2013-10-30T19:15:33.824Z,1383160533.824 [Supervisor](DEBUG): Initializing supervisor.
2013-10-30T19:15:33.827Z,1383160533.827 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-10-30T19:15:33.827Z,1383160533.827 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-10-30T19:15:33.828Z,1383160533.828 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-10-30T19:15:33.831Z,1383160533.831 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-10-30T19:15:33.843Z,1383160533.843 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-10-30T19:15:33.844Z,1383160533.844 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-10-30T19:15:33.845Z,1383160533.845 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-10-30T19:15:33.846Z,1383160533.846 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-10-30T19:15:33.846Z,1383160533.846 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-10-30T19:15:33.848Z,1383160533.848 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-10-30T19:15:34.137Z,1383160534.137 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-10-30T19:15:34.137Z,1383160534.137 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-10-30T19:15:34.328Z,1383160534.328 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-10-30T19:15:34.328Z,1383160534.328 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-10-30T19:15:34.414Z,1383160534.414 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-10-30T19:15:34.414Z,1383160534.414 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-10-30T19:15:34.529Z,1383160534.529 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-10-30T19:15:34.530Z,1383160534.530 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-10-30T19:15:34.672Z,1383160534.672 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-10-30T19:15:34.673Z,1383160534.673 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-10-30T19:15:34.920Z,1383160534.920 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-10-30T19:15:34.920Z,1383160534.920 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-10-30T19:15:35.087Z,1383160535.087 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-10-30T19:15:35.088Z,1383160535.088 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-10-30T19:15:35.360Z,1383160535.360 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-10-30T19:15:35.361Z,1383160535.361 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-10-30T19:15:35.463Z,1383160535.463 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-10-30T19:15:35.464Z,1383160535.464 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-10-30T19:15:35.909Z,1383160535.909 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-10-30T19:15:35.910Z,1383160535.910 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-10-30T19:15:36.022Z,1383160536.022 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-10-30T19:15:36.023Z,1383160536.023 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-10-30T19:15:36.109Z,1383160536.109 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-10-30T19:15:36.110Z,1383160536.110 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-10-30T19:15:36.209Z,1383160536.209 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-10-30T19:15:36.336Z,1383160536.336 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-10-30T19:15:36.432Z,1383160536.432 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-10-30T19:15:36.538Z,1383160536.538 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-10-30T19:15:36.634Z,1383160536.634 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-10-30T19:15:36.750Z,1383160536.750 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-10-30T19:15:36.846Z,1383160536.846 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-10-30T19:15:36.933Z,1383160536.933 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-10-30T19:15:36.934Z,1383160536.934 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-10-30T19:15:36.935Z,1383160536.935 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-10-30T19:15:37.102Z,1383160537.102 [InternalSim] Loaded
2013-10-30T19:15:37.102Z,1383160537.102 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-10-30T19:15:37.102Z,1383160537.102 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-10-30T19:15:37.103Z,1383160537.103 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-10-30T19:15:37.191Z,1383160537.191 [SBIT](DEBUG): Construct Startup Built In Test.
