2012-09-24T20:22:57.260Z,1348518177.260 [Supervisor](DEBUG): Initializing supervisor.
2012-09-24T20:22:57.266Z,1348518177.266 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-24T20:22:57.267Z,1348518177.267 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-24T20:22:57.270Z,1348518177.270 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-24T20:22:57.274Z,1348518177.274 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-24T20:22:57.285Z,1348518177.285 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-24T20:22:57.286Z,1348518177.286 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-24T20:22:57.287Z,1348518177.287 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-24T20:22:57.288Z,1348518177.288 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-24T20:22:57.290Z,1348518177.290 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-24T20:22:57.602Z,1348518177.602 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-24T20:22:57.604Z,1348518177.604 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-24T20:22:57.803Z,1348518177.803 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-24T20:22:57.804Z,1348518177.804 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-24T20:22:57.898Z,1348518177.898 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-24T20:22:57.900Z,1348518177.900 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-24T20:22:58.119Z,1348518178.119 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-24T20:22:58.120Z,1348518178.120 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-24T20:22:58.270Z,1348518178.270 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-24T20:22:58.272Z,1348518178.272 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-24T20:22:58.526Z,1348518178.526 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-24T20:22:58.526Z,1348518178.526 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-24T20:22:58.715Z,1348518178.715 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-24T20:22:58.717Z,1348518178.717 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-24T20:22:58.000Z,1348518179.000 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-24T20:22:59.002Z,1348518179.002 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-24T20:22:59.115Z,1348518179.115 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-24T20:22:59.116Z,1348518179.115 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-24T20:22:59.567Z,1348518179.568 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-24T20:22:59.568Z,1348518179.568 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-24T20:22:59.701Z,1348518179.701 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-24T20:22:59.702Z,1348518179.702 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-24T20:22:59.863Z,1348518179.863 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-24T20:22:59.877Z,1348518179.877 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-24T20:22:59.988Z,1348518179.988 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-24T20:23:00.132Z,1348518180.132 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-24T20:23:00.226Z,1348518180.226 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-24T20:23:00.338Z,1348518180.338 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-24T20:23:00.450Z,1348518180.450 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-24T20:23:00.584Z,1348518180.584 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-24T20:23:00.686Z,1348518180.686 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-24T20:23:00.833Z,1348518180.833 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-09-24T20:23:00.847Z,1348518180.847 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-09-24T20:23:00.885Z,1348518180.885 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-24T20:23:01.066Z,1348518181.066 [InternalSim] Loaded
2012-09-24T20:23:01.066Z,1348518181.066 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-24T20:23:01.067Z,1348518181.067 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-24T20:23:01.068Z,1348518181.068 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-24T20:23:01.150Z,1348518181.151 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-24T20:23:01.164Z,1348518181.164 [SBIT] Loaded
2012-09-24T20:23:01.164Z,1348518181.164 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-24T20:23:01.165Z,1348518181.165 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-24T20:23:01.196Z,1348518181.196 [IBIT] Loaded
