2012-10-01T23:24:48.487Z,1349133888.487 [Supervisor](DEBUG): Initializing supervisor.
2012-10-01T23:24:48.490Z,1349133888.490 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-01T23:24:48.490Z,1349133888.490 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-01T23:24:48.491Z,1349133888.491 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-01T23:24:48.495Z,1349133888.495 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-01T23:24:48.505Z,1349133888.505 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-01T23:24:48.506Z,1349133888.506 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-01T23:24:48.507Z,1349133888.507 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-01T23:24:48.507Z,1349133888.507 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-01T23:24:48.509Z,1349133888.509 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-01T23:24:48.781Z,1349133888.781 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-01T23:24:48.782Z,1349133888.782 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-01T23:24:48.957Z,1349133888.957 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-01T23:24:48.958Z,1349133888.958 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-01T23:24:49.043Z,1349133889.043 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-01T23:24:49.044Z,1349133889.044 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-01T23:24:49.244Z,1349133889.244 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-01T23:24:49.244Z,1349133889.244 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-01T23:24:49.378Z,1349133889.378 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-01T23:24:49.379Z,1349133889.379 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-01T23:24:49.603Z,1349133889.603 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-01T23:24:49.604Z,1349133889.604 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-01T23:24:49.772Z,1349133889.772 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-01T23:24:49.772Z,1349133889.773 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-01T23:24:50.015Z,1349133890.015 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-01T23:24:50.015Z,1349133890.015 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-01T23:24:50.220Z,1349133890.220 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-01T23:24:50.221Z,1349133890.221 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-01T23:24:50.610Z,1349133890.610 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-01T23:24:50.610Z,1349133890.610 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-01T23:24:50.724Z,1349133890.724 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-01T23:24:50.725Z,1349133890.725 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-01T23:24:50.810Z,1349133890.810 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-01T23:24:50.811Z,1349133890.811 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-01T23:24:50.913Z,1349133890.912 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-01T23:24:51.039Z,1349133891.039 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-01T23:24:51.181Z,1349133891.181 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-01T23:24:51.428Z,1349133891.428 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-01T23:24:51.555Z,1349133891.555 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-01T23:24:51.671Z,1349133891.671 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-01T23:24:51.761Z,1349133891.761 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-01T23:24:51.852Z,1349133891.852 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-10-01T23:24:51.880Z,1349133891.880 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-01T23:24:52.021Z,1349133892.021 [InternalSim] Loaded
2012-10-01T23:24:52.022Z,1349133892.022 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-01T23:24:52.023Z,1349133892.023 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-01T23:24:52.023Z,1349133892.023 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-01T23:24:52.082Z,1349133892.082 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-01T23:24:52.095Z,1349133892.095 [SBIT] Loaded
2012-10-01T23:24:52.095Z,1349133892.095 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-01T23:24:52.096Z,1349133892.096 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-01T23:24:52.124Z,1349133892.124 [IBIT] Loaded
2012-10-01T23:24:52.124Z,1349133892.124 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-01T23:24:52.128Z,1349133892.128 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-01T23:24:52.245Z,1349133892.245 [CBIT] Loaded
2012-10-01T23:24:52.245Z,1349133892.245 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-01T23:24:52.246Z,1349133892.246 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-01T23:24:52.246Z,1349133892.246 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-01T23:24:52.388Z,1349133892.388 [BuoyancyServo] Loaded
2012-10-01T23:24:52.389Z,1349133892.389 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-01T23:24:52.398Z,1349133892.398 [ElevatorServo] Loaded
2012-10-01T23:24:52.398Z,1349133892.398 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-01T23:24:52.410Z,1349133892.410 [MassServo] Loaded
2012-10-01T23:24:52.410Z,1349133892.410 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-01T23:24:52.422Z,1349133892.422 [RudderServo] Loaded
2012-10-01T23:24:52.422Z,1349133892.422 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-01T23:24:52.433Z,1349133892.434 [ThrusterServo] Loaded
2012-10-01T23:24:52.434Z,1349133892.434 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-01T23:24:52.434Z,1349133892.434 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-01T23:24:52.435Z,1349133892.435 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-01T23:24:52.452Z,1349133892.452 [DepthRateCalculator] Loaded
2012-10-01T23:24:52.452Z,1349133892.452 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-01T23:24:55.946Z,1349133895.946 [HFRadarModelCalc] Loaded
2012-10-01T23:24:55.946Z,1349133895.946 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-01T23:24:55.962Z,1349133895.962 [NavChart] Loaded
2012-10-01T23:24:55.963Z,1349133895.963 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-01T23:24:55.968Z,1349133895.968 [PitchRateCalculator] Loaded
2012-10-01T23:24:55.969Z,1349133895.969 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-01T23:24:55.975Z,1349133895.975 [SpeedCalculator] Loaded
2012-10-01T23:24:55.975Z,1349133895.975 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-01T23:24:55.989Z,1349133895.990 [TempGradientCalculator] Loaded
2012-10-01T23:24:55.990Z,1349133895.990 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-01T23:24:55.996Z,1349133895.996 [YawRateCalculator] Loaded
2012-10-01T23:24:55.996Z,1349133895.996 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-01T23:24:56.015Z,1349133896.015 [Navigation] Loaded
2012-10-01T23:24:56.016Z,1349133896.016 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-01T23:24:56.016Z,1349133896.016 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-01T23:24:56.017Z,1349133896.017 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-01T23:24:56.249Z,1349133896.249 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-01T23:24:56.250Z,1349133896.250 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-01T23:24:56.272Z,1349133896.272 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-01T23:24:56.272Z,1349133896.272 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-01T23:24:56.343Z,1349133896.342 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-01T23:24:56.396Z,1349133896.396 [VerticalControl] Loaded
2012-10-01T23:24:56.396Z,1349133896.396 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-01T23:24:56.397Z,1349133896.397 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-01T23:24:56.417Z,1349133896.418 [HorizontalControl] Loaded
2012-10-01T23:24:56.418Z,1349133896.418 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-01T23:24:56.419Z,1349133896.419 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-01T23:24:56.420Z,1349133896.420 [SpeedControl] Loaded
2012-10-01T23:24:56.421Z,1349133896.421 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-01T23:24:56.422Z,1349133896.422 [LoopControl](DEBUG): Construct LoopControl.
2012-10-01T23:24:56.422Z,1349133896.422 [LoopControl] Loaded
2012-10-01T23:24:56.422Z,1349133896.422 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-01T23:24:56.423Z,1349133896.423 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-01T23:24:56.424Z,1349133896.424 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-01T23:24:56.429Z,1349133896.429 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-01T23:24:56.433Z,1349133896.434 [AsyncPiEstimator] Loaded
2012-10-01T23:24:56.434Z,1349133896.434 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-01T23:24:56.435Z,1349133896.435 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406744E0
2012-10-01T23:24:56.436Z,1349133896.436 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-01T23:24:56.436Z,1349133896.436 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-01T23:24:56.560Z,1349133896.560 [AHRS_sp3003D] Loaded
2012-10-01T23:24:56.560Z,1349133896.560 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-01T23:24:56.573Z,1349133896.573 [Depth_Keller] Loaded
2012-10-01T23:24:56.574Z,1349133896.574 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-01T23:24:56.579Z,1349133896.579 [DropWeight] Loaded
2012-10-01T23:24:56.580Z,1349133896.580 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-01T23:24:56.692Z,1349133896.693 [DVL_micro] Loaded
2012-10-01T23:24:56.693Z,1349133896.693 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-01T23:24:56.694Z,1349133896.694 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F44E0
2012-10-01T23:24:56.777Z,1349133896.777 [NAL9602] Loaded
2012-10-01T23:24:56.777Z,1349133896.777 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-01T23:24:56.827Z,1349133896.827 [Onboard] Loaded
2012-10-01T23:24:56.827Z,1349133896.827 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-01T23:24:56.834Z,1349133896.834 [Radio_Freewave] Loaded
2012-10-01T23:24:56.834Z,1349133896.834 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-01T23:24:56.835Z,1349133896.835 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-01T23:24:56.836Z,1349133896.836 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-01T23:24:56.907Z,1349133896.907 [CTD_NeilBrown] Loaded
2012-10-01T23:24:56.907Z,1349133896.907 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-01T23:24:56.908Z,1349133896.908 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074C4E0
2012-10-01T23:24:56.919Z,1349133896.919 [PAR_Licor] Loaded
2012-10-01T23:24:56.919Z,1349133896.919 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-01T23:24:56.936Z,1349133896.936 [Turbulence_NPS] Loaded
2012-10-01T23:24:56.936Z,1349133896.936 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-01T23:24:56.937Z,1349133896.937 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-10-01T23:24:56.967Z,1349133896.967 [WetLabsBB2FL] Loaded
2012-10-01T23:24:56.968Z,1349133896.968 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-01T23:24:56.969Z,1349133896.969 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-10-01T23:24:56.969Z,1349133896.969 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-01T23:24:56.972Z,1349133896.972 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-01T23:24:56.973Z,1349133896.973 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-01T23:24:56.979Z,1349133896.979 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-01T23:24:56.980Z,1349133896.980 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-10-01T23:24:56.985Z,1349133896.985 [Supervisor](DEBUG): Running supervisor.
2012-10-01T23:24:56.986Z,1349133896.986 [CommandLine](INFO): