2012-09-26T21:10:48.145Z,1348693848.145 [Supervisor](DEBUG): Initializing supervisor.
2012-09-26T21:10:48.150Z,1348693848.151 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-26T21:10:48.151Z,1348693848.151 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-26T21:10:48.154Z,1348693848.155 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-26T21:10:48.158Z,1348693848.158 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-26T21:10:48.169Z,1348693848.169 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-26T21:10:48.170Z,1348693848.171 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-26T21:10:48.171Z,1348693848.171 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-26T21:10:48.172Z,1348693848.172 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-26T21:10:48.175Z,1348693848.175 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-26T21:10:48.496Z,1348693848.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-26T21:10:48.498Z,1348693848.498 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-26T21:10:48.703Z,1348693848.703 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-26T21:10:48.704Z,1348693848.704 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-26T21:10:48.798Z,1348693848.798 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-26T21:10:48.800Z,1348693848.800 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-26T21:10:49.020Z,1348693849.020 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-26T21:10:49.020Z,1348693849.020 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-26T21:10:49.174Z,1348693849.174 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-26T21:10:49.176Z,1348693849.176 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-26T21:10:49.440Z,1348693849.440 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-26T21:10:49.440Z,1348693849.440 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-26T21:10:49.630Z,1348693849.630 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-26T21:10:49.632Z,1348693849.632 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-26T21:10:49.916Z,1348693849.916 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-26T21:10:49.918Z,1348693849.918 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-26T21:10:50.031Z,1348693850.031 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-26T21:10:50.032Z,1348693850.032 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-26T21:10:50.500Z,1348693850.500 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-26T21:10:50.500Z,1348693850.500 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-26T21:10:50.629Z,1348693850.629 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-26T21:10:50.629Z,1348693850.629 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-26T21:10:50.724Z,1348693850.724 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-26T21:10:50.727Z,1348693850.727 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-26T21:10:50.838Z,1348693850.838 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-26T21:10:50.984Z,1348693850.984 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-26T21:10:51.078Z,1348693851.078 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-26T21:10:51.190Z,1348693851.190 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-26T21:10:51.304Z,1348693851.304 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-26T21:10:51.440Z,1348693851.440 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-26T21:10:51.543Z,1348693851.543 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-26T21:10:55.387Z,1348693855.386 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-09-26T21:10:55.495Z,1348693855.495 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-26T21:10:55.676Z,1348693855.676 [InternalSim] Loaded
2012-09-26T21:10:55.677Z,1348693855.677 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-26T21:10:55.678Z,1348693855.678 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-26T21:10:55.678Z,1348693855.678 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-26T21:10:55.761Z,1348693855.761 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-26T21:10:55.778Z,1348693855.778 [SBIT] Loaded
2012-09-26T21:10:55.779Z,1348693855.779 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-26T21:10:55.780Z,1348693855.780 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-26T21:10:55.811Z,1348693855.811 [IBIT] Loaded
2012-09-26T21:10:55.811Z,1348693855.811 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-26T21:10:55.814Z,1348693855.814 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-26T21:10:55.935Z,1348693855.935 [CBIT] Loaded
2012-09-26T21:10:55.935Z,1348693855.935 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-26T21:10:55.936Z,1348693855.936 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-26T21:10:55.937Z,1348693855.937 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-26T21:10:56.105Z,1348693856.105 [BuoyancyServo] Loaded
2012-09-26T21:10:56.105Z,1348693856.105 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-26T21:10:56.114Z,1348693856.114 [ElevatorServo] Loaded
2012-09-26T21:10:56.115Z,1348693856.115 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-26T21:10:56.126Z,1348693856.126 [MassServo] Loaded
2012-09-26T21:10:56.126Z,1348693856.126 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-26T21:10:56.142Z,1348693856.142 [RudderServo] Loaded
2012-09-26T21:10:56.142Z,1348693856.142 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-26T21:10:56.153Z,1348693856.153 [ThrusterServo] Loaded
2012-09-26T21:10:56.154Z,1348693856.154 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-26T21:10:56.154Z,1348693856.154 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-26T21:10:56.155Z,1348693856.155 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-26T21:10:56.187Z,1348693856.187 [DepthRateCalculator] Loaded
2012-09-26T21:10:56.187Z,1348693856.187 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-26T21:10:59.277Z,1348693859.277 [HFRadarModelCalc] Loaded
2012-09-26T21:10:59.278Z,1348693859.277 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-26T21:10:59.293Z,1348693859.293 [NavChart] Loaded
2012-09-26T21:10:59.293Z,1348693859.293 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-26T21:10:59.299Z,1348693859.299 [PitchRateCalculator] Loaded
2012-09-26T21:10:59.299Z,1348693859.299 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-26T21:10:59.306Z,1348693859.306 [SpeedCalculator] Loaded
2012-09-26T21:10:59.306Z,1348693859.306 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-26T21:10:59.325Z,1348693859.325 [TempGradientCalculator] Loaded
2012-09-26T21:10:59.325Z,1348693859.325 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-26T21:10:59.331Z,1348693859.331 [YawRateCalculator] Loaded
2012-09-26T21:10:59.331Z,1348693859.331 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-26T21:10:59.350Z,1348693859.350 [Navigation] Loaded
2012-09-26T21:10:59.351Z,1348693859.351 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-26T21:10:59.351Z,1348693859.351 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-26T21:10:59.352Z,1348693859.352 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-26T21:10:59.618Z,1348693859.618 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-26T21:10:59.619Z,1348693859.619 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-26T21:10:59.655Z,1348693859.655 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-26T21:10:59.656Z,1348693859.656 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-26T21:10:59.713Z,1348693859.713 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-26T21:10:59.757Z,1348693859.757 [VerticalControl] Loaded
2012-09-26T21:10:59.757Z,1348693859.757 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-26T21:10:59.758Z,1348693859.758 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-26T21:10:59.779Z,1348693859.779 [HorizontalControl] Loaded
2012-09-26T21:10:59.779Z,1348693859.779 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-26T21:10:59.780Z,1348693859.780 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-26T21:10:59.782Z,1348693859.782 [SpeedControl] Loaded
2012-09-26T21:10:59.782Z,1348693859.782 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-26T21:10:59.783Z,1348693859.783 [LoopControl](DEBUG): Construct LoopControl.
2012-09-26T21:10:59.784Z,1348693859.783 [LoopControl] Loaded
2012-09-26T21:10:59.784Z,1348693859.784 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-26T21:10:59.784Z,1348693859.784 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-26T21:10:59.785Z,1348693859.785 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-26T21:10:59.793Z,1348693859.793 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-26T21:10:59.797Z,1348693859.797 [AsyncPiEstimator] Loaded
2012-09-26T21:10:59.798Z,1348693859.798 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-26T21:10:59.799Z,1348693859.799 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-26T21:10:59.799Z,1348693859.799 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-26T21:10:59.800Z,1348693859.800 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-26T21:10:59.961Z,1348693859.961 [AHRS_sp3003D] Loaded
2012-09-26T21:10:59.961Z,1348693859.961 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-26T21:10:59.974Z,1348693859.974 [Depth_Keller] Loaded
2012-09-26T21:10:59.974Z,1348693859.974 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-26T21:10:59.980Z,1348693859.980 [DropWeight] Loaded
2012-09-26T21:10:59.980Z,1348693859.980 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-26T21:11:00.096Z,1348693860.096 [DVL_micro] Loaded
2012-09-26T21:11:00.096Z,1348693860.096 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-26T21:11:00.097Z,1348693860.097 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-26T21:11:00.180Z,1348693860.180 [NAL9602] Loaded
2012-09-26T21:11:00.180Z,1348693860.180 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-26T21:11:00.229Z,1348693860.229 [Onboard] Loaded
2012-09-26T21:11:00.229Z,1348693860.229 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-26T21:11:00.236Z,1348693860.236 [Radio_Freewave] Loaded
2012-09-26T21:11:00.236Z,1348693860.236 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-26T21:11:00.237Z,1348693860.237 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-26T21:11:00.238Z,1348693860.238 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-26T21:11:00.330Z,1348693860.330 [CTD_NeilBrown] Loaded
2012-09-26T21:11:00.330Z,1348693860.330 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-26T21:11:00.331Z,1348693860.331 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-26T21:11:00.342Z,1348693860.342 [PAR_Licor] Loaded
2012-09-26T21:11:00.342Z,1348693860.342 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-26T21:11:00.359Z,1348693860.359 [Turbulence_NPS] Loaded
2012-09-26T21:11:00.359Z,1348693860.359 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-26T21:11:00.360Z,1348693860.360 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-26T21:11:00.390Z,1348693860.390 [WetLabsBB2FL] Loaded
2012-09-26T21:11:00.391Z,1348693860.391 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-26T21:11:00.391Z,1348693860.391 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-26T21:11:00.392Z,1348693860.392 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-26T21:11:00.394Z,1348693860.395 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-26T21:11:00.395Z,1348693860.395 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-26T21:11:00.401Z,1348693860.401 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-26T21:11:00.403Z,1348693860.403 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-26T21:11:00.407Z,1348693860.407 [Supervisor](DEBUG): Running supervisor.
2012-09-26T21:11:00.408Z,1348693860.408 [CommandLine](INFO): Thread ID is 749
2012-09-26T21:11:00.411Z,1348693860.411 [controlThread](INFO): Thread ID is 748
2012-09-26T21:11:00.411Z,1348693860.411 [controlThread](DEBUG): Initializing ControlThread
2012-09-26T21:11:00.411Z,1348693860.411 [CycleStarter](INFO): Thread ID is 747
2012-09-26T21:11:00.412Z,1348693860.412 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-26T21:11:00.511Z,1348693860.511 [AsyncPiEstimator](INFO): Thread ID is 810
2012-09-26T21:11:00.511Z,1348693860.511 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-26T21:11:00.572Z,1348693860.572 [DVL_micro](INFO): Thread ID is 811
2012-09-26T21:11:00.647Z,1348693860.647 [CTD_NeilBrown](INFO): Thread ID is 812
2012-09-26T21:11:00.648Z,1348693860.648 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-26T21:11:00.651Z,1348693860.651 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-26T21:11:00.686Z,1348693860.686 [Turbulence_NPS](INFO): Thread ID is 813
2012-09-26T21:11:00.688Z,1348693860.688 [DVL_micro](INFO): Initializing
2012-09-26T21:11:00.688Z,1348693860.688 [DVL_micro](INFO): start:Powering up
2012-09-26T21:11:00.689Z,1348693860.689 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-26T21:11:00.689Z,1348693860.689 [DVL_micro](INFO): Cycling power to configure device.
2012-09-26T21:11:00.691Z,1348693860.691 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-26T21:11:00.702Z,1348693860.702 [SBIT](INFO): Initialize SBIT Component.
2012-09-26T21:11:00.702Z,1348693860.702 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-26T21:11:00.703Z,1348693860.703 [WetLabsBB2FL](INFO): Thread ID is 814
2012-09-26T21:11:00.704Z,1348693860.704 [WetLabsBB2FL](INFO): Powering down
2012-09-26T21:11:00.723Z,1348693860.723 [IBIT](INFO): Initialize IBIT Component.
2012-09-26T21:11:00.724Z,1348693860.724 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-26T21:11:00.724Z,1348693860.724 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-09-26T21:11:00.724Z,1348693860.724 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-26T21:11:00.732Z,1348693860.731 [NavChartDb](INFO): Thread ID is 815
2012-09-26T21:11:00.752Z,1348693860.752 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-26T21:11:00.753Z,1348693860.753 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-26T21:11:00.753Z,1348693860.753 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-26T21:11:00.753Z,1348693860.753 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-26T21:11:00.754Z,1348693860.754 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-26T21:11:00.756Z,1348693860.756 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-26T21:11:00.757Z,1348693860.757 [Navigation](DEBUG): Initializing Navigation.
2012-09-26T21:11:00.757Z,1348693860.757 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-26T21:11:00.759Z,1348693860.759 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-26T21:11:00.760Z,1348693860.760 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-26T21:11:00.760Z,1348693860.760 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-26T21:11:00.766Z,1348693860.766 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-26T21:11:00.798Z,1348693860.798 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-26T21:11:00.821Z,1348693860.821 [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>


2012-09-26T21:11:00.822Z,1348693860.822 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-26T21:11:00.863Z,1348693860.863 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-26T21:11:00.865Z,1348693860.865 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-26T21:11:00.868Z,1348693860.868 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-26T21:11:00.876Z,1348693860.876 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-26T21:11:00.879Z,1348693860.879 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-26T21:11:00.885Z,1348693860.885 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-26T21:11:00.893Z,1348693860.893 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-26T21:11:00.896Z,1348693860.896 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-26T21:11:00.901Z,1348693860.901 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-26T21:11:00.905Z,1348693860.905 [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>


2012-09-26T21:11:00.909Z,1348693860.909 [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,
2012-09-26T21:11:00.930Z,1348693860.930 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-26T21:11:01.392Z,1348693861.392 [Radio_Freewave](INFO): Powering up
2012-09-26T21:11:01.498Z,1348693861.498 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-26T21:11:01.503Z,1348693861.503 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-26T21:11:01.509Z,1348693861.509 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-26T21:11:01.517Z,1348693861.517 [MassServo](DEBUG): Initializing MassServo.
2012-09-26T21:11:01.522Z,1348693861.523 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-26T21:11:01.524Z,1348693861.524 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-26T21:11:01.533Z,1348693861.533 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-26T21:11:01.535Z,1348693861.535 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-26T21:11:02.839Z,1348693862.839 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-26T21:11:02.839Z,1348693862.839 [DVL_micro](INFO): Querying output modes
2012-09-26T21:11:02.840Z,1348693862.840 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-26T21:11:02.843Z,1348693862.843 [DVL_micro](DEBUG): cmdResponse: 01
2012-09-26T21:11:02.843Z,1348693862.843 [DVL_micro](INFO): NQ1 output enabled
2012-09-26T21:11:02.843Z,1348693862.843 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-26T21:11:02.847Z,1348693862.847 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-09-26T21:11:02.851Z,1348693862.852 [DVL_micro](INFO): pause:Powering down
2012-09-26T21:11:03.209Z,1348693863.209 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-26T21:11:03.214Z,1348693863.214 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-26T21:11:03.218Z,1348693863.218 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-26T21:11:03.231Z,1348693863.231 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-26T21:11:03.251Z,1348693863.251 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-26T21:11:03.252Z,1348693863.252 [NavChartDb](INFO): Creating index for Soundings
2012-09-26T21:11:03.544Z,1348693863.543 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-26T21:11:03.545Z,1348693863.546 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-26T21:11:03.824Z,1348693863.824 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-26T21:11:03.826Z,1348693863.826 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-26T21:11:04.062Z,1348693864.062 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-26T21:11:04.083Z,1348693864.083 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-26T21:11:04.085Z,1348693864.085 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-26T21:11:04.090Z,1348693864.090 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-26T21:11:04.102Z,1348693864.102 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-26T21:11:04.114Z,1348693864.114 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-26T21:11:04.126Z,1348693864.126 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-26T21:11:04.129Z,1348693864.129 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-26T21:11:04.131Z,1348693864.131 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-26T21:11:04.133Z,1348693864.133 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-26T21:11:04.135Z,1348693864.135 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-26T21:11:04.137Z,1348693864.137 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-26T21:11:04.140Z,1348693864.140 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-26T21:11:04.145Z,1348693864.145 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-26T21:11:04.160Z,1348693864.160 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-26T21:11:04.172Z,1348693864.172 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-26T21:11:04.174Z,1348693864.174 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-26T21:11:04.176Z,1348693864.176 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-26T21:11:04.178Z,1348693864.178 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-26T21:11:04.180Z,1348693864.180 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-26T21:11:04.183Z,1348693864.183 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-26T21:11:04.185Z,1348693864.185 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-26T21:11:04.188Z,1348693864.188 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-26T21:11:04.191Z,1348693864.191 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-26T21:11:04.203Z,1348693864.203 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-26T21:11:04.215Z,1348693864.215 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-26T21:11:04.226Z,1348693864.226 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-26T21:11:05.370Z,1348693865.370 [NAL9602](INFO): Powering up NAL9602
2012-09-26T21:11:08.366Z,1348693868.366 [RudderServo](FAULT): Overload Error
2012-09-26T21:11:08.367Z,1348693868.367 [RudderServo] Hardware Fault, FailCount= 1
2012-09-26T21:11:08.367Z,1348693868.367 [RudderServo](ERROR): Hardware Fault
2012-09-26T21:11:08.394Z,1348693868.394 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-26T21:11:08.743Z,1348693868.743 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-26T21:11:08.744Z,1348693868.744 [RudderServo](INFO): Powering down
2012-09-26T21:11:08.747Z,1348693868.747 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-26T21:11:08.747Z,1348693868.747 [RudderServo] No Fault, FailCount= 1