2012-09-24T20:23:01.196Z,1348518181.196 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-24T20:23:01.204Z,1348518181.204 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-24T20:23:01.325Z,1348518181.325 [CBIT] Loaded
2012-09-24T20:23:01.326Z,1348518181.326 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-24T20:23:01.326Z,1348518181.326 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-24T20:23:01.327Z,1348518181.327 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-24T20:23:01.496Z,1348518181.496 [BuoyancyServo] Loaded
2012-09-24T20:23:01.497Z,1348518181.497 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-24T20:23:01.506Z,1348518181.506 [ElevatorServo] Loaded
2012-09-24T20:23:01.506Z,1348518181.506 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-24T20:23:01.518Z,1348518181.518 [MassServo] Loaded
2012-09-24T20:23:01.518Z,1348518181.518 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-24T20:23:01.534Z,1348518181.534 [RudderServo] Loaded
2012-09-24T20:23:01.534Z,1348518181.534 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-24T20:23:01.545Z,1348518181.546 [ThrusterServo] Loaded
2012-09-24T20:23:01.546Z,1348518181.546 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-24T20:23:01.546Z,1348518181.546 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-24T20:23:01.547Z,1348518181.547 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-24T20:23:01.584Z,1348518181.584 [DepthRateCalculator] Loaded
2012-09-24T20:23:01.584Z,1348518181.584 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-24T20:23:04.340Z,1348518184.341 [HFRadarModelCalc] Loaded
2012-09-24T20:23:04.341Z,1348518184.341 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-24T20:23:04.361Z,1348518184.361 [NavChart] Loaded
2012-09-24T20:23:04.361Z,1348518184.361 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-24T20:23:04.367Z,1348518184.367 [PitchRateCalculator] Loaded
2012-09-24T20:23:04.367Z,1348518184.367 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-24T20:23:04.373Z,1348518184.374 [SpeedCalculator] Loaded
2012-09-24T20:23:04.374Z,1348518184.374 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-24T20:23:04.393Z,1348518184.393 [TempGradientCalculator] Loaded
2012-09-24T20:23:04.393Z,1348518184.393 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-24T20:23:04.399Z,1348518184.399 [YawRateCalculator] Loaded
2012-09-24T20:23:04.399Z,1348518184.399 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-24T20:23:04.418Z,1348518184.418 [Navigation] Loaded
2012-09-24T20:23:04.419Z,1348518184.419 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-24T20:23:04.419Z,1348518184.419 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-24T20:23:04.420Z,1348518184.420 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-24T20:23:04.706Z,1348518184.706 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-24T20:23:04.707Z,1348518184.707 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-24T20:23:04.752Z,1348518184.752 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-24T20:23:04.753Z,1348518184.753 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-24T20:23:04.817Z,1348518184.817 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-24T20:23:04.867Z,1348518184.867 [VerticalControl] Loaded
2012-09-24T20:23:04.867Z,1348518184.867 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-24T20:23:04.868Z,1348518184.868 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-24T20:23:04.893Z,1348518184.893 [HorizontalControl] Loaded
2012-09-24T20:23:04.893Z,1348518184.894 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-24T20:23:04.895Z,1348518184.895 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-24T20:23:04.896Z,1348518184.896 [SpeedControl] Loaded
2012-09-24T20:23:04.896Z,1348518184.897 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-24T20:23:04.897Z,1348518184.897 [LoopControl](DEBUG): Construct LoopControl.
2012-09-24T20:23:04.898Z,1348518184.898 [LoopControl] Loaded
2012-09-24T20:23:04.898Z,1348518184.898 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-24T20:23:04.899Z,1348518184.899 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-24T20:23:04.899Z,1348518184.899 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-24T20:23:04.928Z,1348518184.928 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-24T20:23:04.932Z,1348518184.932 [AsyncPiEstimator] Loaded
2012-09-24T20:23:04.933Z,1348518184.932 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-24T20:23:04.934Z,1348518184.934 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-24T20:23:04.935Z,1348518184.935 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-24T20:23:04.936Z,1348518184.936 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-24T20:23:05.112Z,1348518185.112 [AHRS_sp3003D] Loaded
