2013-02-15T18:55:10.134Z,1360954510.134 [Supervisor](DEBUG): Initializing supervisor.
2013-02-15T18:55:10.137Z,1360954510.137 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-02-15T18:55:10.137Z,1360954510.137 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-02-15T18:55:10.138Z,1360954510.138 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-02-15T18:55:10.142Z,1360954510.142 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-02-15T18:55:10.152Z,1360954510.152 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-02-15T18:55:10.154Z,1360954510.154 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-02-15T18:55:10.154Z,1360954510.154 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-02-15T18:55:10.155Z,1360954510.155 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-02-15T18:55:10.156Z,1360954510.156 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-02-15T18:55:10.157Z,1360954510.157 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-02-15T18:55:10.432Z,1360954510.432 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-02-15T18:55:10.433Z,1360954510.433 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-02-15T18:55:10.619Z,1360954510.619 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-02-15T18:55:10.620Z,1360954510.620 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-02-15T18:55:10.705Z,1360954510.705 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-02-15T18:55:10.705Z,1360954510.705 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-02-15T18:55:10.902Z,1360954510.902 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-02-15T18:55:10.903Z,1360954510.903 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-02-15T18:55:11.035Z,1360954511.035 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-02-15T18:55:11.036Z,1360954511.036 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-02-15T18:55:11.265Z,1360954511.265 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-02-15T18:55:11.266Z,1360954511.266 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-02-15T18:55:11.435Z,1360954511.435 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-02-15T18:55:11.435Z,1360954511.435 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-02-15T18:55:11.686Z,1360954511.686 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-02-15T18:55:11.687Z,1360954511.687 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-02-15T18:55:11.788Z,1360954511.788 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-02-15T18:55:11.788Z,1360954511.788 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-02-15T18:55:12.182Z,1360954512.182 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-02-15T18:55:12.183Z,1360954512.183 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-02-15T18:55:12.297Z,1360954512.297 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-02-15T18:55:12.298Z,1360954512.298 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-02-15T18:55:12.384Z,1360954512.384 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-02-15T18:55:12.384Z,1360954512.385 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-02-15T18:55:12.486Z,1360954512.486 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-02-15T18:55:12.643Z,1360954512.644 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-02-15T18:55:12.729Z,1360954512.729 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-02-15T18:55:12.831Z,1360954512.831 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-02-15T18:55:12.931Z,1360954512.931 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-02-15T18:55:13.049Z,1360954513.049 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-02-15T18:55:13.142Z,1360954513.142 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-02-15T18:55:13.229Z,1360954513.229 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-02-15T18:55:13.263Z,1360954513.263 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-02-15T18:55:13.414Z,1360954513.414 [InternalSim] Loaded
2013-02-15T18:55:13.414Z,1360954513.414 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-02-15T18:55:13.415Z,1360954513.415 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-02-15T18:55:13.415Z,1360954513.415 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-02-15T18:55:13.471Z,1360954513.471 [SBIT](DEBUG): Construct Startup Built In Test.
