2012-10-01T23:23:54.031Z,1349133834.031 [Supervisor](DEBUG): Initializing supervisor.
2012-10-01T23:23:54.033Z,1349133834.033 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-01T23:23:54.034Z,1349133834.034 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-01T23:23:54.035Z,1349133834.035 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-01T23:23:54.039Z,1349133834.039 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-01T23:23:54.049Z,1349133834.049 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-01T23:23:54.050Z,1349133834.050 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-01T23:23:54.051Z,1349133834.051 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-01T23:23:54.051Z,1349133834.051 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-01T23:23:54.052Z,1349133834.052 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-01T23:23:54.449Z,1349133834.449 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-01T23:23:54.449Z,1349133834.449 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-01T23:23:54.625Z,1349133834.625 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-01T23:23:54.625Z,1349133834.625 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-01T23:23:54.711Z,1349133834.711 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-01T23:23:54.711Z,1349133834.711 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-01T23:23:54.911Z,1349133834.911 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-01T23:23:54.912Z,1349133834.912 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-01T23:23:55.046Z,1349133835.046 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-01T23:23:55.047Z,1349133835.047 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-01T23:23:55.271Z,1349133835.271 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-01T23:23:55.272Z,1349133835.272 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-01T23:23:55.440Z,1349133835.440 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-01T23:23:55.440Z,1349133835.440 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-01T23:23:55.683Z,1349133835.682 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-01T23:23:55.683Z,1349133835.683 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-01T23:23:55.781Z,1349133835.781 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-01T23:23:55.782Z,1349133835.782 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-01T23:23:56.211Z,1349133836.211 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-01T23:23:56.212Z,1349133836.211 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-01T23:23:56.325Z,1349133836.325 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-01T23:23:56.326Z,1349133836.326 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-01T23:23:56.411Z,1349133836.411 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-01T23:23:56.412Z,1349133836.412 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-01T23:23:56.513Z,1349133836.513 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-01T23:23:56.640Z,1349133836.639 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-01T23:23:56.725Z,1349133836.725 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-01T23:23:56.825Z,1349133836.825 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-01T23:23:56.925Z,1349133836.925 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-01T23:23:57.041Z,1349133837.041 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-01T23:23:57.130Z,1349133837.130 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-01T23:23:57.221Z,1349133837.221 [Supervisor](IMPORTANT): Reading configuration overrides from Data/config.db
2012-10-01T23:23:57.229Z,1349133837.230 [ComponentRegistry](DEBUG): Loaded Config Component "configDb
2012-10-01T23:23:57.261Z,1349133837.260 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-01T23:23:57.484Z,1349133837.484 [InternalSim] Loaded
2012-10-01T23:23:57.485Z,1349133837.485 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-01T23:23:57.486Z,1349133837.486 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-01T23:23:57.486Z,1349133837.486 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-01T23:23:57.545Z,1349133837.545 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-01T23:23:57.557Z,1349133837.557 [SBIT] Loaded
2012-10-01T23:23:57.558Z,1349133837.558 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-01T23:23:57.559Z,1349133837.559 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-01T23:23:57.586Z,1349133837.586 [IBIT] Loaded
2012-10-01T23:23:57.587Z,1349133837.587 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-01T23:23:57.590Z,1349133837.590 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-01T23:23:57.707Z,1349133837.707 [CBIT] Loaded
2012-10-01T23:23:57.707Z,1349133837.707 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-01T23:23:57.708Z,1349133837.708 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-01T23:23:57.708Z,1349133837.708 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-01T23:23:57.853Z,1349133837.852 [BuoyancyServo] Loaded
2012-10-01T23:23:57.853Z,1349133837.853 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-01T23:23:57.862Z,1349133837.862 [ElevatorServo] Loaded
2012-10-01T23:23:57.862Z,1349133837.862 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-01T23:23:57.874Z,1349133837.874 [MassServo] Loaded
2012-10-01T23:23:57.874Z,1349133837.874 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-01T23:23:57.886Z,1349133837.886 [RudderServo] Loaded
2012-10-01T23:23:57.886Z,1349133837.886 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-01T23:23:57.897Z,1349133837.897 [ThrusterServo] Loaded
2012-10-01T23:23:57.898Z,1349133837.898 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-01T23:23:57.898Z,1349133837.898 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-01T23:23:57.899Z,1349133837.899 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-01T23:23:57.915Z,1349133837.915 [DepthRateCalculator] Loaded