2012-09-24T20:23:05.112Z,1348518185.112 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-24T20:23:05.126Z,1348518185.126 [Depth_Keller] Loaded
2012-09-24T20:23:05.126Z,1348518185.126 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-24T20:23:05.132Z,1348518185.132 [DropWeight] Loaded
2012-09-24T20:23:05.132Z,1348518185.132 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-24T20:23:05.263Z,1348518185.263 [DVL_micro] Loaded
2012-09-24T20:23:05.264Z,1348518185.264 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-24T20:23:05.266Z,1348518185.266 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-24T20:23:05.357Z,1348518185.357 [NAL9602] Loaded
2012-09-24T20:23:05.357Z,1348518185.357 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-24T20:23:05.415Z,1348518185.415 [Onboard] Loaded
2012-09-24T20:23:05.415Z,1348518185.415 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-24T20:23:05.422Z,1348518185.422 [Radio_Freewave] Loaded
2012-09-24T20:23:05.422Z,1348518185.422 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-24T20:23:05.423Z,1348518185.423 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-24T20:23:05.424Z,1348518185.424 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-24T20:23:05.530Z,1348518185.530 [CTD_NeilBrown] Loaded
2012-09-24T20:23:05.530Z,1348518185.530 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-24T20:23:05.534Z,1348518185.534 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-24T20:23:05.545Z,1348518185.545 [PAR_Licor] Loaded
2012-09-24T20:23:05.545Z,1348518185.545 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-24T20:23:05.565Z,1348518185.565 [Turbulence_NPS] Loaded
2012-09-24T20:23:05.566Z,1348518185.566 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-24T20:23:05.570Z,1348518185.570 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-24T20:23:05.604Z,1348518185.604 [WetLabsBB2FL] Loaded
2012-09-24T20:23:05.605Z,1348518185.605 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-24T20:23:05.606Z,1348518185.606 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-24T20:23:05.607Z,1348518185.607 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-24T20:23:05.609Z,1348518185.609 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-24T20:23:05.610Z,1348518185.610 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-24T20:23:05.616Z,1348518185.616 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-24T20:23:05.618Z,1348518185.618 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-24T20:23:05.623Z,1348518185.623 [Supervisor](DEBUG): Running supervisor.
2012-09-24T20:23:05.624Z,1348518185.624 [CommandLine](INFO): Thread ID is 750
2012-09-24T20:23:05.627Z,1348518185.627 [controlThread](INFO): Thread ID is 749
2012-09-24T20:23:05.627Z,1348518185.627 [controlThread](DEBUG): Initializing ControlThread
2012-09-24T20:23:05.628Z,1348518185.628 [CycleStarter](INFO): Thread ID is 748
2012-09-24T20:23:05.628Z,1348518185.628 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-24T20:23:05.739Z,1348518185.739 [AsyncPiEstimator](INFO): Thread ID is 811
2012-09-24T20:23:05.739Z,1348518185.739 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-24T20:23:05.809Z,1348518185.809 [DVL_micro](INFO): Thread ID is 812
2012-09-24T20:23:05.894Z,1348518185.894 [CTD_NeilBrown](INFO): Thread ID is 813
2012-09-24T20:23:05.894Z,1348518185.894 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-24T20:23:05.907Z,1348518185.907 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-24T20:23:05.937Z,1348518185.937 [DVL_micro](INFO): Initializing
2012-09-24T20:23:05.937Z,1348518185.937 [DVL_micro](INFO): start:Powering up
2012-09-24T20:23:05.938Z,1348518185.938 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T20:23:05.938Z,1348518185.938 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T20:23:05.943Z,1348518185.943 [Turbulence_NPS](INFO): Thread ID is 814
2012-09-24T20:23:05.943Z,1348518185.943 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-24T20:23:05.953Z,1348518185.953 [SBIT](INFO): Initialize SBIT Component.
2012-09-24T20:23:05.954Z,1348518185.954 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-24T20:23:05.955Z,1348518185.955 [WetLabsBB2FL](INFO): Thread ID is 815
2012-09-24T20:23:05.956Z,1348518185.956 [WetLabsBB2FL](INFO): Powering down
2012-09-24T20:23:05.978Z,1348518185.978 [IBIT](INFO): Initialize IBIT Component.
