2013-08-13T21:51:30.445Z,1376430690.445 [Supervisor](DEBUG): Initializing supervisor.
2013-08-13T21:51:30.447Z,1376430690.447 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-13T21:51:30.448Z,1376430690.448 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-13T21:51:30.449Z,1376430690.449 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-13T21:51:30.452Z,1376430690.452 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-13T21:51:30.463Z,1376430690.463 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-13T21:51:30.464Z,1376430690.464 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-13T21:51:30.465Z,1376430690.465 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-13T21:51:30.466Z,1376430690.466 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-13T21:51:30.467Z,1376430690.467 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-13T21:51:30.468Z,1376430690.468 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-13T21:51:30.906Z,1376430690.906 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-13T21:51:30.907Z,1376430690.907 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-13T21:51:31.098Z,1376430691.098 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-13T21:51:31.099Z,1376430691.099 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-13T21:51:31.184Z,1376430691.184 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-13T21:51:31.185Z,1376430691.185 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-13T21:51:31.296Z,1376430691.296 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-13T21:51:31.297Z,1376430691.297 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-13T21:51:31.434Z,1376430691.434 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-13T21:51:31.435Z,1376430691.435 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-13T21:51:31.674Z,1376430691.674 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-13T21:51:31.675Z,1376430691.675 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-13T21:51:31.839Z,1376430691.839 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-13T21:51:31.841Z,1376430691.841 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-13T21:51:32.101Z,1376430692.101 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-13T21:51:32.102Z,1376430692.102 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-13T21:51:32.203Z,1376430692.203 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-13T21:51:32.204Z,1376430692.204 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-13T21:51:32.636Z,1376430692.636 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-13T21:51:32.637Z,1376430692.637 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-13T21:51:32.750Z,1376430692.750 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-13T21:51:32.751Z,1376430692.751 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-13T21:51:32.837Z,1376430692.837 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-13T21:51:32.838Z,1376430692.838 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-13T21:51:32.939Z,1376430692.939 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-13T21:51:33.065Z,1376430693.065 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-13T21:51:33.159Z,1376430693.159 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-13T21:51:33.264Z,1376430693.264 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-13T21:51:33.359Z,1376430693.359 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-13T21:51:33.482Z,1376430693.482 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-13T21:51:33.583Z,1376430693.583 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-13T21:51:33.675Z,1376430693.675 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-08-13T21:51:33.675Z,1376430693.675 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-08-13T21:51:33.677Z,1376430693.677 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-13T21:51:33.879Z,1376430693.879 [InternalSim] Loaded
2013-08-13T21:51:33.879Z,1376430693.879 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-13T21:51:33.880Z,1376430693.880 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-13T21:51:33.880Z,1376430693.880 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-13T21:51:33.995Z,1376430693.995 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-13T21:51:34.023Z,1376430694.023 [SBIT] Loaded
2013-08-13T21:51:34.024Z,1376430694.024 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-13T21:51:34.024Z,1376430694.024 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-13T21:51:34.053Z,1376430694.053 [IBIT] Loaded
2013-08-13T21:51:34.054Z,1376430694.054 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-13T21:51:34.056Z,1376430694.056 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-13T21:51:34.179Z,1376430694.179 [CBIT] Loaded
2013-08-13T21:51:34.179Z,1376430694.179 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-13T21:51:34.180Z,1376430694.180 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-13T21:51:34.180Z,1376430694.180 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-13T21:51:34.383Z,1376430694.383 [BuoyancyServo] Loaded
2013-08-13T21:51:34.383Z,1376430694.383 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-13T21:51:34.397Z,1376430694.397 [ElevatorServo] Loaded
2013-08-13T21:51:34.397Z,1376430694.397 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-13T21:51:34.408Z,1376430694.408 [MassServo] Loaded
2013-08-13T21:51:34.409Z,1376430694.409 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-13T21:51:34.420Z,1376430694.420 [RudderServo] Loaded
2013-08-13T21:51:34.420Z,1376430694.420 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-13T21:51:34.431Z,1376430694.431 [ThrusterServo] Loaded