2013-10-30T19:15:37.221Z,1383160537.221 [SBIT] Loaded
2013-10-30T19:15:37.221Z,1383160537.221 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-10-30T19:15:37.222Z,1383160537.222 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-10-30T19:15:37.252Z,1383160537.252 [IBIT] Loaded
2013-10-30T19:15:37.253Z,1383160537.253 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-10-30T19:15:37.255Z,1383160537.255 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-10-30T19:15:37.373Z,1383160537.373 [CBIT] Loaded
2013-10-30T19:15:37.373Z,1383160537.373 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-10-30T19:15:37.373Z,1383160537.373 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-10-30T19:15:37.374Z,1383160537.374 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-10-30T19:15:37.542Z,1383160537.542 [BuoyancyServo] Loaded
2013-10-30T19:15:37.542Z,1383160537.542 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-10-30T19:15:37.554Z,1383160537.554 [ElevatorServo] Loaded
2013-10-30T19:15:37.555Z,1383160537.555 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-10-30T19:15:37.566Z,1383160537.566 [MassServo] Loaded
2013-10-30T19:15:37.566Z,1383160537.566 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-10-30T19:15:37.578Z,1383160537.578 [RudderServo] Loaded
2013-10-30T19:15:37.578Z,1383160537.578 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-10-30T19:15:37.589Z,1383160537.589 [ThrusterServo] Loaded
2013-10-30T19:15:37.590Z,1383160537.590 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-10-30T19:15:37.590Z,1383160537.590 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-10-30T19:15:37.591Z,1383160537.591 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-10-30T19:15:37.626Z,1383160537.626 [DepthRateCalculator] Loaded
2013-10-30T19:15:37.626Z,1383160537.626 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-10-30T19:15:40.179Z,1383160540.179 [HFRadarModelCalc] Loaded
2013-10-30T19:15:40.180Z,1383160540.180 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-10-30T19:15:40.196Z,1383160540.196 [NavChart] Loaded
2013-10-30T19:15:40.196Z,1383160540.196 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-10-30T19:15:40.202Z,1383160540.202 [PitchRateCalculator] Loaded
2013-10-30T19:15:40.203Z,1383160540.203 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-10-30T19:15:40.213Z,1383160540.213 [SpeedCalculator] Loaded
2013-10-30T19:15:40.214Z,1383160540.214 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-10-30T19:15:40.230Z,1383160540.230 [TempGradientCalculator] Loaded
2013-10-30T19:15:40.230Z,1383160540.230 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-10-30T19:15:40.236Z,1383160540.236 [YawRateCalculator] Loaded
2013-10-30T19:15:40.236Z,1383160540.236 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-10-30T19:15:40.284Z,1383160540.284 [Navigation] Loaded
2013-10-30T19:15:40.284Z,1383160540.284 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-10-30T19:15:40.285Z,1383160540.285 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-10-30T19:15:40.285Z,1383160540.285 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-10-30T19:15:40.529Z,1383160540.529 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-10-30T19:15:40.530Z,1383160540.530 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-10-30T19:15:40.553Z,1383160540.553 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-10-30T19:15:40.553Z,1383160540.553 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-10-30T19:15:40.601Z,1383160540.601 [VerticalControl](DEBUG): Construct VerticalControl.
2013-10-30T19:15:40.697Z,1383160540.697 [VerticalControl] Loaded
2013-10-30T19:15:40.697Z,1383160540.697 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-10-30T19:15:40.698Z,1383160540.698 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-10-30T19:15:40.756Z,1383160540.756 [HorizontalControl] Loaded
2013-10-30T19:15:40.756Z,1383160540.756 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-10-30T19:15:40.757Z,1383160540.757 [SpeedControl](DEBUG): Construct SpeedControl.
2013-10-30T19:15:40.759Z,1383160540.759 [SpeedControl] Loaded
2013-10-30T19:15:40.759Z,1383160540.759 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-10-30T19:15:40.760Z,1383160540.760 [LoopControl](DEBUG): Construct LoopControl.
