2013-08-22T16:34:15.713Z,1377189255.713 [Supervisor](DEBUG): Initializing supervisor.
2013-08-22T16:34:15.715Z,1377189255.715 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-22T16:34:15.716Z,1377189255.716 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-22T16:34:15.717Z,1377189255.717 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-22T16:34:15.720Z,1377189255.720 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-22T16:34:15.731Z,1377189255.731 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-22T16:34:15.732Z,1377189255.732 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-22T16:34:15.733Z,1377189255.733 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-22T16:34:15.734Z,1377189255.734 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-22T16:34:15.735Z,1377189255.735 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-22T16:34:15.736Z,1377189255.736 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-22T16:34:16.019Z,1377189256.019 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-22T16:34:16.020Z,1377189256.020 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-22T16:34:16.214Z,1377189256.214 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-22T16:34:16.214Z,1377189256.214 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-22T16:34:16.299Z,1377189256.299 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-22T16:34:16.299Z,1377189256.299 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-22T16:34:16.410Z,1377189256.410 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-22T16:34:16.411Z,1377189256.411 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-22T16:34:16.549Z,1377189256.549 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-22T16:34:16.549Z,1377189256.549 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-22T16:34:16.790Z,1377189256.790 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-22T16:34:16.790Z,1377189256.790 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-22T16:34:16.957Z,1377189256.957 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-22T16:34:16.957Z,1377189256.957 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-22T16:34:17.221Z,1377189257.221 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-22T16:34:17.221Z,1377189257.221 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-22T16:34:17.322Z,1377189257.322 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-22T16:34:17.323Z,1377189257.323 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-22T16:34:17.738Z,1377189257.738 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-22T16:34:17.739Z,1377189257.739 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-22T16:34:17.849Z,1377189257.849 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-22T16:34:17.850Z,1377189257.849 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-22T16:34:17.935Z,1377189257.935 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-22T16:34:17.936Z,1377189257.936 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-22T16:34:18.040Z,1377189258.040 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-22T16:34:18.165Z,1377189258.165 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-22T16:34:18.258Z,1377189258.258 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-22T16:34:18.363Z,1377189258.363 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-22T16:34:18.458Z,1377189258.458 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-22T16:34:18.573Z,1377189258.573 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-22T16:34:18.667Z,1377189258.667 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-22T16:34:18.752Z,1377189258.753 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-08-22T16:34:18.753Z,1377189258.753 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-08-22T16:34:18.754Z,1377189258.754 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-22T16:34:18.916Z,1377189258.916 [InternalSim] Loaded
2013-08-22T16:34:18.916Z,1377189258.916 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-22T16:34:18.917Z,1377189258.917 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-22T16:34:18.918Z,1377189258.918 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-22T16:34:19.001Z,1377189259.001 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-22T16:34:19.029Z,1377189259.029 [SBIT] Loaded
2013-08-22T16:34:19.030Z,1377189259.030 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-22T16:34:19.030Z,1377189259.030 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-22T16:34:19.059Z,1377189259.059 [IBIT] Loaded
2013-08-22T16:34:19.060Z,1377189259.059 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-22T16:34:19.062Z,1377189259.062 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-22T16:34:19.176Z,1377189259.175 [CBIT] Loaded
2013-08-22T16:34:19.176Z,1377189259.176 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-22T16:34:19.176Z,1377189259.176 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-22T16:34:19.177Z,1377189259.177 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-22T16:34:19.343Z,1377189259.343 [BuoyancyServo] Loaded
2013-08-22T16:34:19.343Z,1377189259.343 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-22T16:34:19.355Z,1377189259.355 [ElevatorServo] Loaded
2013-08-22T16:34:19.355Z,1377189259.355 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-22T16:34:19.366Z,1377189259.366 [MassServo] Loaded
2013-08-22T16:34:19.367Z,1377189259.367 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-22T16:34:19.378Z,1377189259.378 [RudderServo] Loaded
2013-08-22T16:34:19.378Z,1377189259.378 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-22T16:34:19.389Z,1377189259.389 [ThrusterServo] Loaded
