2013-10-30T20:00:36.639Z,1383163236.639 [Supervisor](DEBUG): Initializing supervisor.
2013-10-30T20:00:36.653Z,1383163236.653 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-10-30T20:00:36.654Z,1383163236.654 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-10-30T20:00:36.665Z,1383163236.665 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-10-30T20:00:36.668Z,1383163236.668 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-10-30T20:00:36.691Z,1383163236.691 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-10-30T20:00:36.701Z,1383163236.701 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-10-30T20:00:36.702Z,1383163236.702 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-10-30T20:00:36.713Z,1383163236.713 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-10-30T20:00:36.714Z,1383163236.714 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-10-30T20:00:36.715Z,1383163236.715 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-10-30T20:00:37.287Z,1383163237.287 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-10-30T20:00:37.287Z,1383163237.287 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-10-30T20:00:37.631Z,1383163237.631 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-10-30T20:00:37.632Z,1383163237.632 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-10-30T20:00:37.769Z,1383163237.769 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-10-30T20:00:37.770Z,1383163237.770 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-10-30T20:00:37.975Z,1383163237.975 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-10-30T20:00:37.976Z,1383163237.976 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-10-30T20:00:38.223Z,1383163238.223 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-10-30T20:00:38.223Z,1383163238.223 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-10-30T20:00:38.687Z,1383163238.687 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-10-30T20:00:38.687Z,1383163238.687 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-10-30T20:00:38.973Z,1383163238.973 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-10-30T20:00:38.974Z,1383163238.974 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-10-30T20:00:39.483Z,1383163239.483 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-10-30T20:00:39.484Z,1383163239.484 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-10-30T20:00:39.653Z,1383163239.653 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-10-30T20:00:39.654Z,1383163239.654 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-10-30T20:00:40.464Z,1383163240.464 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-10-30T20:00:40.464Z,1383163240.464 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-10-30T20:00:40.660Z,1383163240.660 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-10-30T20:00:40.660Z,1383163240.660 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-10-30T20:00:40.798Z,1383163240.798 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-10-30T20:00:40.799Z,1383163240.799 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-10-30T20:00:40.961Z,1383163240.961 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-10-30T20:00:41.173Z,1383163241.173 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-10-30T20:00:41.321Z,1383163241.321 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-10-30T20:00:41.486Z,1383163241.486 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-10-30T20:00:41.654Z,1383163241.654 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-10-30T20:00:41.871Z,1383163241.871 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-10-30T20:00:42.030Z,1383163242.030 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-10-30T20:00:42.180Z,1383163242.180 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-10-30T20:00:42.180Z,1383163242.180 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-10-30T20:00:42.181Z,1383163242.181 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-10-30T20:00:42.477Z,1383163242.477 [InternalSim] Loaded
2013-10-30T20:00:42.477Z,1383163242.477 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-10-30T20:00:42.478Z,1383163242.478 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-10-30T20:00:42.491Z,1383163242.491 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-10-30T20:00:42.661Z,1383163242.661 [SBIT](DEBUG): Construct Startup Built In Test.
2013-10-30T20:00:42.715Z,1383163242.715 [SBIT] Loaded
2013-10-30T20:00:42.715Z,1383163242.715 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-10-30T20:00:42.715Z,1383163242.715 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-10-30T20:00:42.781Z,1383163242.781 [IBIT] Loaded
2013-10-30T20:00:42.782Z,1383163242.782 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-10-30T20:00:42.784Z,1383163242.784 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-10-30T20:00:43.021Z,1383163243.021 [CBIT] Loaded
2013-10-30T20:00:43.022Z,1383163243.022 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-10-30T20:00:43.022Z,1383163243.022 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-10-30T20:00:43.023Z,1383163243.023 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-10-30T20:00:43.273Z,1383163243.273 [BuoyancyServo] Loaded
2013-10-30T20:00:43.273Z,1383163243.273 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-10-30T20:00:43.285Z,1383163243.285 [ElevatorServo] Loaded
2013-10-30T20:00:43.285Z,1383163243.285 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-10-30T20:00:43.313Z,1383163243.313 [MassServo] Loaded
2013-10-30T20:00:43.313Z,1383163243.313 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-10-30T20:00:43.337Z,1383163243.337 [RudderServo] Loaded
2013-10-30T20:00:43.337Z,1383163243.337 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-10-30T20:00:43.360Z,1383163243.360 [ThrusterServo] Loaded
2013-10-30T20:00:43.360Z,1383163243.360 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-10-30T20:00:43.361Z,1383163243.361 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-10-30T20:00:43.362Z,1383163243.362 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-10-30T20:00:43.433Z,1383163243.433 [DepthRateCalculator] Loaded
2013-10-30T20:00:43.433Z,1383163243.433 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-10-30T20:00:48.310Z,1383163248.310 [HFRadarModelCalc] Loaded
2013-10-30T20:00:48.311Z,1383163248.311 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-10-30T20:00:48.327Z,1383163248.327 [NavChart] Loaded
2013-10-30T20:00:48.328Z,1383163248.328 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-10-30T20:00:48.333Z,1383163248.333 [PitchRateCalculator] Loaded
2013-10-30T20:00:48.334Z,1383163248.334 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-10-30T20:00:48.344Z,1383163248.344 [SpeedCalculator] Loaded
2013-10-30T20:00:48.344Z,1383163248.344 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-10-30T20:00:48.360Z,1383163248.360 [TempGradientCalculator] Loaded
2013-10-30T20:00:48.360Z,1383163248.360 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-10-30T20:00:48.366Z,1383163248.366 [YawRateCalculator] Loaded
2013-10-30T20:00:48.366Z,1383163248.366 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-10-30T20:00:48.415Z,1383163248.415 [Navigation] Loaded
2013-10-30T20:00:48.416Z,1383163248.416 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-10-30T20:00:48.416Z,1383163248.416 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-10-30T20:00:48.417Z,1383163248.417 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-10-30T20:00:48.653Z,1383163248.653 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-10-30T20:00:48.653Z,1383163248.653 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-10-30T20:00:48.675Z,1383163248.675 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-10-30T20:00:48.676Z,1383163248.676 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-10-30T20:00:48.723Z,1383163248.723 [VerticalControl](DEBUG): Construct VerticalControl.
2013-10-30T20:00:48.813Z,1383163248.813 [VerticalControl] Loaded
2013-10-30T20:00:48.814Z,1383163248.814 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-10-30T20:00:48.814Z,1383163248.814 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-10-30T20:00:48.870Z,1383163248.870 [HorizontalControl] Loaded
2013-10-30T20:00:48.871Z,1383163248.871 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-10-30T20:00:48.871Z,1383163248.871 [SpeedControl](DEBUG): Construct SpeedControl.
2013-10-30T20:00:48.873Z,1383163248.873 [SpeedControl] Loaded
2013-10-30T20:00:48.873Z,1383163248.873 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-10-30T20:00:48.874Z,1383163248.874 [LoopControl](DEBUG): Construct LoopControl.
2013-10-30T20:00:48.874Z,1383163248.874 [LoopControl] Loaded
2013-10-30T20:00:48.875Z,1383163248.875 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-10-30T20:00:48.875Z,1383163248.875 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-10-30T20:00:48.876Z,1383163248.876 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-10-30T20:00:48.881Z,1383163248.881 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-10-30T20:00:48.886Z,1383163248.886 [AsyncPiEstimator] Loaded
2013-10-30T20:00:48.886Z,1383163248.886 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-10-30T20:00:48.887Z,1383163248.887 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-10-30T20:00:48.888Z,1383163248.888 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-10-30T20:00:48.889Z,1383163248.889 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-10-30T20:00:49.090Z,1383163249.090 [AHRS_sp3003D] Loaded
2013-10-30T20:00:49.090Z,1383163249.090 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-10-30T20:00:49.107Z,1383163249.107 [Depth_Keller] Loaded
2013-10-30T20:00:49.108Z,1383163249.108 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-10-30T20:00:49.307Z,1383163249.307 [DVL_micro] Loaded
2013-10-30T20:00:49.307Z,1383163249.307 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-10-30T20:00:49.309Z,1383163249.309 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-10-30T20:00:49.404Z,1383163249.404 [NAL9602] Loaded
2013-10-30T20:00:49.404Z,1383163249.404 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-10-30T20:00:49.448Z,1383163249.448 [Onboard] Loaded
2013-10-30T20:00:49.448Z,1383163249.448 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-10-30T20:00:49.458Z,1383163249.458 [Radio_Freewave] Loaded
2013-10-30T20:00:49.459Z,1383163249.459 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-10-30T20:00:49.616Z,1383163249.616 [DAT] Loaded
2013-10-30T20:00:49.616Z,1383163249.616 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-10-30T20:00:49.617Z,1383163249.617 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-10-30T20:00:49.617Z,1383163249.617 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-10-30T20:00:49.723Z,1383163249.723 [CTD_NeilBrown] Loaded
2013-10-30T20:00:49.723Z,1383163249.723 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-10-30T20:00:49.724Z,1383163249.724 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-10-30T20:00:49.760Z,1383163249.760 [WetLabsBB2FL] Loaded
2013-10-30T20:00:49.760Z,1383163249.760 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-10-30T20:00:49.761Z,1383163249.761 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-10-30T20:00:49.762Z,1383163249.762 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-10-30T20:00:49.764Z,1383163249.764 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-10-30T20:00:49.765Z,1383163249.765 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-10-30T20:00:49.775Z,1383163249.775 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-10-30T20:00:49.776Z,1383163249.776 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-10-30T20:00:49.781Z,1383163249.781 [Supervisor](DEBUG): Running supervisor.