2013-10-30T19:15:40.760Z,1383160540.760 [LoopControl] Loaded
2013-10-30T19:15:40.761Z,1383160540.761 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-10-30T19:15:40.761Z,1383160540.761 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-10-30T19:15:40.762Z,1383160540.762 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-10-30T19:15:40.767Z,1383160540.767 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-10-30T19:15:40.772Z,1383160540.772 [AsyncPiEstimator] Loaded
2013-10-30T19:15:40.773Z,1383160540.773 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-10-30T19:15:40.774Z,1383160540.774 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-10-30T19:15:40.775Z,1383160540.775 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-10-30T19:15:40.775Z,1383160540.775 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-10-30T19:15:40.977Z,1383160540.977 [AHRS_sp3003D] Loaded
2013-10-30T19:15:40.978Z,1383160540.978 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-10-30T19:15:40.992Z,1383160540.992 [Depth_Keller] Loaded
2013-10-30T19:15:40.992Z,1383160540.992 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-10-30T19:15:41.181Z,1383160541.181 [DVL_micro] Loaded
2013-10-30T19:15:41.181Z,1383160541.181 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-10-30T19:15:41.182Z,1383160541.182 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-10-30T19:15:41.273Z,1383160541.273 [NAL9602] Loaded
2013-10-30T19:15:41.274Z,1383160541.274 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-10-30T19:15:41.316Z,1383160541.316 [Onboard] Loaded
2013-10-30T19:15:41.316Z,1383160541.316 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-10-30T19:15:41.323Z,1383160541.323 [Radio_Freewave] Loaded
2013-10-30T19:15:41.323Z,1383160541.323 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-10-30T19:15:41.472Z,1383160541.472 [DAT] Loaded
2013-10-30T19:15:41.472Z,1383160541.472 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-10-30T19:15:41.473Z,1383160541.473 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-10-30T19:15:41.473Z,1383160541.473 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-10-30T19:15:41.574Z,1383160541.574 [CTD_NeilBrown] Loaded
2013-10-30T19:15:41.575Z,1383160541.575 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-10-30T19:15:41.576Z,1383160541.576 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-10-30T19:15:41.609Z,1383160541.609 [WetLabsBB2FL] Loaded
2013-10-30T19:15:41.610Z,1383160541.610 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-10-30T19:15:41.611Z,1383160541.611 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-10-30T19:15:41.611Z,1383160541.611 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-10-30T19:15:41.614Z,1383160541.614 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-10-30T19:15:41.615Z,1383160541.615 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-10-30T19:15:41.622Z,1383160541.622 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-10-30T19:15:41.623Z,1383160541.623 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-10-30T19:15:41.627Z,1383160541.627 [Supervisor](DEBUG): Running supervisor.
2013-10-30T19:15:41.628Z,1383160541.628 [CommandLine](INFO): Thread ID is 3004
2013-10-30T19:15:41.631Z,1383160541.631 [controlThread](INFO): Thread ID is 3003
2013-10-30T19:15:41.631Z,1383160541.631 [controlThread](DEBUG): Initializing ControlThread
2013-10-30T19:15:41.631Z,1383160541.631 [CycleStarter](INFO): Thread ID is 3002
2013-10-30T19:15:41.632Z,1383160541.632 [InternalSim](DEBUG):  InternalSim initializing...
2013-10-30T19:15:41.668Z,1383160541.668 [logger](INFO): Thread ID is 3005
2013-10-30T19:15:41.685Z,1383160541.685 [SBIT](INFO): Initialize SBIT Component.
2013-10-30T19:15:41.685Z,1383160541.685 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10711
2013-10-30T19:15:41.685Z,1383160541.685 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-10-30T19:15:41.686Z,1383160541.686 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-10-30T19:15:41.686Z,1383160541.686 [IBIT](INFO): Initialize IBIT Component.
2013-10-30T19:15:41.687Z,1383160541.687 [CBIT](DEBUG): Initialize CBIT Component.
2013-10-30T19:15:41.688Z,1383160541.688 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-10-30T19:15:41.700Z,1383160541.700 [AsyncPiEstimator](INFO): Thread ID is 3066
2013-10-30T19:15:41.700Z,1383160541.700 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-10-30T19:15:41.712Z,1383160541.712 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T19:15:41.713Z,1383160541.713 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-10-30T19:15:41.713Z,1383160541.713 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-10-30T19:15:41.713Z,1383160541.713 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-10-30T19:15:41.714Z,1383160541.714 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-10-30T19:15:41.714Z,1383160541.714 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-10-30T19:15:41.715Z,1383160541.715 [Navigation](DEBUG): Initializing Navigation.