2013-08-22T16:34:19.390Z,1377189259.390 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-22T16:34:19.390Z,1377189259.390 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-22T16:34:19.391Z,1377189259.391 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-22T16:34:19.426Z,1377189259.426 [DepthRateCalculator] Loaded
2013-08-22T16:34:19.426Z,1377189259.426 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-22T16:34:22.594Z,1377189262.594 [HFRadarModelCalc] Loaded
2013-08-22T16:34:22.595Z,1377189262.595 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-22T16:34:22.610Z,1377189262.611 [NavChart] Loaded
2013-08-22T16:34:22.611Z,1377189262.611 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-22T16:34:22.616Z,1377189262.616 [PitchRateCalculator] Loaded
2013-08-22T16:34:22.617Z,1377189262.617 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-22T16:34:22.627Z,1377189262.627 [SpeedCalculator] Loaded
2013-08-22T16:34:22.627Z,1377189262.627 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-22T16:34:22.643Z,1377189262.643 [TempGradientCalculator] Loaded
2013-08-22T16:34:22.644Z,1377189262.644 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-22T16:34:22.649Z,1377189262.649 [YawRateCalculator] Loaded
2013-08-22T16:34:22.649Z,1377189262.649 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-22T16:34:22.695Z,1377189262.695 [Navigation] Loaded
2013-08-22T16:34:22.696Z,1377189262.695 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-22T16:34:22.696Z,1377189262.696 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-22T16:34:22.697Z,1377189262.697 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-22T16:34:22.931Z,1377189262.931 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-22T16:34:22.931Z,1377189262.931 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-22T16:34:22.954Z,1377189262.954 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-22T16:34:22.955Z,1377189262.955 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-22T16:34:23.001Z,1377189263.001 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-22T16:34:23.094Z,1377189263.094 [VerticalControl] Loaded
2013-08-22T16:34:23.094Z,1377189263.094 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-22T16:34:23.095Z,1377189263.095 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-22T16:34:23.152Z,1377189263.152 [HorizontalControl] Loaded
2013-08-22T16:34:23.152Z,1377189263.152 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-22T16:34:23.153Z,1377189263.153 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-22T16:34:23.154Z,1377189263.155 [SpeedControl] Loaded
2013-08-22T16:34:23.155Z,1377189263.155 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-22T16:34:23.155Z,1377189263.155 [LoopControl](DEBUG): Construct LoopControl.
2013-08-22T16:34:23.156Z,1377189263.156 [LoopControl] Loaded
2013-08-22T16:34:23.156Z,1377189263.156 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-22T16:34:23.157Z,1377189263.157 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-22T16:34:23.157Z,1377189263.157 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-22T16:34:23.163Z,1377189263.163 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-22T16:34:23.168Z,1377189263.168 [AsyncPiEstimator] Loaded
2013-08-22T16:34:23.168Z,1377189263.168 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-22T16:34:23.169Z,1377189263.169 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4064F4E0
2013-08-22T16:34:23.170Z,1377189263.170 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-22T16:34:23.171Z,1377189263.171 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-22T16:34:23.363Z,1377189263.362 [AHRS_sp3003D] Loaded
2013-08-22T16:34:23.363Z,1377189263.363 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-22T16:34:23.610Z,1377189263.610 [Batt_Ocean_Server] Loaded
2013-08-22T16:34:23.610Z,1377189263.610 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-22T16:34:23.624Z,1377189263.624 [Depth_Keller] Loaded
2013-08-22T16:34:23.624Z,1377189263.624 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-22T16:34:23.629Z,1377189263.629 [DropWeight] Loaded
2013-08-22T16:34:23.629Z,1377189263.629 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-22T16:34:23.810Z,1377189263.810 [DVL_micro] Loaded
2013-08-22T16:34:23.810Z,1377189263.810 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-22T16:34:23.812Z,1377189263.812 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406DE4E0
2013-08-22T16:34:23.898Z,1377189263.898 [NAL9602] Loaded
2013-08-22T16:34:23.899Z,1377189263.899 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-22T16:34:23.941Z,1377189263.941 [Onboard] Loaded
2013-08-22T16:34:23.941Z,1377189263.941 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-22T16:34:23.948Z,1377189263.948 [Radio_Freewave] Loaded
2013-08-22T16:34:23.948Z,1377189263.948 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-22T16:34:24.097Z,1377189264.097 [DAT] Loaded
2013-08-22T16:34:24.097Z,1377189264.097 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-22T16:34:24.097Z,1377189264.098 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-22T16:34:24.098Z,1377189264.098 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-22T16:34:24.161Z,1377189264.161 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-22T16:34:24.163Z,1377189264.164 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-22T16:34:24.164Z,1377189264.164 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-22T16:34:24.171Z,1377189264.171 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-22T16:34:24.172Z,1377189264.172 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4073B4E0
2013-08-22T16:34:24.176Z,1377189264.176 [Supervisor](DEBUG): Running supervisor.