2013-02-15T18:55:13.499Z,1360954513.499 [SBIT] Loaded
2013-02-15T18:55:13.499Z,1360954513.499 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-02-15T18:55:13.500Z,1360954513.500 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-02-15T18:55:13.529Z,1360954513.529 [IBIT] Loaded
2013-02-15T18:55:13.529Z,1360954513.529 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-02-15T18:55:13.533Z,1360954513.533 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-02-15T18:55:13.651Z,1360954513.651 [CBIT] Loaded
2013-02-15T18:55:13.651Z,1360954513.651 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-02-15T18:55:13.651Z,1360954513.651 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-02-15T18:55:13.652Z,1360954513.652 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-02-15T18:55:13.808Z,1360954513.807 [BuoyancyServo] Loaded
2013-02-15T18:55:13.808Z,1360954513.808 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-02-15T18:55:13.820Z,1360954513.820 [ElevatorServo] Loaded
2013-02-15T18:55:13.821Z,1360954513.820 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-02-15T18:55:13.832Z,1360954513.832 [MassServo] Loaded
2013-02-15T18:55:13.832Z,1360954513.832 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-02-15T18:55:13.844Z,1360954513.844 [RudderServo] Loaded
2013-02-15T18:55:13.845Z,1360954513.845 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-02-15T18:55:13.857Z,1360954513.856 [ThrusterServo] Loaded
2013-02-15T18:55:13.857Z,1360954513.857 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-02-15T18:55:13.857Z,1360954513.857 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-02-15T18:55:13.858Z,1360954513.858 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-02-15T18:55:13.874Z,1360954513.874 [DepthRateCalculator] Loaded
2013-02-15T18:55:13.875Z,1360954513.875 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-02-15T18:55:17.223Z,1360954517.223 [HFRadarModelCalc] Loaded
2013-02-15T18:55:17.223Z,1360954517.224 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-02-15T18:55:17.239Z,1360954517.239 [NavChart] Loaded
2013-02-15T18:55:17.240Z,1360954517.240 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-02-15T18:55:17.246Z,1360954517.246 [PitchRateCalculator] Loaded
2013-02-15T18:55:17.246Z,1360954517.246 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-02-15T18:55:17.252Z,1360954517.252 [SpeedCalculator] Loaded
2013-02-15T18:55:17.252Z,1360954517.252 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-02-15T18:55:17.267Z,1360954517.267 [TempGradientCalculator] Loaded
2013-02-15T18:55:17.268Z,1360954517.268 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-02-15T18:55:17.273Z,1360954517.273 [YawRateCalculator] Loaded
2013-02-15T18:55:17.274Z,1360954517.274 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-02-15T18:55:17.314Z,1360954517.314 [Navigation] Loaded
2013-02-15T18:55:17.314Z,1360954517.314 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-02-15T18:55:17.315Z,1360954517.315 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-02-15T18:55:17.315Z,1360954517.315 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-02-15T18:55:17.575Z,1360954517.575 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-02-15T18:55:17.576Z,1360954517.576 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-02-15T18:55:17.613Z,1360954517.613 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-02-15T18:55:17.614Z,1360954517.614 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-02-15T18:55:17.672Z,1360954517.672 [VerticalControl](DEBUG): Construct VerticalControl.
2013-02-15T18:55:17.766Z,1360954517.766 [VerticalControl] Loaded
2013-02-15T18:55:17.767Z,1360954517.767 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-02-15T18:55:17.769Z,1360954517.769 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-02-15T18:55:17.836Z,1360954517.836 [HorizontalControl] Loaded
2013-02-15T18:55:17.836Z,1360954517.836 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-02-15T18:55:17.837Z,1360954517.837 [SpeedControl](DEBUG): Construct SpeedControl.
2013-02-15T18:55:17.839Z,1360954517.839 [SpeedControl] Loaded
2013-02-15T18:55:17.839Z,1360954517.839 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-02-15T18:55:17.840Z,1360954517.840 [LoopControl](DEBUG): Construct LoopControl.
2013-02-15T18:55:17.840Z,1360954517.840 [LoopControl] Loaded
2013-02-15T18:55:17.840Z,1360954517.840 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-02-15T18:55:17.841Z,1360954517.841 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-02-15T18:55:17.841Z,1360954517.842 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-02-15T18:55:17.850Z,1360954517.850 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-02-15T18:55:17.855Z,1360954517.855 [AsyncPiEstimator] Loaded
2013-02-15T18:55:17.855Z,1360954517.855 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-02-15T18:55:17.856Z,1360954517.856 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A34E0
2013-02-15T18:55:17.857Z,1360954517.857 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-02-15T18:55:17.858Z,1360954517.858 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-02-15T18:55:18.025Z,1360954518.025 [AHRS_sp3003D] Loaded
2013-02-15T18:55:18.026Z,1360954518.026 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-02-15T18:55:18.285Z,1360954518.285 [Batt_Ocean_Server] Loaded
2013-02-15T18:55:18.285Z,1360954518.285 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-02-15T18:55:18.299Z,1360954518.299 [Depth_Keller] Loaded
2013-02-15T18:55:18.299Z,1360954518.299 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-02-15T18:55:18.460Z,1360954518.460 [DVL_micro] Loaded
2013-02-15T18:55:18.460Z,1360954518.460 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-02-15T18:55:18.461Z,1360954518.461 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407274E0
2013-02-15T18:55:18.512Z,1360954518.512 [Onboard] Loaded
2013-02-15T18:55:18.512Z,1360954518.512 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-02-15T18:55:18.519Z,1360954518.519 [Radio_Freewave] Loaded
2013-02-15T18:55:18.519Z,1360954518.519 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-02-15T18:55:18.600Z,1360954518.600 [DAT] Loaded
2013-02-15T18:55:18.600Z,1360954518.600 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-02-15T18:55:18.600Z,1360954518.600 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-02-15T18:55:18.601Z,1360954518.601 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-02-15T18:55:18.679Z,1360954518.679 [PAR_Licor] Loaded
2013-02-15T18:55:18.680Z,1360954518.680 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-02-15T18:55:18.681Z,1360954518.681 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-02-15T18:55:18.683Z,1360954518.683 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-02-15T18:55:18.684Z,1360954518.684 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-02-15T18:55:18.690Z,1360954518.690 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-02-15T18:55:18.692Z,1360954518.691 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2013-02-15T18:55:18.696Z,1360954518.696 [Supervisor](DEBUG): Running supervisor.