2013-10-30T19:15:41.715Z,1383160541.715 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-10-30T19:15:41.717Z,1383160541.717 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-10-30T19:15:41.718Z,1383160541.718 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-10-30T19:15:41.718Z,1383160541.718 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-10-30T19:15:41.721Z,1383160541.721 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-10-30T19:15:41.732Z,1383160541.732 [DVL_micro](INFO): Thread ID is 3067
2013-10-30T19:15:41.741Z,1383160541.741 [DVL_micro](INFO): Initializing
2013-10-30T19:15:41.741Z,1383160541.741 [DVL_micro](INFO): start:Powering up
2013-10-30T19:15:41.742Z,1383160541.742 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T19:15:41.742Z,1383160541.742 [DVL_micro](INFO): Cycling power to configure device.
2013-10-30T19:15:41.760Z,1383160541.760 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:15:41.764Z,1383160541.764 [CTD_NeilBrown](INFO): Thread ID is 3068
2013-10-30T19:15:41.764Z,1383160541.764 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-10-30T19:15:41.784Z,1383160541.784 [WetLabsBB2FL](INFO): Thread ID is 3069
2013-10-30T19:15:41.784Z,1383160541.784 [WetLabsBB2FL](INFO): Powering down
2013-10-30T19:15:41.803Z,1383160541.803 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-10-30T19:15:41.818Z,1383160541.818 [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>


2013-10-30T19:15:41.823Z,1383160541.823 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-10-30T19:15:41.829Z,1383160541.829 [NavChartDb](INFO): Thread ID is 3070
2013-10-30T19:15:41.832Z,1383160541.832 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-10-30T19:15:41.833Z,1383160541.833 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-10-30T19:15:41.833Z,1383160541.833 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-10-30T19:15:41.833Z,1383160541.833 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-10-30T19:15:41.833Z,1383160541.833 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-10-30T19:15:41.834Z,1383160541.834 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-10-30T19:15:41.834Z,1383160541.834 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-10-30T19:15:41.834Z,1383160541.834 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-10-30T19:15:41.834Z,1383160541.834 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-10-30T19:15:41.930Z,1383160541.930 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-10-30T19:15:41.948Z,1383160541.948 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-10-30T19:15:41.951Z,1383160541.951 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:15:41.959Z,1383160541.959 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-10-30T19:15:41.997Z,1383160541.997 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:15:42.012Z,1383160542.012 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-10-30T19:15:42.034Z,1383160542.034 [Default:D.SetSpeed](DEBUG): Construct.
2013-10-30T19:15:42.046Z,1383160542.046 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:15:42.051Z,1383160542.051 [Default:F.Wait](DEBUG): Construct Wait.
2013-10-30T19:15:42.055Z,1383160542.055 [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>


2013-10-30T19:15:42.059Z,1383160542.059 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,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,
2013-10-30T19:15:42.129Z,1383160542.129 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-10-30T19:15:42.333Z,1383160542.333 [Radio_Freewave](INFO): Powering up
2013-10-30T19:15:42.339Z,1383160542.339 [DAT](INFO): Powering up
2013-10-30T19:15:42.339Z,1383160542.339 [DAT](DEBUG): Initializing DAT.
2013-10-30T19:15:42.585Z,1383160542.585 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:15:42.592Z,1383160542.592 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-10-30T19:15:42.599Z,1383160542.599 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:15:42.605Z,1383160542.605 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-10-30T19:15:42.623Z,1383160542.623 [MassServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:15:42.649Z,1383160542.649 [MassServo](DEBUG): Initializing MassServo.
2013-10-30T19:15:42.657Z,1383160542.657 [RudderServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:15:42.665Z,1383160542.665 [RudderServo](DEBUG): Initializing RudderServo.