2013-08-13T21:51:34.431Z,1376430694.431 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-13T21:51:34.432Z,1376430694.432 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-13T21:51:34.433Z,1376430694.433 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-13T21:51:34.469Z,1376430694.469 [DepthRateCalculator] Loaded
2013-08-13T21:51:34.470Z,1376430694.470 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-13T21:51:37.671Z,1376430697.671 [HFRadarModelCalc] Loaded
2013-08-13T21:51:37.671Z,1376430697.671 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-13T21:51:37.687Z,1376430697.687 [NavChart] Loaded
2013-08-13T21:51:37.687Z,1376430697.687 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-13T21:51:37.693Z,1376430697.693 [PitchRateCalculator] Loaded
2013-08-13T21:51:37.693Z,1376430697.693 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-13T21:51:37.703Z,1376430697.703 [SpeedCalculator] Loaded
2013-08-13T21:51:37.704Z,1376430697.704 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-13T21:51:37.720Z,1376430697.720 [TempGradientCalculator] Loaded
2013-08-13T21:51:37.720Z,1376430697.720 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-13T21:51:37.726Z,1376430697.726 [YawRateCalculator] Loaded
2013-08-13T21:51:37.726Z,1376430697.726 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-13T21:51:37.772Z,1376430697.772 [Navigation] Loaded
2013-08-13T21:51:37.772Z,1376430697.772 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-13T21:51:37.773Z,1376430697.773 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-13T21:51:37.774Z,1376430697.774 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-13T21:51:38.055Z,1376430698.055 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-13T21:51:38.056Z,1376430698.056 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-13T21:51:38.096Z,1376430698.096 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-13T21:51:38.096Z,1376430698.096 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-13T21:51:38.163Z,1376430698.163 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-13T21:51:38.262Z,1376430698.262 [VerticalControl] Loaded
2013-08-13T21:51:38.262Z,1376430698.262 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-13T21:51:38.263Z,1376430698.263 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-13T21:51:38.320Z,1376430698.320 [HorizontalControl] Loaded
2013-08-13T21:51:38.321Z,1376430698.321 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-13T21:51:38.321Z,1376430698.321 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-13T21:51:38.323Z,1376430698.323 [SpeedControl] Loaded
2013-08-13T21:51:38.323Z,1376430698.323 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-13T21:51:38.324Z,1376430698.324 [LoopControl](DEBUG): Construct LoopControl.
2013-08-13T21:51:38.324Z,1376430698.324 [LoopControl] Loaded
2013-08-13T21:51:38.325Z,1376430698.325 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-13T21:51:38.325Z,1376430698.325 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-13T21:51:38.326Z,1376430698.326 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-13T21:51:38.334Z,1376430698.334 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-13T21:51:38.339Z,1376430698.339 [AsyncPiEstimator] Loaded
2013-08-13T21:51:38.339Z,1376430698.339 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-13T21:51:38.341Z,1376430698.341 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-08-13T21:51:38.341Z,1376430698.341 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-13T21:51:38.342Z,1376430698.342 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-13T21:51:38.582Z,1376430698.582 [AHRS_sp3003D] Loaded
2013-08-13T21:51:38.582Z,1376430698.582 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-13T21:51:38.839Z,1376430698.839 [Batt_Ocean_Server] Loaded
2013-08-13T21:51:38.840Z,1376430698.840 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-13T21:51:38.853Z,1376430698.853 [Depth_Keller] Loaded
2013-08-13T21:51:38.854Z,1376430698.854 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-13T21:51:38.859Z,1376430698.859 [DropWeight] Loaded
2013-08-13T21:51:38.859Z,1376430698.859 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-13T21:51:39.045Z,1376430699.045 [DVL_micro] Loaded
2013-08-13T21:51:39.045Z,1376430699.045 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-13T21:51:39.046Z,1376430699.046 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D74E0
2013-08-13T21:51:39.134Z,1376430699.134 [NAL9602] Loaded
2013-08-13T21:51:39.134Z,1376430699.134 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-13T21:51:39.176Z,1376430699.176 [Onboard] Loaded
2013-08-13T21:51:39.177Z,1376430699.177 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-13T21:51:39.183Z,1376430699.183 [Radio_Freewave] Loaded
2013-08-13T21:51:39.183Z,1376430699.183 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-13T21:51:39.345Z,1376430699.345 [DAT] Loaded
2013-08-13T21:51:39.345Z,1376430699.345 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-13T21:51:39.346Z,1376430699.346 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-13T21:51:39.346Z,1376430699.346 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-13T21:51:39.451Z,1376430699.451 [Aanderaa_O2] Loaded
2013-08-13T21:51:39.451Z,1376430699.451 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-08-13T21:51:39.452Z,1376430699.452 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-13T21:51:39.454Z,1376430699.454 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-13T21:51:39.455Z,1376430699.455 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-13T21:51:39.462Z,1376430699.462 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-13T21:51:39.463Z,1376430699.463 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407344E0
2013-08-13T21:51:39.468Z,1376430699.468 [Supervisor](DEBUG): Running supervisor.
