2013-09-15T00:58:14.103Z,1379206694.103 [Supervisor](DEBUG): Initializing supervisor.
2013-09-15T00:58:14.105Z,1379206694.105 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-15T00:58:14.106Z,1379206694.106 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-15T00:58:14.107Z,1379206694.107 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-15T00:58:14.144Z,1379206694.144 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-15T00:58:14.155Z,1379206694.155 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-15T00:58:14.156Z,1379206694.156 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-15T00:58:14.157Z,1379206694.157 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-15T00:58:14.158Z,1379206694.158 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-15T00:58:14.158Z,1379206694.158 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-15T00:58:14.163Z,1379206694.163 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-15T00:58:14.583Z,1379206694.583 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-15T00:58:14.584Z,1379206694.584 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-15T00:58:14.807Z,1379206694.807 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-15T00:58:14.807Z,1379206694.807 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-15T00:58:14.895Z,1379206694.895 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-15T00:58:14.897Z,1379206694.897 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-15T00:58:15.012Z,1379206695.012 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-15T00:58:15.012Z,1379206695.012 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-15T00:58:15.152Z,1379206695.152 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-15T00:58:15.154Z,1379206695.154 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-15T00:58:15.395Z,1379206695.395 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-15T00:58:15.395Z,1379206695.395 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-15T00:58:15.561Z,1379206695.561 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-15T00:58:15.564Z,1379206695.564 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-15T00:58:15.829Z,1379206695.829 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-15T00:58:15.831Z,1379206695.831 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-15T00:58:15.934Z,1379206695.934 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-15T00:58:15.935Z,1379206695.935 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-15T00:58:16.348Z,1379206696.348 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-15T00:58:16.349Z,1379206696.349 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-15T00:58:16.461Z,1379206696.461 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-15T00:58:16.461Z,1379206696.461 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-15T00:58:16.552Z,1379206696.552 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-15T00:58:16.556Z,1379206696.556 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-15T00:58:16.658Z,1379206696.658 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-15T00:58:16.786Z,1379206696.786 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-15T00:58:16.881Z,1379206696.881 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-15T00:58:16.988Z,1379206696.988 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-15T00:58:17.086Z,1379206697.086 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-15T00:58:17.203Z,1379206697.203 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-15T00:58:17.300Z,1379206697.300 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-15T00:58:17.388Z,1379206697.388 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-09-15T00:58:17.392Z,1379206697.392 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-15T00:58:17.591Z,1379206697.591 [InternalSim] Loaded
2013-09-15T00:58:17.591Z,1379206697.591 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-15T00:58:17.592Z,1379206697.592 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-15T00:58:17.593Z,1379206697.593 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-15T00:58:17.746Z,1379206697.746 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-15T00:58:17.775Z,1379206697.775 [SBIT] Loaded
2013-09-15T00:58:17.776Z,1379206697.776 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-15T00:58:17.776Z,1379206697.776 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-15T00:58:17.805Z,1379206697.805 [IBIT] Loaded
2013-09-15T00:58:17.806Z,1379206697.806 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-15T00:58:17.808Z,1379206697.808 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-15T00:58:17.922Z,1379206697.922 [CBIT] Loaded
2013-09-15T00:58:17.922Z,1379206697.922 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-15T00:58:17.922Z,1379206697.922 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-15T00:58:17.923Z,1379206697.923 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-15T00:58:19.069Z,1379206699.069 [BuoyancyServo] Loaded
2013-09-15T00:58:19.070Z,1379206699.070 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-15T00:58:19.082Z,1379206699.082 [ElevatorServo] Loaded
2013-09-15T00:58:19.082Z,1379206699.082 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-15T00:58:19.093Z,1379206699.093 [MassServo] Loaded
2013-09-15T00:58:19.093Z,1379206699.093 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-15T00:58:19.105Z,1379206699.105 [RudderServo] Loaded
2013-09-15T00:58:19.105Z,1379206699.105 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-15T00:58:19.116Z,1379206699.116 [ThrusterServo] Loaded