2013-02-15T18:55:18.697Z,1360954518.697 [CommandLine](INFO): Thread ID is 8787
2013-02-15T18:55:18.699Z,1360954518.699 [controlThread](INFO): Thread ID is 8786
2013-02-15T18:55:18.700Z,1360954518.700 [controlThread](DEBUG): Initializing ControlThread
2013-02-15T18:55:18.700Z,1360954518.700 [CycleStarter](INFO): Thread ID is 8785
2013-02-15T18:55:18.701Z,1360954518.701 [InternalSim](DEBUG):  InternalSim initializing...
2013-02-15T18:55:18.735Z,1360954518.735 [logger](INFO): Thread ID is 8788
2013-02-15T18:55:18.762Z,1360954518.762 [SBIT](INFO): Initialize SBIT Component.
2013-02-15T18:55:18.762Z,1360954518.762 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10106
2013-02-15T18:55:18.763Z,1360954518.763 [IBIT](INFO): Initialize IBIT Component.
2013-02-15T18:55:18.764Z,1360954518.764 [CBIT](DEBUG): Initialize CBIT Component.
2013-02-15T18:55:18.764Z,1360954518.764 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-02-15T18:55:18.775Z,1360954518.775 [AsyncPiEstimator](INFO): Thread ID is 8849
2013-02-15T18:55:18.775Z,1360954518.775 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-02-15T18:55:18.790Z,1360954518.790 [DVL_micro](INFO): Thread ID is 8850
2013-02-15T18:55:18.796Z,1360954518.796 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-15T18:55:18.797Z,1360954518.796 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-02-15T18:55:18.797Z,1360954518.797 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-02-15T18:55:18.797Z,1360954518.797 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-02-15T18:55:18.798Z,1360954518.797 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-02-15T18:55:18.799Z,1360954518.799 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-02-15T18:55:18.800Z,1360954518.800 [Navigation](DEBUG): Initializing Navigation.
2013-02-15T18:55:18.800Z,1360954518.800 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-02-15T18:55:18.802Z,1360954518.802 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-02-15T18:55:18.803Z,1360954518.803 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-02-15T18:55:18.803Z,1360954518.803 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-02-15T18:55:18.811Z,1360954518.810 [DVL_micro](INFO): Initializing
2013-02-15T18:55:18.811Z,1360954518.811 [DVL_micro](INFO): start:Powering up
2013-02-15T18:55:18.812Z,1360954518.812 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-15T18:55:18.812Z,1360954518.812 [DVL_micro](INFO): Cycling power to configure device.
2013-02-15T18:55:18.819Z,1360954518.819 [NavChartDb](INFO): Thread ID is 8851
2013-02-15T18:55:18.826Z,1360954518.826 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-02-15T18:55:18.826Z,1360954518.826 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-02-15T18:55:18.827Z,1360954518.827 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-02-15T18:55:18.827Z,1360954518.827 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-02-15T18:55:18.827Z,1360954518.827 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-02-15T18:55:20.393Z,1360954520.393 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-02-15T18:55:20.431Z,1360954520.431 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-02-15T18:55:20.470Z,1360954520.470 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-15T18:55:20.501Z,1360954520.500 [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>


2013-02-15T18:55:20.501Z,1360954520.501 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-02-15T18:55:20.583Z,1360954520.583 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-02-15T18:55:20.585Z,1360954520.585 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-02-15T18:55:20.600Z,1360954520.600 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-15T18:55:20.608Z,1360954520.608 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-02-15T18:55:20.611Z,1360954520.611 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-15T18:55:20.663Z,1360954520.663 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-02-15T18:55:20.672Z,1360954520.672 [Default:D.SetSpeed](DEBUG): Construct.