2012-09-24T20:23:05.979Z,1348518185.979 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-24T20:23:05.979Z,1348518185.980 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-24T20:23:05.981Z,1348518185.981 [NavChartDb](INFO): Thread ID is 816
2012-09-24T20:23:06.032Z,1348518186.032 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T20:23:06.032Z,1348518186.032 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-24T20:23:06.033Z,1348518186.033 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-24T20:23:06.033Z,1348518186.033 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-24T20:23:06.034Z,1348518186.033 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-24T20:23:06.035Z,1348518186.035 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-24T20:23:06.036Z,1348518186.036 [Navigation](DEBUG): Initializing Navigation.
2012-09-24T20:23:06.036Z,1348518186.036 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-24T20:23:06.038Z,1348518186.038 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-24T20:23:06.039Z,1348518186.039 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-24T20:23:06.039Z,1348518186.039 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-24T20:23:06.069Z,1348518186.069 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-24T20:23:06.151Z,1348518186.151 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T20:23:06.161Z,1348518186.161 [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>


2012-09-24T20:23:06.164Z,1348518186.164 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-24T20:23:06.702Z,1348518186.702 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-24T20:23:06.704Z,1348518186.704 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-24T20:23:06.707Z,1348518186.707 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T20:23:06.715Z,1348518186.715 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-24T20:23:06.721Z,1348518186.721 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T20:23:06.728Z,1348518186.728 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-24T20:23:06.736Z,1348518186.736 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-24T20:23:06.746Z,1348518186.746 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T20:23:06.750Z,1348518186.750 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-24T20:23:06.754Z,1348518186.754 [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>


2012-09-24T20:23:06.758Z,1348518186.758 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-24T20:23:06.783Z,1348518186.783 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T20:23:06.959Z,1348518186.959 [Radio_Freewave](INFO): Powering up
2012-09-24T20:23:07.073Z,1348518187.073 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:23:07.077Z,1348518187.077 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-24T20:23:07.084Z,1348518187.084 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-24T20:23:07.090Z,1348518187.090 [MassServo](DEBUG): Initializing MassServo.
2012-09-24T20:23:07.096Z,1348518187.096 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:23:07.099Z,1348518187.099 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T20:23:07.105Z,1348518187.105 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:23:07.106Z,1348518187.106 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-24T20:23:07.995Z,1348518187.995 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T20:23:07.995Z,1348518187.995 [DVL_micro](INFO): Querying output modes
2012-09-24T20:23:07.996Z,1348518187.996 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T20:23:07.999Z,1348518187.999 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-09-24T20:23:07.999Z,1348518187.999 [DVL_micro](INFO): NQ1 output enabled
2012-09-24T20:23:07.999Z,1348518187.999 [DVL_micro](INFO): RSSI output enabled
2012-09-24T20:23:07.999Z,1348518187.999 [DVL_micro](INFO): ADCP output enabled
2012-09-24T20:23:07.999Z,1348518187.999 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T20:23:08.007Z,1348518188.007 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-24T20:23:08.011Z,1348518188.011 [DVL_micro](INFO): pause:Powering down
2012-09-24T20:23:10.732Z,1348518190.732 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-24T20:23:10.800Z,1348518190.800 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-24T20:23:10.844Z,1348518190.844 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-24T20:23:10.884Z,1348518190.884 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-24T20:23:10.889Z,1348518190.889 [NAL9602](INFO): Powering up NAL9602
2012-09-24T20:23:11.056Z,1348518191.056 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-24T20:23:11.057Z,1348518191.057 [NavChartDb](INFO): Creating index for Soundings