2013-09-15T00:58:19.116Z,1379206699.116 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-15T00:58:19.117Z,1379206699.117 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-15T00:58:19.117Z,1379206699.117 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-15T00:58:19.670Z,1379206699.670 [DepthRateCalculator] Loaded
2013-09-15T00:58:19.671Z,1379206699.671 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-15T00:58:22.866Z,1379206702.866 [HFRadarModelCalc] Loaded
2013-09-15T00:58:22.866Z,1379206702.866 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-15T00:58:22.882Z,1379206702.882 [NavChart] Loaded
2013-09-15T00:58:22.882Z,1379206702.882 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-15T00:58:22.888Z,1379206702.888 [PitchRateCalculator] Loaded
2013-09-15T00:58:22.888Z,1379206702.888 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-15T00:58:22.899Z,1379206702.899 [SpeedCalculator] Loaded
2013-09-15T00:58:22.899Z,1379206702.899 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-15T00:58:22.915Z,1379206702.915 [TempGradientCalculator] Loaded
2013-09-15T00:58:22.915Z,1379206702.915 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-15T00:58:22.921Z,1379206702.921 [YawRateCalculator] Loaded
2013-09-15T00:58:22.921Z,1379206702.921 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-15T00:58:22.967Z,1379206702.967 [Navigation] Loaded
2013-09-15T00:58:22.967Z,1379206702.967 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-15T00:58:22.968Z,1379206702.968 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-15T00:58:22.969Z,1379206702.969 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-15T00:58:23.247Z,1379206703.247 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-15T00:58:23.247Z,1379206703.247 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-15T00:58:23.287Z,1379206703.287 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-15T00:58:23.287Z,1379206703.287 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-15T00:58:23.354Z,1379206703.354 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-15T00:58:23.448Z,1379206703.448 [VerticalControl] Loaded
2013-09-15T00:58:23.448Z,1379206703.448 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-15T00:58:23.449Z,1379206703.449 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-15T00:58:23.506Z,1379206703.506 [HorizontalControl] Loaded
2013-09-15T00:58:23.506Z,1379206703.506 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-15T00:58:23.507Z,1379206703.507 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-15T00:58:23.508Z,1379206703.508 [SpeedControl] Loaded
2013-09-15T00:58:23.509Z,1379206703.509 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-15T00:58:23.509Z,1379206703.509 [LoopControl](DEBUG): Construct LoopControl.
2013-09-15T00:58:23.510Z,1379206703.510 [LoopControl] Loaded
2013-09-15T00:58:23.510Z,1379206703.510 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-15T00:58:23.511Z,1379206703.511 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-15T00:58:23.511Z,1379206703.511 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-15T00:58:23.520Z,1379206703.520 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-15T00:58:23.525Z,1379206703.525 [AsyncPiEstimator] Loaded
2013-09-15T00:58:23.525Z,1379206703.525 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-15T00:58:23.526Z,1379206703.526 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-15T00:58:23.527Z,1379206703.527 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-15T00:58:23.528Z,1379206703.528 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-15T00:58:23.766Z,1379206703.766 [AHRS_sp3003D] Loaded
2013-09-15T00:58:23.766Z,1379206703.766 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-15T00:58:23.780Z,1379206703.780 [Depth_Keller] Loaded
2013-09-15T00:58:23.780Z,1379206703.780 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-15T00:58:23.785Z,1379206703.785 [DropWeight] Loaded
2013-09-15T00:58:23.785Z,1379206703.785 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-09-15T00:58:23.966Z,1379206703.966 [DVL_micro] Loaded
2013-09-15T00:58:23.966Z,1379206703.966 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-15T00:58:23.967Z,1379206703.967 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-09-15T00:58:24.054Z,1379206704.054 [NAL9602] Loaded
2013-09-15T00:58:24.055Z,1379206704.055 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-15T00:58:24.097Z,1379206704.097 [Onboard] Loaded
2013-09-15T00:58:24.098Z,1379206704.098 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-15T00:58:24.104Z,1379206704.104 [Radio_Freewave] Loaded
2013-09-15T00:58:24.105Z,1379206704.105 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-15T00:58:24.243Z,1379206704.243 [DAT] Loaded
2013-09-15T00:58:24.243Z,1379206704.243 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-15T00:58:24.244Z,1379206704.244 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-15T00:58:24.244Z,1379206704.244 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-15T00:58:24.366Z,1379206704.366 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-15T00:58:24.368Z,1379206704.368 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-15T00:58:24.369Z,1379206704.369 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-15T00:58:24.385Z,1379206704.385 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-15T00:58:24.386Z,1379206704.386 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-09-15T00:58:24.390Z,1379206704.390 [Supervisor](DEBUG): Running supervisor.
