2013-09-15T03:24:07.585Z,1379215447.585 [Supervisor](DEBUG): Initializing supervisor.
2013-09-15T03:24:07.587Z,1379215447.587 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-15T03:24:07.588Z,1379215447.588 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-15T03:24:07.589Z,1379215447.589 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-15T03:24:07.592Z,1379215447.592 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-15T03:24:07.603Z,1379215447.603 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-15T03:24:07.604Z,1379215447.604 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-15T03:24:07.605Z,1379215447.605 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-15T03:24:07.606Z,1379215447.606 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-15T03:24:07.607Z,1379215447.607 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-15T03:24:07.608Z,1379215447.608 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-15T03:24:07.889Z,1379215447.889 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-15T03:24:07.890Z,1379215447.890 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-15T03:24:08.083Z,1379215448.083 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-15T03:24:08.083Z,1379215448.083 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-15T03:24:08.169Z,1379215448.169 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-15T03:24:08.170Z,1379215448.170 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-15T03:24:08.285Z,1379215448.285 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-15T03:24:08.286Z,1379215448.286 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-15T03:24:08.424Z,1379215448.424 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-15T03:24:08.425Z,1379215448.425 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-15T03:24:08.663Z,1379215448.663 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-15T03:24:08.664Z,1379215448.664 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-15T03:24:08.829Z,1379215448.829 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-15T03:24:08.830Z,1379215448.830 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-15T03:24:09.091Z,1379215449.091 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-15T03:24:09.091Z,1379215449.091 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-15T03:24:09.194Z,1379215449.194 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-15T03:24:09.194Z,1379215449.194 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-15T03:24:09.615Z,1379215449.615 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-15T03:24:09.616Z,1379215449.616 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-15T03:24:09.727Z,1379215449.727 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-15T03:24:09.728Z,1379215449.728 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-15T03:24:09.815Z,1379215449.815 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-15T03:24:09.815Z,1379215449.815 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-15T03:24:09.915Z,1379215449.915 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-15T03:24:10.042Z,1379215450.042 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-15T03:24:10.137Z,1379215450.137 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-15T03:24:10.242Z,1379215450.242 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-15T03:24:10.338Z,1379215450.338 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-15T03:24:10.453Z,1379215450.453 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-15T03:24:10.549Z,1379215450.549 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-15T03:24:10.635Z,1379215450.635 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-09-15T03:24:10.636Z,1379215450.636 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-15T03:24:10.797Z,1379215450.797 [InternalSim] Loaded
2013-09-15T03:24:10.798Z,1379215450.798 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-15T03:24:10.798Z,1379215450.798 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-15T03:24:10.799Z,1379215450.799 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-15T03:24:10.883Z,1379215450.883 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-15T03:24:10.911Z,1379215450.911 [SBIT] Loaded
2013-09-15T03:24:10.911Z,1379215450.911 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-15T03:24:10.912Z,1379215450.912 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-15T03:24:10.941Z,1379215450.941 [IBIT] Loaded
2013-09-15T03:24:10.941Z,1379215450.941 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-15T03:24:10.943Z,1379215450.943 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-15T03:24:11.057Z,1379215451.057 [CBIT] Loaded
2013-09-15T03:24:11.057Z,1379215451.057 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-15T03:24:11.057Z,1379215451.057 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-15T03:24:11.058Z,1379215451.058 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-15T03:24:11.262Z,1379215451.262 [BuoyancyServo] Loaded
2013-09-15T03:24:11.262Z,1379215451.262 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-15T03:24:11.274Z,1379215451.274 [ElevatorServo] Loaded
2013-09-15T03:24:11.274Z,1379215451.274 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-15T03:24:11.285Z,1379215451.285 [MassServo] Loaded
2013-09-15T03:24:11.285Z,1379215451.285 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-15T03:24:11.297Z,1379215451.297 [RudderServo] Loaded
2013-09-15T03:24:11.297Z,1379215451.297 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-15T03:24:11.308Z,1379215451.308 [ThrusterServo] Loaded