2013-08-13T21:51:39.469Z,1376430699.469 [CommandLine](INFO): Thread ID is 687
2013-08-13T21:51:39.471Z,1376430699.471 [controlThread](INFO): Thread ID is 686
2013-08-13T21:51:39.471Z,1376430699.471 [controlThread](DEBUG): Initializing ControlThread
2013-08-13T21:51:39.476Z,1376430699.476 [CycleStarter](INFO): Thread ID is 685
2013-08-13T21:51:39.476Z,1376430699.476 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-13T21:51:39.512Z,1376430699.512 [SBIT](INFO): Initialize SBIT Component.
2013-08-13T21:51:39.513Z,1376430699.513 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10508
2013-08-13T21:51:39.513Z,1376430699.513 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-13T21:51:39.513Z,1376430699.513 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-13T21:51:39.514Z,1376430699.514 [IBIT](INFO): Initialize IBIT Component.
2013-08-13T21:51:39.515Z,1376430699.515 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-13T21:51:39.515Z,1376430699.515 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-13T21:51:39.516Z,1376430699.516 [logger](INFO): Thread ID is 688
2013-08-13T21:51:39.545Z,1376430699.545 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-13T21:51:39.545Z,1376430699.545 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-13T21:51:39.546Z,1376430699.546 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-13T21:51:39.546Z,1376430699.546 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-13T21:51:39.546Z,1376430699.546 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-13T21:51:39.547Z,1376430699.547 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-13T21:51:39.547Z,1376430699.547 [Navigation](DEBUG): Initializing Navigation.
2013-08-13T21:51:39.548Z,1376430699.548 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-13T21:51:39.549Z,1376430699.549 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-13T21:51:39.550Z,1376430699.550 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-13T21:51:39.551Z,1376430699.551 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-13T21:51:39.553Z,1376430699.553 [AsyncPiEstimator](INFO): Thread ID is 756
2013-08-13T21:51:39.553Z,1376430699.553 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-13T21:51:39.569Z,1376430699.569 [DVL_micro](INFO): Thread ID is 757
2013-08-13T21:51:39.579Z,1376430699.579 [DVL_micro](INFO): Initializing
2013-08-13T21:51:39.580Z,1376430699.580 [DVL_micro](INFO): start:Powering up
2013-08-13T21:51:39.581Z,1376430699.581 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-13T21:51:39.581Z,1376430699.581 [DVL_micro](INFO): Cycling power to configure device.
2013-08-13T21:51:39.589Z,1376430699.589 [NavChartDb](INFO): Thread ID is 758
2013-08-13T21:51:39.595Z,1376430699.595 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-13T21:51:39.596Z,1376430699.596 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-13T21:51:39.597Z,1376430699.597 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-13T21:51:39.597Z,1376430699.597 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-13T21:51:39.597Z,1376430699.597 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-13T21:51:39.597Z,1376430699.597 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-13T21:51:39.597Z,1376430699.597 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-13T21:51:39.598Z,1376430699.598 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-13T21:51:39.598Z,1376430699.598 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-13T21:51:41.110Z,1376430701.110 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-08-13T21:51:41.111Z,1376430701.111 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-08-13T21:51:41.111Z,1376430701.111 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2013-08-13T21:51:41.111Z,1376430701.111 [Batt_Ocean_Server](ERROR): Communications Fault
2013-08-13T21:51:41.117Z,1376430701.117 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-13T21:51:41.151Z,1376430701.151 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-13T21:51:41.173Z,1376430701.173 [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>


2013-08-13T21:51:41.178Z,1376430701.178 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-13T21:51:41.241Z,1376430701.241 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-13T21:51:41.272Z,1376430701.272 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-13T21:51:41.275Z,1376430701.275 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-13T21:51:41.286Z,1376430701.286 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-13T21:51:41.289Z,1376430701.289 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-13T21:51:41.304Z,1376430701.304 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-13T21:51:41.345Z,1376430701.345 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-13T21:51:41.357Z,1376430701.357 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-13T21:51:41.370Z,1376430701.370 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-13T21:51:41.377Z,1376430701.377 [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>


2013-08-13T21:51:41.382Z,1376430701.382 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,Aanderaa_O2,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-08-13T21:51:41.451Z,1376430701.451 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-13T21:51:41.663Z,1376430701.663 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-13T21:51:41.664Z,1376430701.664 [DVL_micro](INFO): Querying output modes
2013-08-13T21:51:41.664Z,1376430701.664 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-13T21:51:41.675Z,1376430701.675 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-08-13T21:51:41.675Z,1376430701.675 [DVL_micro](INFO): NQ1 output enabled
2013-08-13T21:51:41.675Z,1376430701.675 [DVL_micro](INFO): RSSI output enabled
2013-08-13T21:51:41.676Z,1376430701.676 [DVL_micro](INFO): ADCP output enabled
2013-08-13T21:51:41.676Z,1376430701.676 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-13T21:51:41.682Z,1376430701.682 [Radio_Freewave](INFO): Powering up
2013-08-13T21:51:41.687Z,1376430701.687 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-13T21:51:41.692Z,1376430701.692 [DVL_micro](INFO): pause:Powering down
2013-08-13T21:51:41.702Z,1376430701.702 [DAT](INFO): Powering up
2013-08-13T21:51:41.702Z,1376430701.702 [DAT](DEBUG): Initializing DAT.