2013-09-15T00:58:24.391Z,1379206704.391 [CommandLine](INFO): Thread ID is 760
2013-09-15T00:58:24.393Z,1379206704.393 [controlThread](INFO): Thread ID is 759
2013-09-15T00:58:24.394Z,1379206704.394 [controlThread](DEBUG): Initializing ControlThread
2013-09-15T00:58:24.394Z,1379206704.394 [CycleStarter](INFO): Thread ID is 758
2013-09-15T00:58:24.394Z,1379206704.394 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-15T00:58:24.492Z,1379206704.492 [logger](INFO): Thread ID is 761
2013-09-15T00:58:24.581Z,1379206704.581 [AsyncPiEstimator](INFO): Thread ID is 822
2013-09-15T00:58:24.581Z,1379206704.581 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-15T00:58:24.590Z,1379206704.590 [DVL_micro](INFO): Thread ID is 823
2013-09-15T00:58:24.706Z,1379206704.706 [NavChartDb](INFO): Thread ID is 824
2013-09-15T00:58:24.755Z,1379206704.755 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-15T00:58:24.756Z,1379206704.756 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-15T00:58:24.756Z,1379206704.756 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-15T00:58:24.756Z,1379206704.756 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-15T00:58:24.757Z,1379206704.757 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-15T00:58:24.757Z,1379206704.757 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-15T00:58:24.757Z,1379206704.757 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-15T00:58:24.757Z,1379206704.757 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-15T00:58:24.758Z,1379206704.758 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-15T00:58:24.777Z,1379206704.777 [SBIT](INFO): Initialize SBIT Component.
2013-09-15T00:58:24.778Z,1379206704.778 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-09-15T00:58:24.778Z,1379206704.778 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-15T00:58:24.778Z,1379206704.778 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-15T00:58:24.779Z,1379206704.779 [IBIT](INFO): Initialize IBIT Component.
2013-09-15T00:58:24.780Z,1379206704.780 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-15T00:58:24.780Z,1379206704.780 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-09-15T00:58:24.780Z,1379206704.780 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-15T00:58:24.783Z,1379206704.783 [DVL_micro](INFO): Initializing
2013-09-15T00:58:24.783Z,1379206704.783 [DVL_micro](INFO): start:Powering up
2013-09-15T00:58:24.784Z,1379206704.784 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-15T00:58:24.787Z,1379206704.787 [DVL_micro](INFO): Cycling power to configure device.
2013-09-15T00:58:24.806Z,1379206704.806 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-15T00:58:24.807Z,1379206704.807 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-15T00:58:24.807Z,1379206704.807 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-15T00:58:24.808Z,1379206704.808 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-15T00:58:24.808Z,1379206704.808 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-15T00:58:24.809Z,1379206704.809 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-15T00:58:24.809Z,1379206704.809 [Navigation](DEBUG): Initializing Navigation.