2013-10-30T19:15:42.682Z,1383160542.682 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:15:42.689Z,1383160542.689 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-10-30T19:15:43.851Z,1383160543.851 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T19:15:43.851Z,1383160543.851 [DVL_micro](INFO): Querying output modes
2013-10-30T19:15:43.851Z,1383160543.851 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-10-30T19:15:43.862Z,1383160543.862 [DVL_micro](DEBUG): cmdResponse: 01
2013-10-30T19:15:43.863Z,1383160543.863 [DVL_micro](INFO): NQ1 output enabled
2013-10-30T19:15:43.863Z,1383160543.863 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-10-30T19:15:43.875Z,1383160543.875 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-10-30T19:15:43.880Z,1383160543.880 [DVL_micro](INFO): pause:Powering down
2013-10-30T19:15:46.756Z,1383160546.756 [NAL9602](INFO): Powering up NAL9602
2013-10-30T19:15:59.354Z,1383160559.354 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2013-10-30T19:15:59.354Z,1383160559.354 [NAL9602] Communications Fault, FailCount= 1
2013-10-30T19:15:59.355Z,1383160559.355 [NAL9602](ERROR): Communications Fault
2013-10-30T19:15:59.492Z,1383160559.492 [SBIT](IMPORTANT): Beginning Startup BIT
2013-10-30T19:15:59.495Z,1383160559.495 [CBIT](ERROR): Communications Fault in component: NAL9602
2013-10-30T19:15:59.495Z,1383160559.495 [CBIT](IMPORTANT): Beginning GF scan
2013-10-30T19:15:59.957Z,1383160559.957 [NAL9602](INFO): Powering down
2013-10-30T19:16:01.189Z,1383160561.189 [CBIT](INFO): Clearing failed state for component NAL9602
2013-10-30T19:16:01.189Z,1383160561.189 [NAL9602] No Fault, FailCount= 1
2013-10-30T19:16:02.791Z,1383160562.791 [DAT](INFO): Powering down
2013-10-30T19:16:05.060Z,1383160565.060 [NAL9602](INFO): Powering up NAL9602
2013-10-30T19:16:18.664Z,1383160578.664 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2013-10-30T19:16:18.664Z,1383160578.664 [NAL9602] Communications Fault, FailCount= 2
2013-10-30T19:16:18.664Z,1383160578.664 [NAL9602](ERROR): Communications Fault
2013-10-30T19:16:18.796Z,1383160578.796 [CBIT](ERROR): Communications Fault in component: NAL9602
2013-10-30T19:16:18.797Z,1383160578.797 [CBIT](CRITICAL): Communications Fault in component: NAL9602
2013-10-30T19:16:19.182Z,1383160579.182 [NAL9602](INFO): Powering down
2013-10-30T19:16:19.296Z,1383160579.296 [CommandLine](FAULT): Scheduling is paused
2013-10-30T19:16:27.090Z,1383160587.090 [CBIT](IMPORTANT): No ground fault detected
2013-10-30T19:16:53.834Z,1383160613.834 [SBIT](IMPORTANT): SBIT PASSED
2013-10-30T19:16:54.226Z,1383160614.226 [MissionManager](IMPORTANT): Started mission Startup
2013-10-30T19:16:54.226Z,1383160614.226 [Startup] Running Loop=1
2013-10-30T19:16:54.226Z,1383160614.226 [Startup](INFO): Aggregate::initialize Startup
2013-10-30T19:16:54.226Z,1383160614.226 [Startup:A.GoToSurface] Running Loop=1
2013-10-30T19:16:54.226Z,1383160614.226 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-10-30T19:16:54.232Z,1383160614.232 [Startup:StartupSatComms] Running Loop=1
2013-10-30T19:16:54.232Z,1383160614.232 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-10-30T19:16:54.233Z,1383160614.233 [Startup:StartupSatComms:A] Running Loop=1
2013-10-30T19:16:54.625Z,1383160614.625 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-10-30T19:17:41.438Z,1383160661.438 [CommandLine](IMPORTANT): got command failComponent
2013-10-30T19:17:41.438Z,1383160661.438 [CommandLine](IMPORTANT): Failed components:
2013-10-30T19:17:41.438Z,1383160661.438 [CommandLine](IMPORTANT): NAL9602: Communications Fault