2013-08-22T16:34:24.177Z,1377189264.177 [CommandLine](INFO): Thread ID is 1619
2013-08-22T16:34:24.180Z,1377189264.180 [controlThread](INFO): Thread ID is 1618
2013-08-22T16:34:24.180Z,1377189264.180 [controlThread](DEBUG): Initializing ControlThread
2013-08-22T16:34:24.181Z,1377189264.181 [CycleStarter](INFO): Thread ID is 1617
2013-08-22T16:34:24.181Z,1377189264.181 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-22T16:34:24.214Z,1377189264.214 [logger](INFO): Thread ID is 1620
2013-08-22T16:34:24.239Z,1377189264.239 [SBIT](INFO): Initialize SBIT Component.
2013-08-22T16:34:24.240Z,1377189264.240 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10560
2013-08-22T16:34:24.240Z,1377189264.240 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-22T16:34:24.240Z,1377189264.240 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-22T16:34:24.241Z,1377189264.241 [IBIT](INFO): Initialize IBIT Component.
2013-08-22T16:34:24.242Z,1377189264.242 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-22T16:34:24.242Z,1377189264.242 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-22T16:34:24.254Z,1377189264.254 [AsyncPiEstimator](INFO): Thread ID is 1681
2013-08-22T16:34:24.254Z,1377189264.254 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-22T16:34:24.267Z,1377189264.267 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-22T16:34:24.267Z,1377189264.267 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-22T16:34:24.268Z,1377189264.268 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-22T16:34:24.268Z,1377189264.268 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-22T16:34:24.268Z,1377189264.268 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-22T16:34:24.269Z,1377189264.269 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-22T16:34:24.269Z,1377189264.269 [Navigation](DEBUG): Initializing Navigation.
2013-08-22T16:34:24.270Z,1377189264.270 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-22T16:34:24.272Z,1377189264.272 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-22T16:34:24.272Z,1377189264.272 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-22T16:34:24.273Z,1377189264.273 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-22T16:34:24.278Z,1377189264.278 [DVL_micro](INFO): Thread ID is 1682
2013-08-22T16:34:24.287Z,1377189264.287 [DVL_micro](INFO): Initializing
2013-08-22T16:34:24.287Z,1377189264.287 [DVL_micro](INFO): start:Powering up
2013-08-22T16:34:24.288Z,1377189264.288 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-22T16:34:24.288Z,1377189264.288 [DVL_micro](INFO): Cycling power to configure device.