2013-09-15T00:58:24.809Z,1379206704.809 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-15T00:58:24.811Z,1379206704.811 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-15T00:58:24.812Z,1379206704.812 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-15T00:58:24.812Z,1379206704.812 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-15T00:58:24.851Z,1379206704.851 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-15T00:58:24.881Z,1379206704.881 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-15T00:58:24.941Z,1379206704.941 [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>


2013-09-15T00:58:24.942Z,1379206704.942 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-15T00:58:25.067Z,1379206705.067 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-15T00:58:25.069Z,1379206705.069 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-15T00:58:25.088Z,1379206705.088 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-15T00:58:25.144Z,1379206705.144 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-15T00:58:25.147Z,1379206705.147 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-15T00:58:25.174Z,1379206705.174 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-15T00:58:25.214Z,1379206705.214 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-15T00:58:25.217Z,1379206705.217 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-15T00:58:25.266Z,1379206705.266 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-15T00:58:25.270Z,1379206705.270 [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>


2013-09-15T00:58:25.298Z,1379206705.298 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,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,
2013-09-15T00:58:25.382Z,1379206705.382 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-15T00:58:25.433Z,1379206705.433 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-09-15T00:58:25.542Z,1379206705.542 [Radio_Freewave](INFO): Powering up
2013-09-15T00:58:25.570Z,1379206705.570 [DAT](INFO): Powering up
2013-09-15T00:58:25.570Z,1379206705.570 [DAT](DEBUG): Initializing DAT.
2013-09-15T00:58:25.843Z,1379206705.843 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-15T00:58:25.855Z,1379206705.855 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-15T00:58:25.869Z,1379206705.869 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-15T00:58:25.873Z,1379206705.873 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-15T00:58:25.894Z,1379206705.894 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-15T00:58:25.895Z,1379206705.895 [MassServo](DEBUG): Initializing MassServo.
2013-09-15T00:58:25.945Z,1379206705.945 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-15T00:58:25.955Z,1379206705.955 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-15T00:58:25.979Z,1379206705.979 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-15T00:58:25.987Z,1379206705.987 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-15T00:58:26.056Z,1379206706.056 [CBIT](FAULT): Main Battery Failure. Count: 1
2013-09-15T00:58:26.292Z,1379206706.292 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-09-15T00:58:26.292Z,1379206706.292 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0x00
2013-09-15T00:58:26.292Z,1379206706.292 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-09-15T00:58:26.292Z,1379206706.292 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-09-15T00:58:26.292Z,1379206706.292 [AHRS_sp3003D](ERROR): Hardware Fault
2013-09-15T00:58:26.861Z,1379206706.861 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-15T00:58:26.861Z,1379206706.861 [DVL_micro](INFO): Querying output modes
2013-09-15T00:58:26.861Z,1379206706.861 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-15T00:58:26.981Z,1379206706.981 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-09-15T00:58:26.981Z,1379206706.981 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-09-15T00:58:26.981Z,1379206706.981 [BuoyancyServo] Communications Fault, FailCount= 1
2013-09-15T00:58:26.981Z,1379206706.981 [BuoyancyServo](ERROR): Communications Fault
2013-09-15T00:58:27.183Z,1379206707.183 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-09-15T00:58:27.184Z,1379206707.184 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-09-15T00:58:27.251Z,1379206707.251 [AHRS_sp3003D](INFO): Powering down