2012-10-01T23:23:57.916Z,1349133837.916 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-01T23:24:01.462Z,1349133841.462 [HFRadarModelCalc] Loaded
2012-10-01T23:24:01.462Z,1349133841.462 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-01T23:24:01.478Z,1349133841.478 [NavChart] Loaded
2012-10-01T23:24:01.479Z,1349133841.478 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-01T23:24:01.484Z,1349133841.484 [PitchRateCalculator] Loaded
2012-10-01T23:24:01.484Z,1349133841.484 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-01T23:24:01.491Z,1349133841.491 [SpeedCalculator] Loaded
2012-10-01T23:24:01.491Z,1349133841.491 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-01T23:24:01.506Z,1349133841.506 [TempGradientCalculator] Loaded
2012-10-01T23:24:01.506Z,1349133841.506 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-01T23:24:01.512Z,1349133841.512 [YawRateCalculator] Loaded
2012-10-01T23:24:01.512Z,1349133841.512 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-01T23:24:01.531Z,1349133841.531 [Navigation] Loaded
2012-10-01T23:24:01.532Z,1349133841.532 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-01T23:24:01.532Z,1349133841.532 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-01T23:24:01.533Z,1349133841.533 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-01T23:24:01.764Z,1349133841.764 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-01T23:24:01.765Z,1349133841.765 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-01T23:24:01.787Z,1349133841.787 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-01T23:24:01.788Z,1349133841.787 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-01T23:24:01.827Z,1349133841.827 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-01T23:24:01.871Z,1349133841.871 [VerticalControl] Loaded
2012-10-01T23:24:01.871Z,1349133841.871 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-01T23:24:01.872Z,1349133841.872 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-01T23:24:01.892Z,1349133841.892 [HorizontalControl] Loaded
2012-10-01T23:24:01.892Z,1349133841.892 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-01T23:24:01.893Z,1349133841.893 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-01T23:24:01.895Z,1349133841.895 [SpeedControl] Loaded
2012-10-01T23:24:01.895Z,1349133841.895 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-01T23:24:01.896Z,1349133841.896 [LoopControl](DEBUG): Construct LoopControl.
2012-10-01T23:24:01.897Z,1349133841.897 [LoopControl] Loaded
2012-10-01T23:24:01.897Z,1349133841.897 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-01T23:24:01.897Z,1349133841.898 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-01T23:24:01.898Z,1349133841.898 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-01T23:24:01.903Z,1349133841.903 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-01T23:24:01.908Z,1349133841.908 [AsyncPiEstimator] Loaded
2012-10-01T23:24:01.909Z,1349133841.908 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-01T23:24:01.910Z,1349133841.910 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406744E0
2012-10-01T23:24:01.910Z,1349133841.910 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-01T23:24:01.911Z,1349133841.911 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-01T23:24:02.035Z,1349133842.035 [AHRS_sp3003D] Loaded
2012-10-01T23:24:02.035Z,1349133842.035 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-01T23:24:02.049Z,1349133842.049 [Depth_Keller] Loaded
2012-10-01T23:24:02.049Z,1349133842.049 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-01T23:24:02.054Z,1349133842.054 [DropWeight] Loaded
2012-10-01T23:24:02.054Z,1349133842.055 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-01T23:24:02.167Z,1349133842.167 [DVL_micro] Loaded
2012-10-01T23:24:02.167Z,1349133842.167 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-01T23:24:02.168Z,1349133842.168 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F44E0
2012-10-01T23:24:02.250Z,1349133842.250 [NAL9602] Loaded
2012-10-01T23:24:02.251Z,1349133842.251 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-01T23:24:02.300Z,1349133842.300 [Onboard] Loaded
2012-10-01T23:24:02.300Z,1349133842.300 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-01T23:24:02.307Z,1349133842.307 [Radio_Freewave] Loaded
2012-10-01T23:24:02.307Z,1349133842.307 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-01T23:24:02.308Z,1349133842.308 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-01T23:24:02.309Z,1349133842.309 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-01T23:24:02.380Z,1349133842.379 [CTD_NeilBrown] Loaded
2012-10-01T23:24:02.380Z,1349133842.380 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-01T23:24:02.383Z,1349133842.383 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074C4E0
2012-10-01T23:24:02.394Z,1349133842.394 [PAR_Licor] Loaded
2012-10-01T23:24:02.394Z,1349133842.394 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-01T23:24:02.411Z,1349133842.411 [Turbulence_NPS] Loaded
2012-10-01T23:24:02.411Z,1349133842.411 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-01T23:24:02.412Z,1349133842.412 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-10-01T23:24:02.442Z,1349133842.442 [WetLabsBB2FL] Loaded
2012-10-01T23:24:02.442Z,1349133842.442 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-01T23:24:02.443Z,1349133842.443 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-10-01T23:24:02.444Z,1349133842.444 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-01T23:24:02.446Z,1349133842.446 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-01T23:24:02.447Z,1349133842.447 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-01T23:24:02.454Z,1349133842.454 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-01T23:24:02.455Z,1349133842.455 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-10-01T23:24:02.459Z,1349133842.459 [Supervisor](DEBUG): Running supervisor.