2013-08-22T16:34:24.299Z,1377189264.299 [NavChartDb](INFO): Thread ID is 1683
2013-08-22T16:34:24.301Z,1377189264.301 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-22T16:34:24.302Z,1377189264.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-22T16:34:24.302Z,1377189264.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-22T16:34:24.302Z,1377189264.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-22T16:34:24.303Z,1377189264.303 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-22T16:34:24.303Z,1377189264.303 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-22T16:34:24.303Z,1377189264.303 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-22T16:34:24.303Z,1377189264.303 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-22T16:34:24.304Z,1377189264.304 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-22T16:34:25.899Z,1377189265.898 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-22T16:34:25.937Z,1377189265.937 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-22T16:34:25.963Z,1377189265.963 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T16:34:25.985Z,1377189265.985 [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>


2013-08-22T16:34:25.986Z,1377189265.986 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-22T16:34:26.056Z,1377189266.056 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-22T16:34:26.059Z,1377189266.059 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-22T16:34:26.074Z,1377189266.074 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T16:34:26.098Z,1377189266.098 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-22T16:34:26.101Z,1377189266.101 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T16:34:26.108Z,1377189266.108 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-22T16:34:26.148Z,1377189266.148 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-22T16:34:26.160Z,1377189266.160 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T16:34:26.164Z,1377189266.164 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-22T16:34:26.180Z,1377189266.180 [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>


2013-08-22T16:34:26.184Z,1377189266.184 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-08-22T16:34:26.245Z,1377189266.245 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-22T16:34:26.279Z,1377189266.279 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-08-22T16:34:26.366Z,1377189266.366 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-22T16:34:26.366Z,1377189266.366 [DVL_micro](INFO): Querying output modes
2013-08-22T16:34:26.367Z,1377189266.367 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-22T16:34:26.378Z,1377189266.378 [DVL_micro](DEBUG): cmdResponse: 03 16
2013-08-22T16:34:26.378Z,1377189266.378 [DVL_micro](INFO): RSSI output enabled
2013-08-22T16:34:26.378Z,1377189266.378 [DVL_micro](INFO): ADCP output enabled
2013-08-22T16:34:26.379Z,1377189266.378 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-22T16:34:26.379Z,1377189266.379 [Radio_Freewave](INFO): Powering up
2013-08-22T16:34:26.389Z,1377189266.388 [DAT](INFO): Powering up
2013-08-22T16:34:26.389Z,1377189266.389 [DAT](DEBUG): Initializing DAT.
2013-08-22T16:34:26.390Z,1377189266.390 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-22T16:34:26.395Z,1377189266.395 [DVL_micro](INFO): pause:Powering down
2013-08-22T16:34:26.601Z,1377189266.602 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:34:26.610Z,1377189266.610 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-22T16:34:26.616Z,1377189266.616 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:34:26.642Z,1377189266.642 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-22T16:34:26.648Z,1377189266.648 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:34:26.654Z,1377189266.654 [MassServo](DEBUG): Initializing MassServo.
2013-08-22T16:34:26.675Z,1377189266.675 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:34:26.682Z,1377189266.682 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-22T16:34:26.688Z,1377189266.688 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:34:26.694Z,1377189266.694 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-22T16:34:27.026Z,1377189267.026 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-08-22T16:34:27.026Z,1377189267.026 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0x42360D0A
2013-08-22T16:34:27.026Z,1377189267.026 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-08-22T16:34:27.026Z,1377189267.026 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-08-22T16:34:27.026Z,1377189267.026 [AHRS_sp3003D](ERROR): Hardware Fault
2013-08-22T16:34:27.205Z,1377189267.205 [DVL_micro](INFO): RSSI unrequested
2013-08-22T16:34:27.205Z,1377189267.205 [DVL_micro](INFO): ADCP unrequested
2013-08-22T16:34:27.206Z,1377189267.206 [DVL_micro](INFO): NQ1 requested
2013-08-22T16:34:27.209Z,1377189267.209 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-22T16:34:27.210Z,1377189267.210 [DVL_micro](INFO): resume:Powering up
2013-08-22T16:34:27.211Z,1377189267.211 [DVL_micro](INFO): Cycling power to configure device.