2013-09-15T00:58:27.403Z,1379206707.403 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-15T00:58:27.404Z,1379206707.404 [BuoyancyServo](INFO): Powering down
2013-09-15T00:58:28.602Z,1379206708.602 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-09-15T00:58:28.602Z,1379206708.602 [AHRS_sp3003D] No Fault, FailCount= 1
2013-09-15T00:58:28.800Z,1379206708.800 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-15T00:58:28.872Z,1379206708.872 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:58:28.872Z,1379206708.872 [DVL_micro](INFO): Output Modes: No Response
2013-09-15T00:58:28.872Z,1379206708.872 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-15T00:58:29.209Z,1379206709.209 [NAL9602](INFO): Powering up NAL9602
2013-09-15T00:58:29.973Z,1379206709.973 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-09-15T00:58:29.973Z,1379206709.973 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-09-15T00:58:29.973Z,1379206709.973 [AHRS_sp3003D] Hardware Fault, FailCount= 2
2013-09-15T00:58:29.973Z,1379206709.973 [AHRS_sp3003D](ERROR): Hardware Fault
2013-09-15T00:58:30.212Z,1379206710.212 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-09-15T00:58:30.212Z,1379206710.212 [BuoyancyServo] No Fault, FailCount= 1
2013-09-15T00:58:30.212Z,1379206710.212 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-09-15T00:58:30.234Z,1379206710.234 [AHRS_sp3003D](INFO): Powering down
2013-09-15T00:58:30.403Z,1379206710.403 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-15T00:58:30.523Z,1379206710.523 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-15T00:58:30.878Z,1379206710.878 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:58:30.884Z,1379206710.884 [DVL_micro](INFO): pause:Powering down
2013-09-15T00:58:30.886Z,1379206710.886 [DVL_micro](INFO): NQ1 requested
2013-09-15T00:58:30.886Z,1379206710.886 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-15T00:58:30.887Z,1379206710.887 [DVL_micro](INFO): resume:Powering up
2013-09-15T00:58:30.887Z,1379206710.887 [DVL_micro](INFO): Cycling power to configure device.
2013-09-15T00:58:31.807Z,1379206711.807 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-09-15T00:58:31.807Z,1379206711.807 [AHRS_sp3003D] No Fault, FailCount= 2
2013-09-15T00:58:32.065Z,1379206712.065 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-15T00:58:32.890Z,1379206712.890 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-15T00:58:32.890Z,1379206712.890 [DVL_micro](INFO): Querying output modes
2013-09-15T00:58:32.890Z,1379206712.890 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-15T00:58:33.214Z,1379206713.214 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-09-15T00:58:33.214Z,1379206713.214 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-09-15T00:58:33.214Z,1379206713.214 [AHRS_sp3003D] Hardware Fault, FailCount= 3
2013-09-15T00:58:33.214Z,1379206713.214 [AHRS_sp3003D](ERROR): Hardware Fault
2013-09-15T00:58:33.318Z,1379206713.318 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-09-15T00:58:33.343Z,1379206713.343 [AHRS_sp3003D](INFO): Powering down
2013-09-15T00:58:34.632Z,1379206714.632 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-09-15T00:58:34.632Z,1379206714.632 [AHRS_sp3003D] No Fault, FailCount= 3
2013-09-15T00:58:34.893Z,1379206714.893 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:58:34.893Z,1379206714.893 [DVL_micro](INFO): Output Modes: No Response
2013-09-15T00:58:34.893Z,1379206714.893 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-15T00:58:34.933Z,1379206714.933 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-15T00:58:36.075Z,1379206716.075 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-09-15T00:58:36.075Z,1379206716.075 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-09-15T00:58:36.075Z,1379206716.075 [AHRS_sp3003D] Hardware Fault, FailCount= 4
2013-09-15T00:58:36.075Z,1379206716.075 [AHRS_sp3003D](ERROR): Hardware Fault
2013-09-15T00:58:36.166Z,1379206716.166 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-09-15T00:58:36.179Z,1379206716.179 [AHRS_sp3003D](INFO): Powering down
2013-09-15T00:58:36.900Z,1379206716.900 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:58:36.902Z,1379206716.902 [DVL_micro](INFO): NQ1 requested
2013-09-15T00:58:36.902Z,1379206716.902 [DVL_micro](INFO): Cycling power to configure device.