2013-09-15T03:24:11.308Z,1379215451.308 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-15T03:24:11.309Z,1379215451.309 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-15T03:24:11.309Z,1379215451.309 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-15T03:24:11.344Z,1379215451.344 [DepthRateCalculator] Loaded
2013-09-15T03:24:11.344Z,1379215451.344 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-15T03:24:14.444Z,1379215454.444 [HFRadarModelCalc] Loaded
2013-09-15T03:24:14.444Z,1379215454.444 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-15T03:24:14.460Z,1379215454.460 [NavChart] Loaded
2013-09-15T03:24:14.461Z,1379215454.461 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-15T03:24:14.466Z,1379215454.466 [PitchRateCalculator] Loaded
2013-09-15T03:24:14.467Z,1379215454.467 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-15T03:24:14.477Z,1379215454.477 [SpeedCalculator] Loaded
2013-09-15T03:24:14.477Z,1379215454.477 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-15T03:24:14.493Z,1379215454.493 [TempGradientCalculator] Loaded
2013-09-15T03:24:14.493Z,1379215454.493 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-15T03:24:14.499Z,1379215454.499 [YawRateCalculator] Loaded
2013-09-15T03:24:14.499Z,1379215454.499 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-15T03:24:14.545Z,1379215454.545 [Navigation] Loaded
2013-09-15T03:24:14.545Z,1379215454.545 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-15T03:24:14.546Z,1379215454.546 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-15T03:24:14.546Z,1379215454.546 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-15T03:24:14.781Z,1379215454.781 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-15T03:24:14.781Z,1379215454.781 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-15T03:24:14.804Z,1379215454.804 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-15T03:24:14.804Z,1379215454.804 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-15T03:24:14.851Z,1379215454.851 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-15T03:24:14.944Z,1379215454.944 [VerticalControl] Loaded
2013-09-15T03:24:14.944Z,1379215454.944 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-15T03:24:14.945Z,1379215454.945 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-15T03:24:15.002Z,1379215455.002 [HorizontalControl] Loaded
2013-09-15T03:24:15.002Z,1379215455.002 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-15T03:24:15.003Z,1379215455.003 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-15T03:24:15.005Z,1379215455.005 [SpeedControl] Loaded
2013-09-15T03:24:15.005Z,1379215455.005 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-15T03:24:15.006Z,1379215455.006 [LoopControl](DEBUG): Construct LoopControl.
2013-09-15T03:24:15.006Z,1379215455.006 [LoopControl] Loaded
2013-09-15T03:24:15.007Z,1379215455.007 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-15T03:24:15.007Z,1379215455.007 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-15T03:24:15.008Z,1379215455.008 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-15T03:24:15.013Z,1379215455.013 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-15T03:24:15.018Z,1379215455.018 [AsyncPiEstimator] Loaded
2013-09-15T03:24:15.019Z,1379215455.019 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-15T03:24:15.020Z,1379215455.020 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-15T03:24:15.020Z,1379215455.020 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-15T03:24:15.021Z,1379215455.021 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-15T03:24:15.213Z,1379215455.213 [AHRS_sp3003D] Loaded
2013-09-15T03:24:15.213Z,1379215455.213 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-15T03:24:15.227Z,1379215455.227 [Depth_Keller] Loaded
2013-09-15T03:24:15.227Z,1379215455.227 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-15T03:24:15.232Z,1379215455.232 [DropWeight] Loaded
2013-09-15T03:24:15.232Z,1379215455.232 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-09-15T03:24:15.412Z,1379215455.412 [DVL_micro] Loaded
2013-09-15T03:24:15.412Z,1379215455.412 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-15T03:24:15.413Z,1379215455.413 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-09-15T03:24:15.500Z,1379215455.500 [NAL9602] Loaded
2013-09-15T03:24:15.501Z,1379215455.501 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-15T03:24:15.543Z,1379215455.543 [Onboard] Loaded
2013-09-15T03:24:15.544Z,1379215455.544 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-15T03:24:15.550Z,1379215455.550 [Radio_Freewave] Loaded
2013-09-15T03:24:15.550Z,1379215455.550 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-15T03:24:15.690Z,1379215455.690 [DAT] Loaded
2013-09-15T03:24:15.690Z,1379215455.690 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-15T03:24:15.690Z,1379215455.690 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-15T03:24:15.691Z,1379215455.691 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-15T03:24:15.754Z,1379215455.754 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-15T03:24:15.757Z,1379215455.757 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-15T03:24:15.758Z,1379215455.758 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-15T03:24:15.764Z,1379215455.764 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-15T03:24:15.766Z,1379215455.766 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-09-15T03:24:15.770Z,1379215455.770 [Supervisor](DEBUG): Running supervisor.