2013-08-22T16:34:27.702Z,1377189267.702 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-08-22T16:34:27.702Z,1377189267.702 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-08-22T16:34:27.702Z,1377189267.702 [BuoyancyServo] Communications Fault, FailCount= 1
2013-08-22T16:34:27.702Z,1377189267.702 [BuoyancyServo](ERROR): Communications Fault
2013-08-22T16:34:27.912Z,1377189267.912 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-08-22T16:34:27.912Z,1377189267.912 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-08-22T16:34:27.965Z,1377189267.965 [AHRS_sp3003D](INFO): Powering down
2013-08-22T16:34:28.094Z,1377189268.094 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-08-22T16:34:28.094Z,1377189268.094 [BuoyancyServo](INFO): Powering down
2013-08-22T16:34:29.212Z,1377189269.212 [NAL9602](INFO): Powering up NAL9602
2013-08-22T16:34:29.222Z,1377189269.222 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-22T16:34:29.222Z,1377189269.222 [DVL_micro](INFO): Querying output modes
2013-08-22T16:34:29.222Z,1377189269.222 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-22T16:34:29.234Z,1377189269.234 [DVL_micro](DEBUG): cmdResponse: 03 16
2013-08-22T16:34:29.234Z,1377189269.234 [DVL_micro](INFO): RSSI output enabled
2013-08-22T16:34:29.234Z,1377189269.234 [DVL_micro](INFO): ADCP output enabled
2013-08-22T16:34:29.234Z,1377189269.234 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-22T16:34:29.246Z,1377189269.246 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-22T16:34:29.248Z,1377189269.248 [DVL_micro](INFO): RSSI unrequested
2013-08-22T16:34:29.248Z,1377189269.248 [DVL_micro](INFO): ADCP unrequested
2013-08-22T16:34:29.248Z,1377189269.248 [DVL_micro](INFO): NQ1 requested
2013-08-22T16:34:29.248Z,1377189269.248 [DVL_micro](INFO): Cycling power to configure device.
2013-08-22T16:34:29.377Z,1377189269.376 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-08-22T16:34:29.377Z,1377189269.377 [AHRS_sp3003D] No Fault, FailCount= 1
2013-08-22T16:34:29.533Z,1377189269.533 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-22T16:34:30.796Z,1377189270.796 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-08-22T16:34:30.796Z,1377189270.796 [BuoyancyServo] No Fault, FailCount= 1
2013-08-22T16:34:31.036Z,1377189271.036 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:34:31.159Z,1377189271.159 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-22T16:34:31.254Z,1377189271.254 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-22T16:34:31.254Z,1377189271.254 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-08-22T16:34:31.268Z,1377189271.268 [DVL_micro](DEBUG): cmdResponse: �n�������������������}�o�j�o�{����q�c�R�a�S�u�O�\�X���p�x���z�}�a�h�@�O�i
2013-08-22T16:34:31.268Z,1377189271.268 [DVL_micro](INFO): Enabling NQ1 output
2013-08-22T16:34:31.268Z,1377189271.268 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-08-22T16:34:31.284Z,1377189271.284 [DVL_micro](DEBUG): cmdResponse: �a�A�P�d������������{���s�����r�c�b�7�?�G�K�?�8�+�0�o�h�|�k�Z���q�d�V�H�P�r�a�t���
2013-08-22T16:34:31.284Z,1377189271.284 [DVL_micro](INFO): Querying output modes
2013-08-22T16:34:31.285Z,1377189271.284 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-22T16:34:31.301Z,1377189271.301 [DVL_micro](DEBUG): cmdResponse: �����������y����������������������x��]�J�[�[�l�n�����r�b�D�M�Y�j�q�w�Y
2013-08-22T16:34:31.301Z,1377189271.301 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-22T16:34:31.316Z,1377189271.316 [DVL_micro](DEBUG): cmdResponse: �\�o����t���u�T�g�^�]�T�a�������
2013-08-22T16:34:33.351Z,1377189273.351 [DVL_micro](INFO): pause:Powering down
2013-08-22T16:34:39.790Z,1377189279.790 [NAL9602](INFO): NAL9602 initialized
2013-08-22T16:34:39.851Z,1377189279.851 [SBIT](IMPORTANT): Beginning Startup BIT
2013-08-22T16:34:39.862Z,1377189279.862 [CBIT](IMPORTANT): Beginning GF scan
2013-08-22T16:34:46.608Z,1377189286.608 [DAT](INFO): Powering down
2013-08-22T16:35:06.883Z,1377189306.883 [CBIT](IMPORTANT): No ground fault detected
2013-08-22T16:35:33.892Z,1377189333.892 [SBIT](IMPORTANT): SBIT PASSED
2013-08-22T16:35:34.209Z,1377189334.209 [MissionManager](IMPORTANT): Started mission Startup
2013-08-22T16:35:34.209Z,1377189334.209 [Startup] Running Loop=1
2013-08-22T16:35:34.209Z,1377189334.209 [Startup](INFO): Aggregate::initialize Startup
2013-08-22T16:35:34.209Z,1377189334.209 [Startup:A.GoToSurface] Running Loop=1
2013-08-22T16:35:34.209Z,1377189334.209 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-22T16:35:34.260Z,1377189334.260 [Startup:StartupSatComms] Running Loop=1
2013-08-22T16:35:34.261Z,1377189334.260 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-08-22T16:35:34.261Z,1377189334.261 [Startup:StartupSatComms:A] Running Loop=1
2013-08-22T16:35:34.609Z,1377189334.609 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-08-22T16:36:34.288Z,1377189394.288 [Startup:StartupSatComms:A](INFO): Timed out from 2013-08-22T16:35:34.3Z
2013-08-22T16:36:34.289Z,1377189394.289 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-08-22T16:36:34.289Z,1377189394.289 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-08-22T16:36:34.289Z,1377189394.289 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-08-22T16:36:34.289Z,1377189394.289 [Startup:StartupSatComms:A] Stopped
2013-08-22T16:36:34.289Z,1377189394.289 [Startup:StartupSatComms:B] Running Loop=1
2013-08-22T16:36:34.715Z,1377189394.715 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-08-22T16:37:34.569Z,1377189454.569 [Startup:StartupSatComms:B](INFO): Timed out from 2013-08-22T16:36:34.3Z
2013-08-22T16:37:34.569Z,1377189454.569 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-08-22T16:37:34.569Z,1377189454.569 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-08-22T16:37:34.570Z,1377189454.569 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-08-22T16:37:34.570Z,1377189454.570 [Startup:StartupSatComms:B] Stopped
2013-08-22T16:37:34.570Z,1377189454.570 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-08-22T16:37:34.570Z,1377189454.570 [Startup:StartupSatComms] Stopped
2013-08-22T16:37:34.570Z,1377189454.570 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-08-22T16:37:34.571Z,1377189454.571 [Startup](INFO): Completed Startup
2013-08-22T16:37:34.571Z,1377189454.571 [Startup] Stopped
2013-08-22T16:37:34.571Z,1377189454.571 [Startup](INFO): Aggregate::uninitialize Startup
2013-08-22T16:37:34.571Z,1377189454.571 [Startup:A.GoToSurface] Stopped
2013-08-22T16:37:34.571Z,1377189454.571 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-22T16:37:35.043Z,1377189455.043 [MissionManager](IMPORTANT): Started mission Default
2013-08-22T16:37:35.043Z,1377189455.043 [Default] Running Loop=1
2013-08-22T16:37:35.043Z,1377189455.043 [Default](INFO): Aggregate::initialize Default
2013-08-22T16:37:35.043Z,1377189455.043 [Default:D.SetSpeed] Running Loop=1
2013-08-22T16:37:35.043Z,1377189455.043 [Default:D.SetSpeed](DEBUG): Initialize.