2013-09-15T00:58:37.476Z,1379206717.476 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-09-15T00:58:37.476Z,1379206717.476 [AHRS_sp3003D] No Fault, FailCount= 4
2013-09-15T00:58:37.781Z,1379206717.781 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-15T00:58:38.911Z,1379206718.911 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-15T00:58:38.912Z,1379206718.912 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-09-15T00:58:38.917Z,1379206718.917 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-09-15T00:58:38.918Z,1379206718.918 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-09-15T00:58:38.918Z,1379206718.918 [AHRS_sp3003D] Hardware Fault, FailCount= 5
2013-09-15T00:58:38.918Z,1379206718.918 [AHRS_sp3003D](ERROR): Hardware Fault
2013-09-15T00:58:39.002Z,1379206719.002 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-09-15T00:58:39.003Z,1379206719.003 [CBIT](CRITICAL): Hardware Fault in component: AHRS_sp3003D
2013-09-15T00:58:39.055Z,1379206719.055 [AHRS_sp3003D](INFO): Powering down
2013-09-15T00:58:39.226Z,1379206719.226 [CommandLine](FAULT): Scheduling is paused
2013-09-15T00:58:39.865Z,1379206719.865 [NAL9602](INFO): NAL9602 initialized
2013-09-15T00:58:40.291Z,1379206720.291 [SBIT](IMPORTANT): Beginning Startup BIT
2013-09-15T00:58:40.294Z,1379206720.294 [CBIT](IMPORTANT): Beginning GF scan
2013-09-15T00:58:40.922Z,1379206720.922 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:58:40.922Z,1379206720.922 [DVL_micro](INFO): Enabling NQ1 output
2013-09-15T00:58:40.922Z,1379206720.922 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-09-15T00:58:42.925Z,1379206722.925 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:58:42.925Z,1379206722.925 [DVL_micro](INFO): Querying output modes
2013-09-15T00:58:42.925Z,1379206722.925 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-15T00:58:44.936Z,1379206724.936 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:58:44.936Z,1379206724.936 [DVL_micro](INFO): Output Modes: No Response
2013-09-15T00:58:44.937Z,1379206724.937 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-15T00:58:44.944Z,1379206724.944 [DAT](INFO): Init failed - response: 
2013-09-15T00:58:44.944Z,1379206724.944 [DAT](FAULT): DAT failed to initialize
2013-09-15T00:58:44.944Z,1379206724.944 [DAT] Communications Fault, FailCount= 1
2013-09-15T00:58:44.944Z,1379206724.944 [DAT](ERROR): Communications Fault
2013-09-15T00:58:45.048Z,1379206725.048 [CBIT](ERROR): Communications Fault in component: DAT
2013-09-15T00:58:45.080Z,1379206725.080 [DAT](INFO): Powering down
2013-09-15T00:58:45.938Z,1379206725.938 [CBIT](INFO): Clearing failed state for component DAT
2013-09-15T00:58:45.938Z,1379206725.938 [DAT] No Fault, FailCount= 1
2013-09-15T00:58:46.947Z,1379206726.947 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:58:48.289Z,1379206728.289 [DAT](INFO): Powering up
2013-09-15T00:58:48.293Z,1379206728.293 [DAT](DEBUG): Initializing DAT.
2013-09-15T00:58:48.955Z,1379206728.955 [DVL_micro](INFO): NQ1 requested
2013-09-15T00:58:48.955Z,1379206728.955 [DVL_micro](INFO): Cycling power to configure device.
2013-09-15T00:58:50.958Z,1379206730.958 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-15T00:58:50.958Z,1379206730.958 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-09-15T00:58:52.965Z,1379206732.965 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:58:52.965Z,1379206732.965 [DVL_micro](INFO): Enabling NQ1 output
2013-09-15T00:58:52.965Z,1379206732.965 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-09-15T00:58:54.972Z,1379206734.972 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:58:54.972Z,1379206734.972 [DVL_micro](INFO): Querying output modes
2013-09-15T00:58:54.972Z,1379206734.972 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-15T00:58:56.983Z,1379206736.983 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:58:56.983Z,1379206736.983 [DVL_micro](INFO): Output Modes: No Response
2013-09-15T00:58:56.983Z,1379206736.983 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-15T00:58:58.986Z,1379206738.986 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:00.998Z,1379206740.998 [DVL_micro](INFO): NQ1 requested
2013-09-15T00:59:00.998Z,1379206740.998 [DVL_micro](INFO): Cycling power to configure device.