2013-10-30T20:00:49.782Z,1383163249.782 [CommandLine](INFO): Thread ID is 9297
2013-10-30T20:00:49.784Z,1383163249.784 [controlThread](INFO): Thread ID is 9296
2013-10-30T20:00:49.785Z,1383163249.785 [controlThread](DEBUG): Initializing ControlThread
2013-10-30T20:00:49.785Z,1383163249.785 [CycleStarter](INFO): Thread ID is 9295
2013-10-30T20:00:49.786Z,1383163249.786 [InternalSim](DEBUG):  InternalSim initializing...
2013-10-30T20:00:49.826Z,1383163249.826 [SBIT](INFO): Initialize SBIT Component.
2013-10-30T20:00:49.826Z,1383163249.826 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10711
2013-10-30T20:00:49.827Z,1383163249.827 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-10-30T20:00:49.827Z,1383163249.827 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-10-30T20:00:49.828Z,1383163249.828 [IBIT](INFO): Initialize IBIT Component.
2013-10-30T20:00:49.829Z,1383163249.829 [CBIT](DEBUG): Initialize CBIT Component.
2013-10-30T20:00:49.829Z,1383163249.829 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-10-30T20:00:49.829Z,1383163249.829 [logger](INFO): Thread ID is 9298
2013-10-30T20:00:49.859Z,1383163249.859 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T20:00:49.859Z,1383163249.859 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-10-30T20:00:49.860Z,1383163249.860 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-10-30T20:00:49.860Z,1383163249.860 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-10-30T20:00:49.860Z,1383163249.860 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-10-30T20:00:49.861Z,1383163249.861 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-10-30T20:00:49.861Z,1383163249.861 [Navigation](DEBUG): Initializing Navigation.
2013-10-30T20:00:49.862Z,1383163249.862 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-10-30T20:00:49.864Z,1383163249.864 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-10-30T20:00:49.864Z,1383163249.864 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-10-30T20:00:49.865Z,1383163249.865 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-10-30T20:00:49.866Z,1383163249.866 [AsyncPiEstimator](INFO): Thread ID is 9359
2013-10-30T20:00:49.866Z,1383163249.866 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-10-30T20:00:49.877Z,1383163249.877 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-10-30T20:00:49.883Z,1383163249.883 [DVL_micro](INFO): Thread ID is 9360
2013-10-30T20:00:49.892Z,1383163249.892 [DVL_micro](INFO): Initializing
2013-10-30T20:00:49.892Z,1383163249.892 [DVL_micro](INFO): start:Powering up
2013-10-30T20:00:49.893Z,1383163249.893 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T20:00:49.894Z,1383163249.894 [DVL_micro](INFO): Cycling power to configure device.
2013-10-30T20:00:49.916Z,1383163249.916 [CTD_NeilBrown](INFO): Thread ID is 9361
2013-10-30T20:00:49.920Z,1383163249.920 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T20:00:49.922Z,1383163249.922 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-10-30T20:00:49.927Z,1383163249.927 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-10-30T20:00:49.933Z,1383163249.933 [WetLabsBB2FL](INFO): Thread ID is 9362
2013-10-30T20:00:49.933Z,1383163249.933 [WetLabsBB2FL](INFO): Powering down
2013-10-30T20:00:49.977Z,1383163249.977 [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>


2013-10-30T20:00:49.977Z,1383163249.977 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-10-30T20:00:49.983Z,1383163249.983 [NavChartDb](INFO): Thread ID is 9363
2013-10-30T20:00:49.985Z,1383163249.985 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-10-30T20:00:49.986Z,1383163249.986 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-10-30T20:00:49.987Z,1383163249.987 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-10-30T20:00:49.987Z,1383163249.987 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-10-30T20:00:49.987Z,1383163249.987 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-10-30T20:00:49.987Z,1383163249.987 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-10-30T20:00:49.988Z,1383163249.988 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-10-30T20:00:49.988Z,1383163249.988 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-10-30T20:00:49.988Z,1383163249.988 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-10-30T20:00:50.091Z,1383163250.091 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-10-30T20:00:50.093Z,1383163250.093 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-10-30T20:00:50.096Z,1383163250.096 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T20:00:50.116Z,1383163250.116 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-10-30T20:00:50.120Z,1383163250.120 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T20:00:50.168Z,1383163250.168 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-10-30T20:00:50.196Z,1383163250.196 [Default:D.SetSpeed](DEBUG): Construct.