2013-08-22T16:37:35.043Z,1377189455.043 [Default:E.GoToSurface] Running Loop=1
2013-08-22T16:37:35.043Z,1377189455.043 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-22T16:37:35.044Z,1377189455.044 [Default:Iridium] Running Loop=1
2013-08-22T16:37:35.044Z,1377189455.044 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-08-22T16:37:35.044Z,1377189455.044 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-08-22T16:37:35.044Z,1377189455.044 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-08-22T16:37:35.044Z,1377189455.044 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-08-22T16:37:35.044Z,1377189455.044 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-22T16:37:35.045Z,1377189455.045 [Default:E.GoToSurface] Running Loop=1
2013-08-22T16:37:35.058Z,1377189455.058 [Default:D.SetSpeed] Running Loop=1
2013-08-22T16:37:35.067Z,1377189455.067 [Default:CallIridium] Running Loop=1
2013-08-22T16:37:35.067Z,1377189455.067 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-08-22T16:37:35.067Z,1377189455.067 [Default:CallIridium:A] Running Loop=1
2013-08-22T16:37:35.069Z,1377189455.069 [Default:CallIridium:A] Stopped
2013-08-22T16:37:35.069Z,1377189455.069 [Default:CallIridium:B] Running Loop=1
2013-08-22T16:37:35.071Z,1377189455.071 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-08-22T16:37:35.076Z,1377189455.076 [Default:Iridium:B.GoToSurface] Stopped
2013-08-22T16:37:35.076Z,1377189455.076 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-22T16:37:35.076Z,1377189455.076 [Default:Iridium:Read_Iridium] Running Loop=1
2013-08-22T16:37:35.076Z,1377189455.076 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-08-22T16:37:35.081Z,1377189455.081 [Default:GPS] Running Loop=1
2013-08-22T16:37:35.081Z,1377189455.081 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-08-22T16:37:35.082Z,1377189455.082 [Default:GPS:A.SetSpeed] Running Loop=1
2013-08-22T16:37:35.082Z,1377189455.082 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-08-22T16:37:35.082Z,1377189455.082 [Default:GPS:B.GoToSurface] Running Loop=1
2013-08-22T16:37:35.082Z,1377189455.082 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-22T16:37:35.087Z,1377189455.087 [Default:GPS:B.GoToSurface] Stopped
2013-08-22T16:37:35.087Z,1377189455.087 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-22T16:37:35.087Z,1377189455.087 [Default:GPS:Read_GPS] Running Loop=1
2013-08-22T16:37:35.087Z,1377189455.087 [Default:GPS:A.SetSpeed] Running Loop=1
2013-08-22T16:37:35.374Z,1377189455.374 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-08-22T16:37:35.377Z,1377189455.377 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-08-22T16:44:43.043Z,1377189883.043 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-08-22T16:44:43.043Z,1377189883.043 [NAL9602] Data Fault, FailCount= 1
2013-08-22T16:44:43.043Z,1377189883.043 [NAL9602](ERROR): Data Fault
2013-08-22T16:44:43.067Z,1377189883.067 [CBIT](ERROR): Data Fault in component: NAL9602
2013-08-22T16:44:43.488Z,1377189883.488 [NAL9602](INFO): Powering down
2013-08-22T16:44:44.264Z,1377189884.264 [CBIT](INFO): Clearing failed state for component NAL9602
2013-08-22T16:44:44.264Z,1377189884.264 [NAL9602] No Fault, FailCount= 1
2013-08-22T16:44:48.643Z,1377189888.644 [NAL9602](INFO): Powering up NAL9602
2013-08-22T16:44:59.126Z,1377189899.126 [NAL9602](INFO): NAL9602 initialized
2013-08-22T16:50:06.742Z,1377190206.742 [CommandLine](IMPORTANT): got command quit
2013-08-22T16:50:07.765Z,1377190207.765 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-08-22T16:50:07.766Z,1377190207.766 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-08-22T16:50:07.966Z,1377190207.966 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-08-22T16:50:08.050Z,1377190208.050 [DVL_micro](INFO): uninitialize:Powering down