2013-09-15T00:59:03.001Z,1379206743.001 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-15T00:59:03.001Z,1379206743.001 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-09-15T00:59:05.007Z,1379206745.007 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:05.008Z,1379206745.008 [DVL_micro](INFO): Enabling NQ1 output
2013-09-15T00:59:05.008Z,1379206745.008 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-09-15T00:59:07.018Z,1379206747.018 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:07.019Z,1379206747.019 [DVL_micro](INFO): Querying output modes
2013-09-15T00:59:07.019Z,1379206747.019 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-15T00:59:07.145Z,1379206747.145 [CBIT](IMPORTANT): No ground fault detected
2013-09-15T00:59:08.281Z,1379206748.281 [DAT](INFO): Powering down
2013-09-15T00:59:09.026Z,1379206749.026 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:09.026Z,1379206749.026 [DVL_micro](INFO): Output Modes: No Response
2013-09-15T00:59:09.026Z,1379206749.026 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-15T00:59:11.029Z,1379206751.029 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:13.040Z,1379206753.040 [DVL_micro](INFO): NQ1 requested
2013-09-15T00:59:13.041Z,1379206753.041 [DVL_micro](INFO): Cycling power to configure device.
2013-09-15T00:59:15.043Z,1379206755.043 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-15T00:59:15.044Z,1379206755.044 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-09-15T00:59:17.054Z,1379206757.054 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:17.054Z,1379206757.054 [DVL_micro](INFO): Enabling NQ1 output
2013-09-15T00:59:17.054Z,1379206757.054 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-09-15T00:59:19.069Z,1379206759.069 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:19.069Z,1379206759.069 [DVL_micro](INFO): Querying output modes
2013-09-15T00:59:19.070Z,1379206759.070 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-15T00:59:21.076Z,1379206761.076 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:21.076Z,1379206761.076 [DVL_micro](INFO): Output Modes: No Response
2013-09-15T00:59:21.077Z,1379206761.077 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-15T00:59:23.087Z,1379206763.087 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:25.091Z,1379206765.091 [DVL_micro](INFO): NQ1 requested
2013-09-15T00:59:25.091Z,1379206765.091 [DVL_micro](INFO): Cycling power to configure device.
2013-09-15T00:59:26.781Z,1379206766.781 [CommandLine](IMPORTANT): got command restart application
2013-09-15T00:59:27.094Z,1379206767.094 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-15T00:59:27.094Z,1379206767.094 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-09-15T00:59:27.955Z,1379206767.955 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-09-15T00:59:27.955Z,1379206767.955 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-09-15T00:59:28.340Z,1379206768.340 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-09-15T00:59:29.105Z,1379206769.105 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:29.105Z,1379206769.105 [DVL_micro](INFO): Enabling NQ1 output
2013-09-15T00:59:29.105Z,1379206769.105 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-09-15T00:59:31.109Z,1379206771.109 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:31.109Z,1379206771.109 [DVL_micro](INFO): Querying output modes
2013-09-15T00:59:31.109Z,1379206771.109 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-15T00:59:33.115Z,1379206773.115 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:33.115Z,1379206773.115 [DVL_micro](INFO): Output Modes: No Response
2013-09-15T00:59:33.115Z,1379206773.115 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-15T00:59:34.180Z,1379206774.180 [SBIT](IMPORTANT): SBIT PASSED
2013-09-15T00:59:34.568Z,1379206774.568 [MissionManager](IMPORTANT): Started mission Startup