2013-08-13T21:51:41.743Z,1376430701.743 [CommandLine](IMPORTANT): got command quit
2013-08-13T21:51:41.956Z,1376430701.956 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-13T21:51:41.964Z,1376430701.964 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-13T21:51:41.984Z,1376430701.984 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-13T21:51:41.992Z,1376430701.992 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-13T21:51:41.997Z,1376430701.997 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-13T21:51:42.016Z,1376430702.016 [MassServo](DEBUG): Initializing MassServo.
2013-08-13T21:51:42.033Z,1376430702.033 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-13T21:51:42.040Z,1376430702.040 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-13T21:51:42.045Z,1376430702.045 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-13T21:51:42.052Z,1376430702.052 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-13T21:51:42.083Z,1376430702.083 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-08-13T21:51:42.083Z,1376430702.083 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-08-13T21:51:42.083Z,1376430702.083 [Batt_Ocean_Server] No Fault, FailCount= 1
2013-08-13T21:51:42.800Z,1376430702.800 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-08-13T21:51:42.801Z,1376430702.801 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-08-13T21:51:43.077Z,1376430703.077 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-08-13T21:51:43.298Z,1376430703.298 [DVL_micro](INFO): uninitialize:Powering down
2013-08-13T21:51:43.302Z,1376430703.302 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-08-13T21:51:43.558Z,1376430703.558 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-08-13T21:51:43.566Z,1376430703.566 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-08-13T21:51:43.569Z,1376430703.569 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-08-13T21:51:43.571Z,1376430703.571 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-08-13T21:51:43.987Z,1376430703.987 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-13T21:51:44.310Z,1376430704.310 [controlThread](DEBUG): Uninitializing ControlThread
2013-08-13T21:51:44.311Z,1376430704.311 [AHRS_sp3003D](INFO): Powering down
2013-08-13T21:51:44.400Z,1376430704.400 [NAL9602](INFO): Powering down
2013-08-13T21:51:44.418Z,1376430704.418 [DAT](INFO): Powering down
2013-08-13T21:51:44.676Z,1376430704.676 [Aanderaa_O2](INFO): Powering down
2013-08-13T21:51:44.696Z,1376430704.696 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-13T21:51:44.696Z,1376430704.696 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-08-13T21:51:44.701Z,1376430704.701 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-08-13T21:51:44.702Z,1376430704.702 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-08-13T21:51:44.702Z,1376430704.702 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-08-13T21:51:44.702Z,1376430704.702 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-08-13T21:51:44.702Z,1376430704.702 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-08-13T21:51:44.704Z,1376430704.704 [BuoyancyServo](INFO): Powering down
2013-08-13T21:51:44.740Z,1376430704.740 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-08-13T21:51:44.740Z,1376430704.740 [ElevatorServo](INFO): Powering down
2013-08-13T21:51:44.759Z,1376430704.759 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-08-13T21:51:44.759Z,1376430704.759 [MassServo](INFO): Powering down
2013-08-13T21:51:44.778Z,1376430704.778 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-08-13T21:51:44.778Z,1376430704.778 [RudderServo](INFO): Powering down
2013-08-13T21:51:44.796Z,1376430704.796 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-08-13T21:51:44.796Z,1376430704.796 [ThrusterServo](INFO): Powering down
2013-08-13T21:51:44.814Z,1376430704.814 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-08-13T21:51:44.814Z,1376430704.814 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-08-13T21:51:44.814Z,1376430704.814 [CBIT](DEBUG): Uninitialize CBIT Component.