2013-02-15T18:55:20.691Z,1360954520.691 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-15T18:55:20.696Z,1360954520.696 [Default:F.Wait](DEBUG): Construct Wait.
2013-02-15T18:55:20.712Z,1360954520.712 [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>


2013-02-15T18:55:20.716Z,1360954520.716 [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,
2013-02-15T18:55:20.799Z,1360954520.799 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-15T18:55:20.895Z,1360954520.895 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-15T18:55:20.895Z,1360954520.895 [DVL_micro](INFO): Querying output modes
2013-02-15T18:55:20.896Z,1360954520.895 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-15T18:55:20.959Z,1360954520.959 [Radio_Freewave](INFO): Powering up
2013-02-15T18:55:20.972Z,1360954520.972 [DAT](INFO): Powering up
2013-02-15T18:55:20.972Z,1360954520.972 [DAT](DEBUG): Initializing DAT.
2013-02-15T18:55:21.272Z,1360954521.272 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-02-15T18:55:21.279Z,1360954521.279 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-02-15T18:55:21.301Z,1360954521.301 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-15T18:55:21.307Z,1360954521.307 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-15T18:55:21.313Z,1360954521.313 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-15T18:55:21.319Z,1360954521.319 [MassServo](DEBUG): Initializing MassServo.
2013-02-15T18:55:21.325Z,1360954521.325 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-15T18:55:21.363Z,1360954521.363 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-15T18:55:21.369Z,1360954521.369 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-02-15T18:55:21.375Z,1360954521.375 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-02-15T18:55:22.899Z,1360954522.898 [DVL_micro](DEBUG): cmdResponse: 
2013-02-15T18:55:22.899Z,1360954522.899 [DVL_micro](INFO): Output Modes: No Response
2013-02-15T18:55:22.899Z,1360954522.899 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-15T18:55:24.906Z,1360954524.907 [DVL_micro](DEBUG): cmdResponse: 
2013-02-15T18:55:24.911Z,1360954524.911 [DVL_micro](INFO): pause:Powering down
2013-02-15T18:55:34.277Z,1360954534.277 [SBIT](IMPORTANT): Beginning Startup BIT
2013-02-15T18:55:34.279Z,1360954534.279 [CBIT](IMPORTANT): Beginning GF scan
2013-02-15T18:55:34.411Z,1360954534.411 [CommandLine](IMPORTANT): got command show variable ahrs
2013-02-15T18:55:34.650Z,1360954534.651 [CommandLine](INFO): Config/vehicle.AHRS_sp3003D_card (none)
2013-02-15T18:55:34.651Z,1360954534.651 [CommandLine](INFO): Config/vehicle.AHRS_sp3003D_uart (none)
2013-02-15T18:55:34.651Z,1360954534.651 [CommandLine](INFO): Config/vehicle.AHRS_sp3003D_baud (bit_per_second)
2013-02-15T18:55:34.653Z,1360954534.653 [CommandLine](INFO): Config/vehicle.AHRS_3DMGX3_card (none)
2013-02-15T18:55:34.653Z,1360954534.653 [CommandLine](INFO): Config/vehicle.AHRS_3DMGX3_uart (none)
2013-02-15T18:55:34.654Z,1360954534.654 [CommandLine](INFO): Config/vehicle.AHRS_3DMGX3_baud (bit_per_second)
2013-02-15T18:55:34.657Z,1360954534.657 [CommandLine](INFO): Config/Sensor.AHRS_3DMGX3_enable (bool)
2013-02-15T18:55:34.657Z,1360954534.657 [CommandLine](INFO): Config/Sensor.AHRS_3DMGX3_useHardware (bool)
2013-02-15T18:55:34.658Z,1360954534.658 [CommandLine](INFO): Config/Sensor.AHRS_3DMGX3_magDeviation (degree)
2013-02-15T18:55:34.658Z,1360954534.658 [CommandLine](INFO): Config/Sensor.AHRS_3DMGX3_pitchOffset (degree)