2013-09-15T00:59:34.569Z,1379206774.569 [Startup] Running Loop=1
2013-09-15T00:59:34.569Z,1379206774.569 [Startup](INFO): Aggregate::initialize Startup
2013-09-15T00:59:34.569Z,1379206774.569 [Startup:A.GoToSurface] Running Loop=1
2013-09-15T00:59:34.569Z,1379206774.569 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-09-15T00:59:34.575Z,1379206774.575 [Startup:StartupSatComms] Running Loop=1
2013-09-15T00:59:34.575Z,1379206774.575 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-09-15T00:59:34.575Z,1379206774.575 [Startup:StartupSatComms:A] Running Loop=1
2013-09-15T00:59:34.989Z,1379206774.989 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-09-15T00:59:35.122Z,1379206775.122 [DVL_micro](DEBUG): cmdResponse: 
2013-09-15T00:59:35.123Z,1379206775.123 [DVL_micro](INFO): uninitialize:Powering down
2013-09-15T00:59:35.528Z,1379206775.528 [DVL_micro](INFO): uninitialize:Powering down
2013-09-15T00:59:35.539Z,1379206775.539 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-09-15T00:59:35.583Z,1379206775.583 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-09-15T00:59:35.599Z,1379206775.599 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-09-15T00:59:35.619Z,1379206775.619 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-09-15T00:59:35.620Z,1379206775.620 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-09-15T00:59:35.739Z,1379206775.739 [controlThread](DEBUG): Uninitializing ControlThread
2013-09-15T00:59:35.740Z,1379206775.740 [AHRS_sp3003D](INFO): Powering down
2013-09-15T00:59:35.741Z,1379206775.741 [NAL9602](INFO): Powering down
2013-09-15T00:59:35.742Z,1379206775.742 [DAT](INFO): Powering down
2013-09-15T00:59:35.743Z,1379206775.743 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-15T00:59:35.744Z,1379206775.744 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-09-15T00:59:35.748Z,1379206775.748 [Startup] Stopped
2013-09-15T00:59:35.748Z,1379206775.748 [Startup](INFO): Aggregate::uninitialize Startup
2013-09-15T00:59:35.748Z,1379206775.748 [Startup:A.GoToSurface] Stopped
2013-09-15T00:59:35.748Z,1379206775.748 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-09-15T00:59:35.748Z,1379206775.748 [Startup:StartupSatComms] Stopped
2013-09-15T00:59:35.748Z,1379206775.748 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-09-15T00:59:35.748Z,1379206775.748 [Startup:StartupSatComms:A] Stopped
2013-09-15T00:59:35.749Z,1379206775.749 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-09-15T00:59:35.749Z,1379206775.749 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-09-15T00:59:35.750Z,1379206775.750 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-09-15T00:59:35.750Z,1379206775.750 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-09-15T00:59:35.750Z,1379206775.750 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-15T00:59:35.750Z,1379206775.750 [BuoyancyServo](INFO): Powering down
2013-09-15T00:59:35.763Z,1379206775.763 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-09-15T00:59:35.763Z,1379206775.763 [ElevatorServo](INFO): Powering down
2013-09-15T00:59:35.764Z,1379206775.764 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-09-15T00:59:35.764Z,1379206775.764 [MassServo](INFO): Powering down
2013-09-15T00:59:35.765Z,1379206775.765 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-09-15T00:59:35.765Z,1379206775.765 [RudderServo](INFO): Powering down
2013-09-15T00:59:35.766Z,1379206775.766 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-09-15T00:59:35.766Z,1379206775.766 [ThrusterServo](INFO): Powering down
2013-09-15T00:59:35.767Z,1379206775.767 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-09-15T00:59:35.767Z,1379206775.767 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-09-15T00:59:35.768Z,1379206775.768 [CBIT](DEBUG): Uninitialize CBIT Component.