343.162 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-02-13T19:05:43.162Z,1360782343.162 [BuoyancyServo](INFO): Powering down
2013-02-13T19:05:43.776Z,1360782343.776 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:05:43.892Z,1360782343.892 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-02-13T19:05:43.896Z,1360782343.896 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-02-13T19:05:43.896Z,1360782343.896 [BuoyancyServo] No Fault, FailCount= 1
2013-02-13T19:05:44.348Z,1360782344.348 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-02-13T19:05:44.348Z,1360782344.348 [AHRS_sp3003D] No Fault, FailCount= 1
2013-02-13T19:05:44.509Z,1360782344.509 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T19:05:44.826Z,1360782344.826 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:05:44.859Z,1360782344.859 [DVL_micro](INFO): pause:Powering down
2013-02-13T19:05:45.658Z,1360782345.658 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T19:05:45.659Z,1360782345.659 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T19:05:45.659Z,1360782345.659 [AHRS_sp3003D] Hardware Fault, FailCount= 2
2013-02-13T19:05:45.659Z,1360782345.659 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T19:05:45.667Z,1360782345.667 [DVL_micro](INFO): NQ1 requested
2013-02-13T19:05:45.667Z,1360782345.667 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:05:45.668Z,1360782345.668 [DVL_micro](INFO): resume:Powering up
2013-02-13T19:05:45.668Z,1360782345.668 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T19:05:46.145Z,1360782346.145 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T19:05:46.178Z,1360782346.178 [AHRS_sp3003D](INFO): Powering down
2013-02-13T19:05:47.670Z,1360782347.670 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-02-13T19:05:47.670Z,1360782347.670 [AHRS_sp3003D] No Fault, FailCount= 2
2013-02-13T19:05:47.675Z,1360782347.675 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:05:47.675Z,1360782347.675 [DVL_micro](INFO): Querying output modes
2013-02-13T19:05:47.675Z,1360782347.675 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-13T19:05:47.761Z,1360782347.761 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T19:05:48.910Z,1360782348.911 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T19:05:48.911Z,1360782348.911 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T19:05:48.911Z,1360782348.911 [AHRS_sp3003D] Hardware Fault, FailCount= 3
2013-02-13T19:05:48.911Z,1360782348.911 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T19:05:49.010Z,1360782349.010 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T19:05:49.023Z,1360782349.023 [AHRS_sp3003D](INFO): Powering down
2013-02-13T19:05:49.683Z,1360782349.682 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:05:49.683Z,1360782349.683 [DVL_micro](INFO): Output Modes: No Response
2013-02-13T19:05:49.683Z,1360782349.683 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-13T19:05:49.979Z,1360782349.979 [MassServo](FAULT): Invalid EZ Servo response:""
2013-02-13T19:05:49.979Z,1360782349.979 [MassServo] Communications Fault, FailCount= 1
2013-02-13T19:05:49.979Z,1360782349.979 [MassServo](ERROR): Communications Fault
2013-02-13T19:05:49.979Z,1360782349.979 [MassServo](FAULT): Mass Shifter error waiting for homing. Uart error: no error
2013-02-13T19:05:49.979Z,1360782349.980 [MassServo] Hardware Fault, FailCount= 1
2013-02-13T19:05:49.979Z,1360782349.980 [MassServo](ERROR): Hardware Fault
2013-02-13T19:05:50.021Z,1360782350.021 [CBIT](ERROR): Hardware Fault in component: MassServo
2013-02-13T19:05:50.273Z,1360782350.273 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-13T19:05:50.273Z,1360782350.273 [MassServo](INFO): Powering down
2013-02-13T19:05:50.324Z,1360782350.324 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-02-13T19:05:50.324Z,1360782350.324 [AHRS_sp3003D] No Fault, FailCount= 3
2013-02-13T19:05:50.625Z,1360782350.625 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T19:05:51.218Z,1360782351.218 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:05:51.343Z,1360782351.343 [MassServo](DEBUG): Initializing MassServo.
2013-02-13T19:05:51.347Z,1360782351.347 [CBIT](INFO): Clearing failed state for component MassServo
2013-02-13T19:05:51.347Z,1360782351.347 [MassServo] No Fault, FailCount= 1
2013-02-13T19:05:51.695Z,1360782351.694 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:05:51.697Z,1360782351.697 [DVL_micro](INFO): pause:Powering down
2013-02-13T19:05:51.779Z,1360782351.779 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T19:05:51.779Z,1360782351.779 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T19:05:51.779Z,1360782351.779 [AHRS_sp3003D] Hardware Fault, FailCount= 4
2013-02-13T19:05:51.779Z,1360782351.779 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T19:05:51.852Z,1360782351.852 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T19:05:51.876Z,1360782351.876 [AHRS_sp3003D](INFO): Powering down
2013-02-13T19:05:52.103Z,1360782352.103 [DVL_micro](INFO): NQ1 requested
2013-02-13T19:05:52.103Z,1360782352.103 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:05:52.104Z,1360782352.104 [DVL_micro](INFO): resume:Powering up
2013-02-13T19:05:52.104Z,1360782352.104 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T19:05:53.126Z,1360782353.126 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-02-13T19:05:53.126Z,1360782353.126 [AHRS_sp3003D] No Fault, FailCount= 4
2013-02-13T19:05:53.465Z,1360782353.465 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T19:05:54.127Z,1360782354.127 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:05:54.127Z,1360782354.127 [DVL_micro](INFO): Querying output modes
2013-02-13T19:05:54.127Z,1360782354.127 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-13T19:05:54.610Z,1360782354.611 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T19:05:54.611Z,1360782354.611 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T19:05:54.611Z,1360782354.611 [AHRS_sp3003D] Hardware Fault, FailCount= 5
2013-02-13T19:05:54.611Z,1360782354.611 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T19:05:54.780Z,1360782354.780 [SBIT](IMPORTANT): Beginning Startup BIT
2013-02-13T19:05:54.783Z,1360782354.783 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T19:05:54.783Z,1360782354.783 [CBIT](CRITICAL): Hardware Fault in component: AHRS_sp3003D
2013-02-13T19:05:54.784Z,1360782354.784 [CBIT](IMPORTANT): Beginning GF scan
2013-02-13T19:05:54.853Z,1360782354.853 [AHRS_sp3003D](INFO): Powering down
2013-02-13T19:05:56.134Z,1360782356.134 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:05:56.135Z,1360782356.135 [DVL_micro](INFO): Output Modes: No Response
2013-02-13T19:05:56.135Z,1360782356.135 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-13T19:05:58.143Z,1360782358.143 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:05:58.144Z,1360782358.144 [DVL_micro](INFO): NQ1 requested
2013-02-13T19:05:58.144Z,1360782358.144 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T19:06:00.151Z,1360782360.151 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:06:00.151Z,1360782360.151 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-02-13T19:06:01.512Z,1360782361.512 [DAT](INFO): Powering down
2013-02-13T19:06:02.162Z,1360782362.162 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:06:02.163Z,1360782362.163 [DVL_micro](INFO): Enabling NQ1 output
2013-02-13T19:06:02.163Z,1360782362.163 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1