2013-09-15T03:24:15.771Z,1379215455.771 [CommandLine](INFO): Thread ID is 921
2013-09-15T03:24:15.773Z,1379215455.773 [controlThread](INFO): Thread ID is 920
2013-09-15T03:24:15.773Z,1379215455.773 [controlThread](DEBUG): Initializing ControlThread
2013-09-15T03:24:15.774Z,1379215455.774 [CycleStarter](INFO): Thread ID is 919
2013-09-15T03:24:15.774Z,1379215455.774 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-15T03:24:15.808Z,1379215455.808 [logger](INFO): Thread ID is 922
2013-09-15T03:24:15.833Z,1379215455.833 [SBIT](INFO): Initialize SBIT Component.
2013-09-15T03:24:15.833Z,1379215455.833 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-09-15T03:24:15.834Z,1379215455.834 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-15T03:24:15.834Z,1379215455.834 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-15T03:24:15.834Z,1379215455.834 [IBIT](INFO): Initialize IBIT Component.
2013-09-15T03:24:15.835Z,1379215455.835 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-15T03:24:15.836Z,1379215455.836 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-15T03:24:15.848Z,1379215455.848 [AsyncPiEstimator](INFO): Thread ID is 983
2013-09-15T03:24:15.848Z,1379215455.848 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-15T03:24:15.861Z,1379215455.861 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-15T03:24:15.861Z,1379215455.861 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-15T03:24:15.862Z,1379215455.862 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-15T03:24:15.862Z,1379215455.862 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-15T03:24:15.862Z,1379215455.862 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-15T03:24:15.863Z,1379215455.863 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-15T03:24:15.863Z,1379215455.863 [Navigation](DEBUG): Initializing Navigation.
2013-09-15T03:24:15.864Z,1379215455.864 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-15T03:24:15.865Z,1379215455.865 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-15T03:24:15.866Z,1379215455.866 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-15T03:24:15.866Z,1379215455.866 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-15T03:24:15.876Z,1379215455.876 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-15T03:24:15.886Z,1379215455.886 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-15T03:24:15.888Z,1379215455.888 [DVL_micro](INFO): Thread ID is 984
2013-09-15T03:24:15.897Z,1379215455.897 [DVL_micro](INFO): Initializing
2013-09-15T03:24:15.897Z,1379215455.897 [DVL_micro](INFO): start:Powering up
2013-09-15T03:24:15.898Z,1379215455.898 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-15T03:24:15.899Z,1379215455.899 [DVL_micro](INFO): Cycling power to configure device.
2013-09-15T03:24:15.924Z,1379215455.924 [NavChartDb](INFO): Thread ID is 985
2013-09-15T03:24:15.927Z,1379215455.927 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-15T03:24:15.928Z,1379215455.928 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-15T03:24:15.928Z,1379215455.928 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-15T03:24:15.928Z,1379215455.928 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-15T03:24:15.928Z,1379215455.928 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-15T03:24:15.929Z,1379215455.929 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-15T03:24:15.929Z,1379215455.929 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-15T03:24:15.929Z,1379215455.929 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-15T03:24:15.929Z,1379215455.929 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-15T03:24:15.952Z,1379215455.952 [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>


2013-09-15T03:24:15.968Z,1379215455.968 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-15T03:24:16.006Z,1379215456.006 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-15T03:24:16.036Z,1379215456.036 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-15T03:24:16.039Z,1379215456.039 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-15T03:24:16.060Z,1379215456.060 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-15T03:24:16.073Z,1379215456.073 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-15T03:24:16.091Z,1379215456.091 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-15T03:24:16.128Z,1379215456.128 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-15T03:24:16.131Z,1379215456.131 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-15T03:24:16.152Z,1379215456.152 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-15T03:24:16.155Z,1379215456.155 [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>


2013-09-15T03:24:16.167Z,1379215456.167 [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,
2013-09-15T03:24:16.236Z,1379215456.236 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-15T03:24:16.409Z,1379215456.409 [Radio_Freewave](INFO): Powering up
2013-09-15T03:24:16.430Z,1379215456.430 [DAT](INFO): Powering up
2013-09-15T03:24:16.430Z,1379215456.430 [DAT](DEBUG): Initializing DAT.
2013-09-15T03:24:16.627Z,1379215456.627 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-15T03:24:16.633Z,1379215456.633 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-15T03:24:16.639Z,1379215456.639 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-15T03:24:16.645Z,1379215456.645 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-15T03:24:16.667Z,1379215456.667 [MassServo](DEBUG): Initializing E