2013-08-22T16:50:08.054Z,1377190208.054 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-08-22T16:50:08.258Z,1377190208.258 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-08-22T16:50:08.278Z,1377190208.277 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-08-22T16:50:08.338Z,1377190208.338 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-08-22T16:50:08.339Z,1377190208.339 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-08-22T16:50:08.366Z,1377190208.366 [controlThread](DEBUG): Uninitializing ControlThread
2013-08-22T16:50:08.366Z,1377190208.366 [AHRS_sp3003D](INFO): Powering down
2013-08-22T16:50:08.455Z,1377190208.455 [NAL9602](INFO): Powering down
2013-08-22T16:50:08.456Z,1377190208.456 [DAT](INFO): Powering down
2013-08-22T16:50:08.457Z,1377190208.457 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-22T16:50:08.458Z,1377190208.458 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-08-22T16:50:08.459Z,1377190208.459 [Default] Stopped
2013-08-22T16:50:08.459Z,1377190208.459 [Default](INFO): Aggregate::uninitialize Default
2013-08-22T16:50:08.459Z,1377190208.459 [Default:GPS] Stopped
2013-08-22T16:50:08.459Z,1377190208.459 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-08-22T16:50:08.459Z,1377190208.459 [Default:GPS:A.SetSpeed] Stopped
2013-08-22T16:50:08.459Z,1377190208.459 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-08-22T16:50:08.459Z,1377190208.459 [Default:GPS:Read_GPS] Stopped
2013-08-22T16:50:08.459Z,1377190208.459 [Default:Iridium] Stopped
2013-08-22T16:50:08.460Z,1377190208.460 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-08-22T16:50:08.460Z,1377190208.460 [Default:Iridium:A.SetSpeed] Stopped
2013-08-22T16:50:08.460Z,1377190208.460 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-08-22T16:50:08.460Z,1377190208.460 [Default:Iridium:Read_Iridium] Stopped
2013-08-22T16:50:08.460Z,1377190208.460 [Default:CallIridium] Stopped
2013-08-22T16:50:08.460Z,1377190208.460 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-08-22T16:50:08.460Z,1377190208.460 [Default:CallIridium:B] Stopped
2013-08-22T16:50:08.460Z,1377190208.460 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-08-22T16:50:08.460Z,1377190208.460 [Default:D.SetSpeed] Stopped
2013-08-22T16:50:08.460Z,1377190208.460 [Default:D.SetSpeed](DEBUG): Uninitialize.
2013-08-22T16:50:08.460Z,1377190208.460 [Default:E.GoToSurface] Stopped
2013-08-22T16:50:08.460Z,1377190208.460 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-22T16:50:08.465Z,1377190208.465 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-08-22T16:50:08.465Z,1377190208.465 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-08-22T16:50:08.465Z,1377190208.466 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-08-22T16:50:08.466Z,1377190208.466 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-08-22T16:50:08.466Z,1377190208.466 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-08-22T16:50:08.466Z,1377190208.466 [BuoyancyServo](INFO): Powering down
2013-08-22T16:50:08.478Z,1377190208.478 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-08-22T16:50:08.478Z,1377190208.478 [ElevatorServo](INFO): Powering down
2013-08-22T16:50:08.479Z,1377190208.479 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-08-22T16:50:08.479Z,1377190208.479 [MassServo](INFO): Powering down
2013-08-22T16:50:08.480Z,1377190208.480 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-08-22T16:50:08.480Z,1377190208.480 [RudderServo](INFO): Powering down
2013-08-22T16:50:08.481Z,1377190208.480 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-08-22T16:50:08.481Z,1377190208.481 [ThrusterServo](INFO): Powering down
2013-08-22T16:50:08.482Z,1377190208.482 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-08-22T16:50:08.482Z,1377190208.482 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-08-22T16:50:08.482Z,1377190208.482 [CBIT](DEBUG): Uninitialize CBIT Component.