2013-02-15T18:55:34.671Z,1360954534.671 [CommandLine](INFO): Config/Sensor.AHRS_3DMGX3_rollOffset (degree)
2013-02-15T18:55:34.671Z,1360954534.671 [CommandLine](INFO): Config/Sensor.AHRS_3DMGX3_power (watt)
2013-02-15T18:55:34.671Z,1360954534.671 [CommandLine](INFO): Config/Sensor.AHRS_sp3003D_enable (bool)
2013-02-15T18:55:34.672Z,1360954534.672 [CommandLine](INFO): Config/Sensor.AHRS_sp3003D_useHardware (bool)
2013-02-15T18:55:34.672Z,1360954534.672 [CommandLine](INFO): Config/Sensor.AHRS_sp3003D_magDeviation (degree)
2013-02-15T18:55:34.673Z,1360954534.672 [CommandLine](INFO): Config/Sensor.AHRS_sp3003D_pitchOffset (degree)
2013-02-15T18:55:34.673Z,1360954534.673 [CommandLine](INFO): Config/Sensor.AHRS_sp3003D_rollOffset (degree)
2013-02-15T18:55:34.673Z,1360954534.673 [CommandLine](INFO): AHRS_sp3003D.readAccelerations (bool)
2013-02-15T18:55:34.674Z,1360954534.674 [CommandLine](INFO): AHRS_sp3003D.readMagnetics (bool)
2013-02-15T18:55:34.674Z,1360954534.674 [CommandLine](INFO): Config/Sensor.AHRS_sp3003D_power (watt)
2013-02-15T18:55:34.778Z,1360954534.778 [CommandLine](INFO): AHRS_sp3003D.CompassOrientation (degree)
2013-02-15T18:55:34.778Z,1360954534.778 [CommandLine](INFO): AHRS_sp3003D.CompassTemperature (celsius)
2013-02-15T18:55:34.790Z,1360954534.790 [CommandLine](INFO): AHRS_sp3003D.Mx (milligauss)
2013-02-15T18:55:34.791Z,1360954534.791 [CommandLine](INFO): AHRS_sp3003D.My (milligauss)
2013-02-15T18:55:34.791Z,1360954534.791 [CommandLine](INFO): AHRS_sp3003D.Mz (milligauss)
2013-02-15T18:55:34.791Z,1360954534.791 [CommandLine](INFO): AHRS_sp3003D.Mt (milligauss)
2013-02-15T18:55:34.792Z,1360954534.792 [CommandLine](INFO): AHRS_sp3003D.Ax (meter_per_second_squared)
2013-02-15T18:55:34.792Z,1360954534.792 [CommandLine](INFO): AHRS_sp3003D.Ay (meter_per_second_squared)
2013-02-15T18:55:34.793Z,1360954534.793 [CommandLine](INFO): AHRS_sp3003D.Az (meter_per_second_squared)
2013-02-15T18:55:34.793Z,1360954534.793 [CommandLine](INFO): AHRS_sp3003D.At (meter_per_second_squared)
2013-02-15T18:55:34.793Z,1360954534.793 [CommandLine](INFO): AHRS_sp3003D.platform_magnetic_orientation (degree)
2013-02-15T18:55:34.794Z,1360954534.794 [CommandLine](INFO): AHRS_sp3003D.platform_orientation (degree)
2013-02-15T18:55:34.794Z,1360954534.794 [CommandLine](INFO): AHRS_sp3003D.platform_pitch_angle (degree)
2013-02-15T18:55:34.803Z,1360954534.803 [CommandLine](INFO): AHRS_sp3003D.platform_roll_angle (degree)
2013-02-15T18:55:34.831Z,1360954534.831 [CommandLine](INFO): AHRS_sp3003D.durationOfLastRun (second)
2013-02-15T18:55:34.854Z,1360954534.855 [CommandLine](INFO): AHRS_sp3003D.component_voltage (volt)
2013-02-15T18:55:34.855Z,1360954534.855 [CommandLine](INFO): AHRS_sp3003D.component_avgVoltage (volt)
2013-02-15T18:55:34.856Z,1360954534.856 [CommandLine](INFO): AHRS_sp3003D.component_current (milliampere)
2013-02-15T18:55:34.856Z,1360954534.856 [CommandLine](INFO): AHRS_sp3003D.component_avgCurrent (milliampere)
2013-02-15T18:55:40.486Z,1360954540.486 [DAT](INFO): Init failed - response: 
2013-02-15T18:55:40.487Z,1360954540.487 [DAT](FAULT): DAT failed to initialize
2013-02-15T18:55:40.487Z,1360954540.487 [DAT] Communications Fault, FailCount= 1
2013-02-15T18:55:40.487Z,1360954540.487 [DAT](ERROR): Communications Fault
2013-02-15T18:55:40.499Z,1360954540.499 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-15T18:55:40.500Z,1360954540.500 [CommandLine](IMPORTANT): platform_pitch_angle -0.703125 degree