2013-10-30T20:00:50.199Z,1383163250.199 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T20:00:50.208Z,1383163250.208 [Default:F.Wait](DEBUG): Construct Wait.
2013-10-30T20:00:50.212Z,1383163250.212 [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>


2013-10-30T20:00:50.222Z,1383163250.222 [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,
2013-10-30T20:00:50.285Z,1383163250.285 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-10-30T20:00:50.311Z,1383163250.311 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-10-30T20:00:50.367Z,1383163250.367 [Radio_Freewave](INFO): Powering up
2013-10-30T20:00:50.385Z,1383163250.385 [DAT](INFO): Powering up
2013-10-30T20:00:50.385Z,1383163250.385 [DAT](DEBUG): Initializing DAT.
2013-10-30T20:00:50.602Z,1383163250.602 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-10-30T20:00:50.607Z,1383163250.607 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-10-30T20:00:50.614Z,1383163250.614 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-10-30T20:00:50.619Z,1383163250.619 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-10-30T20:00:50.625Z,1383163250.625 [MassServo](DEBUG): Initializing EZServoServo.
2013-10-30T20:00:50.655Z,1383163250.655 [MassServo](DEBUG): Initializing MassServo.
2013-10-30T20:00:50.661Z,1383163250.661 [RudderServo](DEBUG): Initializing EZServoServo.
2013-10-30T20:00:50.667Z,1383163250.667 [RudderServo](DEBUG): Initializing RudderServo.
2013-10-30T20:00:50.684Z,1383163250.684 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-10-30T20:00:50.691Z,1383163250.691 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-10-30T20:00:51.981Z,1383163251.981 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T20:00:51.982Z,1383163251.982 [DVL_micro](INFO): Querying output modes
2013-10-30T20:00:51.982Z,1383163251.982 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-10-30T20:00:51.993Z,1383163251.993 [DVL_micro](DEBUG): cmdResponse: 01
2013-10-30T20:00:51.993Z,1383163251.993 [DVL_micro](INFO): NQ1 output enabled
2013-10-30T20:00:51.994Z,1383163251.994 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-10-30T20:00:52.005Z,1383163252.005 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-10-30T20:00:52.011Z,1383163252.011 [DVL_micro](INFO): pause:Powering down
2013-10-30T20:00:54.976Z,1383163254.976 [NAL9602](INFO): Powering up NAL9602
2013-10-30T20:01:05.663Z,1383163265.663 [NAL9602](INFO): NAL9602 initialized
2013-10-30T20:01:05.765Z,1383163265.765 [SBIT](IMPORTANT): Beginning Startup BIT
2013-10-30T20:01:05.767Z,1383163265.767 [CBIT](IMPORTANT): Beginning GF scan
2013-10-30T20:01:10.869Z,1383163270.869 [DAT](INFO): Powering down
2013-10-30T20:01:33.410Z,1383163293.410 [CBIT](IMPORTANT): No ground fault detected
2013-10-30T20:01:37.307Z,1383163297.307 [NAL9602](ERROR): getFix uart error: serial timeout
2013-10-30T20:01:59.757Z,1383163319.757 [SBIT](IMPORTANT): SBIT PASSED
2013-10-30T20:02:00.157Z,1383163320.157 [MissionManager](IMPORTANT): Started mission Startup
2013-10-30T20:02:00.157Z,1383163320.157 [Startup] Running Loop=1
2013-10-30T20:02:00.158Z,1383163320.158 [Startup](INFO): Aggregate::initialize Startup
2013-10-30T20:02:00.158Z,1383163320.158 [Startup:A.GoToSurface] Running Loop=1
2013-10-30T20:02:00.158Z,1383163320.158 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-10-30T20:02:00.172Z,1383163320.172 [Startup:StartupSatComms] Running Loop=1
2013-10-30T20:02:00.172Z,1383163320.172 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-10-30T20:02:00.173Z,1383163320.173 [Startup:StartupSatComms:A] Running Loop=1
2013-10-30T20:02:00.567Z,1383163320.567 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-10-30T20:02:08.239Z,1383163328.239 [NAL9602](ERROR): parseGSV uart error: serial timeout
2013-10-30T20:02:40.053Z,1383163360.053 [NAL9602](ERROR): getFix uart error: serial timeout
2013-10-30T20:02:58.882Z,1383163378.882 [CommandLine](IMPORTANT): got command failComponent
2013-10-30T20:02:58.882Z,1383163378.882 [CommandLine](IMPORTANT): Failed components:
2013-10-30T20:02:58.882Z,1383163378.882 [CommandLine](IMPORTANT): No failed Components.