2013-10-30T19:17:46.958Z,1383160666.958 [CommandLine](IMPORTANT): got command quit
2013-10-30T19:17:48.155Z,1383160668.155 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-10-30T19:17:48.155Z,1383160668.155 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-10-30T19:17:48.404Z,1383160668.404 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-10-30T19:17:48.536Z,1383160668.536 [WetLabsBB2FL](INFO): Powering down
2013-10-30T19:17:48.544Z,1383160668.544 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-10-30T19:17:48.924Z,1383160668.924 [CTD_NeilBrown](INFO): Powering down
2013-10-30T19:17:48.944Z,1383160668.944 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-10-30T19:17:48.976Z,1383160668.976 [DVL_micro](INFO): uninitialize:Powering down
2013-10-30T19:17:48.984Z,1383160668.984 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-10-30T19:17:48.993Z,1383160668.993 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-10-30T19:17:49.009Z,1383160669.009 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-10-30T19:17:49.017Z,1383160669.017 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-10-30T19:17:49.021Z,1383160669.021 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-10-30T19:17:49.039Z,1383160669.039 [controlThread](DEBUG): Uninitializing ControlThread
2013-10-30T19:17:49.039Z,1383160669.039 [AHRS_sp3003D](INFO): Powering down
2013-10-30T19:17:49.125Z,1383160669.125 [NAL9602](INFO): Powering down
2013-10-30T19:17:49.126Z,1383160669.126 [DAT](INFO): Powering down
2013-10-30T19:17:49.127Z,1383160669.127 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T19:17:49.128Z,1383160669.128 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-10-30T19:17:49.133Z,1383160669.133 [Startup] Stopped
2013-10-30T19:17:49.133Z,1383160669.133 [Startup](INFO): Aggregate::uninitialize Startup
2013-10-30T19:17:49.133Z,1383160669.133 [Startup:A.GoToSurface] Stopped
2013-10-30T19:17:49.133Z,1383160669.133 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-10-30T19:17:49.133Z,1383160669.133 [Startup:StartupSatComms] Stopped
2013-10-30T19:17:49.133Z,1383160669.133 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-10-30T19:17:49.133Z,1383160669.133 [Startup:StartupSatComms:A] Stopped
2013-10-30T19:17:49.135Z,1383160669.135 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-10-30T19:17:49.135Z,1383160669.135 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-10-30T19:17:49.135Z,1383160669.135 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-10-30T19:17:49.136Z,1383160669.136 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-10-30T19:17:49.136Z,1383160669.136 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-10-30T19:17:49.136Z,1383160669.136 [BuoyancyServo](INFO): Powering down
2013-10-30T19:17:49.149Z,1383160669.149 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-10-30T19:17:49.149Z,1383160669.149 [ElevatorServo](INFO): Powering down
2013-10-30T19:17:49.150Z,1383160669.150 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-10-30T19:17:49.150Z,1383160669.150 [MassServo](INFO): Powering down
2013-10-30T19:17:49.150Z,1383160669.150 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-10-30T19:17:49.151Z,1383160669.151 [RudderServo](INFO): Powering down
2013-10-30T19:17:49.151Z,1383160669.151 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-10-30T19:17:49.151Z,1383160669.151 [ThrusterServo](INFO): Powering down
2013-10-30T19:17:49.153Z,1383160669.153 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-10-30T19:17:49.153Z,1383160669.153 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-10-30T19:17:49.153Z,1383160669.153 [CBIT](DEBUG): Uninitialize CBIT Component.