2012-10-01T23:24:02.460Z,1349133842.460 [CommandLine](INFO): Thread ID is 2832
2012-10-01T23:24:02.463Z,1349133842.463 [controlThread](INFO): Thread ID is 2831
2012-10-01T23:24:02.463Z,1349133842.463 [controlThread](DEBUG): Initializing ControlThread
2012-10-01T23:24:02.463Z,1349133842.464 [CycleStarter](INFO): Thread ID is 2830
2012-10-01T23:24:02.464Z,1349133842.464 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-01T23:24:02.491Z,1349133842.491 [AsyncPiEstimator](INFO): Thread ID is 2897
2012-10-01T23:24:02.491Z,1349133842.491 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-01T23:24:02.510Z,1349133842.510 [SBIT](INFO): Initialize SBIT Component.
2012-10-01T23:24:02.511Z,1349133842.511 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9907
2012-10-01T23:24:02.512Z,1349133842.512 [DVL_micro](INFO): Thread ID is 2898
2012-10-01T23:24:02.521Z,1349133842.521 [DVL_micro](INFO): Initializing
2012-10-01T23:24:02.521Z,1349133842.521 [DVL_micro](INFO): start:Powering up
2012-10-01T23:24:02.522Z,1349133842.522 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-01T23:24:02.523Z,1349133842.523 [DVL_micro](INFO): Cycling power to configure device.
2012-10-01T23:24:02.539Z,1349133842.539 [IBIT](INFO): Initialize IBIT Component.
2012-10-01T23:24:02.539Z,1349133842.539 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-01T23:24:02.540Z,1349133842.540 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-01T23:24:02.541Z,1349133842.541 [CTD_NeilBrown](INFO): Thread ID is 2899
2012-10-01T23:24:02.541Z,1349133842.541 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-01T23:24:02.547Z,1349133842.547 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-01T23:24:02.556Z,1349133842.556 [Turbulence_NPS](INFO): Thread ID is 2900
2012-10-01T23:24:02.557Z,1349133842.556 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-01T23:24:02.557Z,1349133842.557 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-01T23:24:02.564Z,1349133842.564 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-01T23:24:02.565Z,1349133842.565 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-01T23:24:02.565Z,1349133842.565 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-01T23:24:02.565Z,1349133842.565 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-01T23:24:02.566Z,1349133842.566 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-01T23:24:02.567Z,1349133842.567 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-01T23:24:02.568Z,1349133842.568 [Navigation](DEBUG): Initializing Navigation.
2012-10-01T23:24:02.568Z,1349133842.568 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-01T23:24:02.570Z,1349133842.570 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-01T23:24:02.571Z,1349133842.571 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-01T23:24:02.571Z,1349133842.571 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-01T23:24:02.580Z,1349133842.580 [WetLabsBB2FL](INFO): Thread ID is 2901
2012-10-01T23:24:02.580Z,1349133842.580 [WetLabsBB2FL](INFO): Powering down
2012-10-01T23:24:02.592Z,1349133842.592 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-01T23:24:02.608Z,1349133842.608 [NavChartDb](INFO): Thread ID is 2902
2012-10-01T23:24:02.618Z,1349133842.618 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-01T23:24:02.629Z,1349133842.629 [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>


2012-10-01T23:24:02.630Z,1349133842.630 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-01T23:24:02.656Z,1349133842.657 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-01T23:24:02.659Z,1349133842.659 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-01T23:24:02.662Z,1349133842.662 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-01T23:24:02.669Z,1349133842.669 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-01T23:24:02.673Z,1349133842.673 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-01T23:24:02.679Z,1349133842.679 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-01T23:24:02.688Z,1349133842.688 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-01T23:24:02.691Z,1349133842.691 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-01T23:24:02.696Z,1349133842.696 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-01T23:24:02.699Z,1349133842.699 [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>


2012-10-01T23:24:02.703Z,1349133842.703 [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,
2012-10-01T23:24:02.723Z,1349133842.723 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-01T23:24:02.771Z,1349133842.771 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-01T23:24:02.772Z,1349133842.772 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-01T23:24:02.772Z,1349133842.772 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-01T23:24:02.772Z,1349133842.772 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-01T23:24:02.773Z,1349133842.773 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-01T23:24:02.838Z,1349133842.838 [Radio_Freewave](INFO): Powering up
2012-10-01T23:24:02.929Z,1349133842.929 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-01T23:24:02.931Z,1349133842.931 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-01T23:24:02.937Z,1349133842.937 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-01T23:24:02.943Z,1349133842.943 [MassServo](DEBUG): Initializing MassServo.
2012-10-01T23:24:02.948Z,1349133842.948 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-01T23:24:02.954Z,1349133842.954 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-01T23:24:02.975Z,1349133842.975 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-01T23:24:04.639Z,1349133844.639 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-01T23:24:04.640Z,1349133844.640 [DVL_micro](INFO): Querying output modes
2012-10-01T23:24:04.640Z,1349133844.640 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606