2012-09-24T20:23:11.266Z,1348518191.266 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-24T20:23:11.310Z,1348518191.309 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-24T20:23:11.344Z,1348518191.344 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-24T20:23:11.370Z,1348518191.370 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-24T20:23:11.372Z,1348518191.372 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-24T20:23:11.482Z,1348518191.483 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-24T20:23:11.484Z,1348518191.484 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-24T20:23:11.487Z,1348518191.487 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-24T20:23:11.488Z,1348518191.489 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-24T20:23:11.491Z,1348518191.490 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-24T20:23:11.492Z,1348518191.492 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-24T20:23:11.546Z,1348518191.546 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-24T20:23:11.548Z,1348518191.548 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-24T20:23:11.594Z,1348518191.594 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-24T20:23:11.596Z,1348518191.596 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-24T20:23:11.710Z,1348518191.710 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-24T20:23:11.712Z,1348518191.712 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-24T20:23:11.907Z,1348518191.907 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-24T20:23:11.909Z,1348518191.909 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-24T20:23:11.927Z,1348518191.927 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-24T20:23:11.929Z,1348518191.929 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-24T20:23:11.951Z,1348518191.951 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-24T20:23:11.953Z,1348518191.953 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-24T20:23:11.972Z,1348518191.972 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-24T20:23:11.974Z,1348518191.974 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-24T20:23:11.996Z,1348518191.996 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-24T20:23:11.998Z,1348518191.998 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-24T20:23:12.036Z,1348518192.036 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-24T20:23:12.038Z,1348518192.038 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-24T20:23:12.060Z,1348518192.060 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-24T20:23:12.062Z,1348518192.062 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-24T20:23:13.799Z,1348518193.799 [RudderServo](FAULT): Overload Error
2012-09-24T20:23:13.799Z,1348518193.799 [RudderServo] Hardware Fault, FailCount= 1
2012-09-24T20:23:13.799Z,1348518193.799 [RudderServo](ERROR): Hardware Fault
2012-09-24T20:23:13.833Z,1348518193.833 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T20:23:14.185Z,1348518194.185 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T20:23:14.185Z,1348518194.185 [RudderServo](INFO): Powering down
2012-09-24T20:23:14.197Z,1348518194.197 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-24T20:23:14.197Z,1348518194.197 [RudderServo] No Fault, FailCount= 1
2012-09-24T20:23:14.993Z,1348518194.993 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:23:15.115Z,1348518195.115 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-24T20:23:15.115Z,1348518195.115 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T20:23:19.771Z,1348518199.771 [RudderServo](FAULT): Overload Error
2012-09-24T20:23:19.771Z,1348518199.771 [RudderServo] Hardware Fault, FailCount= 2
2012-09-24T20:23:19.771Z,1348518199.771 [RudderServo](ERROR): Hardware Fault
2012-09-24T20:23:19.802Z,1348518199.802 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T20:23:20.149Z,1348518200.149 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T20:23:20.149Z,1348518200.149 [RudderServo](INFO): Powering down
2012-09-24T20:23:20.152Z,1348518200.152 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-24T20:23:20.152Z,1348518200.152 [RudderServo] No Fault, FailCount= 2
2012-09-24T20:23:20.953Z,1348518200.953 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T20:23:21.071Z,1348518201.071 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-24T20:23:21.071Z,1348518201.071 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T20:23:21.335Z,1348518201.335 [NAL9602](INFO): NAL9602 initialized
2012-09-24T20:23:21.379Z,1348518201.378 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-24T20:23:21.381Z,1348518201.381 [CBIT](IMPORTANT): Beginning GF scan
2012-09-24T20:23:25.778Z,1348518205.778 [RudderServo](FAULT): Overload Error
2012-09-24T20:23:25.779Z,1348518205.779 [RudderServo] Hardware Fault, FailCount= 3
2012-09-24T20:23:25.779Z,1348518205.779 [RudderServo](ERROR): Hardware Fault
2012-09-24T20:23:25.810Z,1348518205.810 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T20:23:25.810Z,1348518205.810 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2012-09-24T20:23:26.153Z,1348518206.152 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T20:23:26.153Z,1348518206.153 [RudderServo](INFO): Powering down
2012-09-24T20:23:34.558Z,1348518214.558 [SBIT](FAULT): Mass: EXPECTED:0.004800 ACTUAL:-0.001040
2012-09-24T20:23:47.760Z,1348518227.760 [CBIT](IMPORTANT): No ground fault detected