2013-10-30T20:03:00.223Z,1383163380.223 [Startup:StartupSatComms:A](INFO): Timed out from 2013-10-30T20:02:00.2Z
2013-10-30T20:03:00.223Z,1383163380.223 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-10-30T20:03:00.223Z,1383163380.223 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-10-30T20:03:00.223Z,1383163380.223 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-10-30T20:03:00.223Z,1383163380.223 [Startup:StartupSatComms:A] Stopped
2013-10-30T20:03:00.223Z,1383163380.223 [Startup:StartupSatComms:B] Running Loop=1
2013-10-30T20:03:00.627Z,1383163380.627 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-10-30T20:03:10.609Z,1383163390.609 [NAL9602](ERROR): parseGSV uart error: serial timeout
2013-10-30T20:03:15.188Z,1383163395.188 [CommandLine](IMPORTANT): got command restart application
2013-10-30T20:03:16.365Z,1383163396.365 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-10-30T20:03:16.365Z,1383163396.365 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-10-30T20:03:16.705Z,1383163396.705 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-10-30T20:03:16.902Z,1383163396.902 [WetLabsBB2FL](INFO): Powering down
2013-10-30T20:03:16.906Z,1383163396.906 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-10-30T20:03:17.279Z,1383163397.279 [CTD_NeilBrown](INFO): Powering down
2013-10-30T20:03:17.294Z,1383163397.294 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-10-30T20:03:17.603Z,1383163397.603 [DVL_micro](INFO): uninitialize:Powering down
2013-10-30T20:03:17.607Z,1383163397.607 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-10-30T20:03:17.867Z,1383163397.867 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-10-30T20:03:17.888Z,1383163397.888 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-10-30T20:03:17.948Z,1383163397.948 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-10-30T20:03:17.950Z,1383163397.950 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-10-30T20:03:19.958Z,1383163399.958 [controlThread](DEBUG): Uninitializing ControlThread
2013-10-30T20:03:19.959Z,1383163399.959 [AHRS_sp3003D](INFO): Powering down
2013-10-30T20:03:20.047Z,1383163400.047 [NAL9602](INFO): Powering down
2013-10-30T20:03:20.048Z,1383163400.048 [DAT](INFO): Powering down
2013-10-30T20:03:20.049Z,1383163400.049 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T20:03:20.050Z,1383163400.050 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-10-30T20:03:20.054Z,1383163400.054 [Startup] Stopped
2013-10-30T20:03:20.054Z,1383163400.054 [Startup](INFO): Aggregate::uninitialize Startup
2013-10-30T20:03:20.055Z,1383163400.055 [Startup:A.GoToSurface] Stopped
2013-10-30T20:03:20.055Z,1383163400.055 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-10-30T20:03:20.055Z,1383163400.055 [Startup:StartupSatComms] Stopped
2013-10-30T20:03:20.055Z,1383163400.055 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-10-30T20:03:20.055Z,1383163400.055 [Startup:StartupSatComms:B] Stopped
2013-10-30T20:03:20.056Z,1383163400.056 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-10-30T20:03:20.057Z,1383163400.057 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-10-30T20:03:20.057Z,1383163400.057 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-10-30T20:03:20.057Z,1383163400.057 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-10-30T20:03:20.057Z,1383163400.057 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-10-30T20:03:20.058Z,1383163400.058 [BuoyancyServo](INFO): Powering down
2013-10-30T20:03:20.071Z,1383163400.071 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-10-30T20:03:20.071Z,1383163400.071 [ElevatorServo](INFO): Powering down
2013-10-30T20:03:20.072Z,1383163400.072 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-10-30T20:03:20.072Z,1383163400.072 [MassServo](INFO): Powering down
2013-10-30T20:03:20.073Z,1383163400.073 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-10-30T20:03:20.073Z,1383163400.073 [RudderServo](INFO): Powering down
2013-10-30T20:03:20.073Z,1383163400.073 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-10-30T20:03:20.074Z,1383163400.074 [ThrusterServo](INFO): Powering down
2013-10-30T20:03:20.074Z,1383163400.074 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-10-30T20:03:20.075Z,1383163400.075 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-10-30T20:03:20.075Z,1383163400.075 [CBIT](DEBUG): Uninitialize CBIT Component.