2013-02-15T18:55:40.706Z,1360954540.706 [CBIT](ERROR): Communications Fault in component: DAT
2013-02-15T18:55:40.994Z,1360954540.994 [DAT](INFO): Powering down
2013-02-15T18:55:41.878Z,1360954541.878 [CBIT](INFO): Clearing failed state for component DAT
2013-02-15T18:55:41.878Z,1360954541.878 [DAT] No Fault, FailCount= 1
2013-02-15T18:55:44.146Z,1360954544.146 [DAT](INFO): Powering up
2013-02-15T18:55:44.146Z,1360954544.146 [DAT](DEBUG): Initializing DAT.
2013-02-15T18:55:46.747Z,1360954546.747 [CommandLine](IMPORTANT): got command show best platform_pitch_angle
2013-02-15T18:55:46.747Z,1360954546.747 [CommandLine](IMPORTANT): platform_pitch_angle best is AHRS_sp3003D.platform_pitch_angle
2013-02-15T18:55:50.531Z,1360954550.531 [CommandLine](IMPORTANT): got command quit
2013-02-15T18:55:51.546Z,1360954551.546 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-02-15T18:55:51.547Z,1360954551.546 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-02-15T18:55:51.891Z,1360954551.891 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-02-15T18:55:52.011Z,1360954552.011 [DVL_micro](INFO): uninitialize:Powering down
2013-02-15T18:55:52.014Z,1360954552.014 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-02-15T18:55:52.111Z,1360954552.111 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-02-15T18:55:52.115Z,1360954552.115 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-02-15T18:55:52.154Z,1360954552.154 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-02-15T18:55:52.156Z,1360954552.156 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-02-15T18:55:52.407Z,1360954552.407 [controlThread](DEBUG): Uninitializing ControlThread
2013-02-15T18:55:52.408Z,1360954552.408 [AHRS_sp3003D](INFO): Powering down
2013-02-15T18:55:52.496Z,1360954552.496 [DAT](INFO): Powering down
2013-02-15T18:55:52.497Z,1360954552.497 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-15T18:55:52.498Z,1360954552.498 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-02-15T18:55:52.508Z,1360954552.508 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-02-15T18:55:52.508Z,1360954552.508 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-02-15T18:55:52.508Z,1360954552.508 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-02-15T18:55:52.509Z,1360954552.509 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-02-15T18:55:52.509Z,1360954552.509 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-02-15T18:55:52.509Z,1360954552.509 [BuoyancyServo](INFO): Powering down
2013-02-15T18:55:52.523Z,1360954552.523 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-02-15T18:55:52.523Z,1360954552.523 [ElevatorServo](INFO): Powering down
2013-02-15T18:55:52.524Z,1360954552.524 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-15T18:55:52.524Z,1360954552.524 [MassServo](INFO): Powering down
2013-02-15T18:55:52.544Z,1360954552.543 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-02-15T18:55:52.544Z,1360954552.544 [RudderServo](INFO): Powering down
2013-02-15T18:55:52.544Z,1360954552.544 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-02-15T18:55:52.544Z,1360954552.545 [ThrusterServo](INFO): Powering down
2013-02-15T18:55:52.545Z,1360954552.545 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-02-15T18:55:52.546Z,1360954552.546 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-02-15T18:55:52.546Z,1360954552.546 [CBIT](DEBUG): Uninitialize CBIT Component.