2012-09-26T21:11:09.533Z,1348693869.533 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-26T21:11:09.654Z,1348693869.654 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-26T21:11:09.654Z,1348693869.654 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-26T21:11:10.742Z,1348693870.742 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:37%. Temp:22 C. ABORTING MISSION
2012-09-26T21:11:14.366Z,1348693874.366 [RudderServo](FAULT): Overload Error
2012-09-26T21:11:14.367Z,1348693874.367 [RudderServo] Hardware Fault, FailCount= 2
2012-09-26T21:11:14.367Z,1348693874.367 [RudderServo](ERROR): Hardware Fault
2012-09-26T21:11:14.394Z,1348693874.394 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-26T21:11:14.739Z,1348693874.739 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-26T21:11:14.739Z,1348693874.740 [RudderServo](INFO): Powering down
2012-09-26T21:11:14.743Z,1348693874.743 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-26T21:11:14.743Z,1348693874.743 [RudderServo] No Fault, FailCount= 2
2012-09-26T21:11:15.567Z,1348693875.567 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-26T21:11:15.684Z,1348693875.684 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-26T21:11:15.684Z,1348693875.684 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-26T21:11:15.939Z,1348693875.939 [NAL9602](INFO): NAL9602 initialized
2012-09-26T21:11:16.400Z,1348693876.400 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-26T21:11:16.402Z,1348693876.402 [CBIT](IMPORTANT): Beginning GF scan
2012-09-26T21:11:17.150Z,1348693877.150 [Radio_Freewave](INFO): Powering down
2012-09-26T21:11:17.568Z,1348693877.568 [Radio_Freewave](INFO): Powering up
2012-09-26T21:11:20.411Z,1348693880.411 [RudderServo](FAULT): Overload Error
2012-09-26T21:11:20.411Z,1348693880.411 [RudderServo] Hardware Fault, FailCount= 3
2012-09-26T21:11:20.411Z,1348693880.411 [RudderServo](ERROR): Hardware Fault
2012-09-26T21:11:20.442Z,1348693880.442 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-26T21:11:20.443Z,1348693880.443 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2012-09-26T21:11:20.765Z,1348693880.765 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-26T21:11:20.766Z,1348693880.766 [RudderServo](INFO): Powering down
2012-09-26T21:11:35.387Z,1348693895.387 [CommandLine](IMPORTANT): got command quit
2012-09-26T21:11:36.450Z,1348693896.450 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-26T21:11:36.451Z,1348693896.451 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-26T21:11:36.632Z,1348693896.632 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-26T21:11:36.755Z,1348693896.755 [WetLabsBB2FL](INFO): Powering down
2012-09-26T21:11:36.771Z,1348693896.770 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-26T21:11:37.170Z,1348693897.171 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-26T21:11:37.513Z,1348693897.513 [CTD_NeilBrown](INFO): Powering down
2012-09-26T21:11:37.531Z,1348693897.531 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-26T21:11:37.687Z,1348693897.687 [DVL_micro](INFO): uninitialize:Powering down
2012-09-26T21:11:37.703Z,1348693897.703 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-26T21:11:37.983Z,1348693897.983 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-26T21:11:37.999Z,1348693897.999 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-26T21:11:38.001Z,1348693898.001 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-26T21:11:38.111Z,1348693898.111 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-26T21:11:38.112Z,1348693898.112 [AHRS_sp3003D](INFO): Powering down
2012-09-26T21:11:38.199Z,1348693898.199 [NAL9602](INFO): Powering down
2012-09-26T21:11:38.201Z,1348693898.201 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-26T21:11:38.202Z,1348693898.202 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-26T21:11:38.207Z,1348693898.207 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-26T21:11:38.207Z,1348693898.207 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-26T21:11:38.208Z,1348693898.208 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-26T21:11:38.208Z,1348693898.208 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-26T21:11:38.208Z,1348693898.208 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-26T21:11:38.208Z,1348693898.208 [BuoyancyServo](INFO): Powering down
2012-09-26T21:11:38.211Z,1348693898.211 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-09-26T21:11:38.211Z,1348693898.211 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-09-26T21:11:38.211Z,1348693898.211 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-26T21:11:38.211Z,1348693898.211 [RudderServo](INFO): Powering down
2012-09-26T21:11:38.212Z,1348693898.212 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-26T21:11:38.212Z,1348693898.212 [ThrusterServo](INFO): Powering down
2012-09-26T21:11:38.213Z,1348693898.213 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-26T21:11:38.213Z,1348693898.213 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-26T21:11:38.214Z,1348693898.214 [CBIT](DEBUG): Uninitialize CBIT Component.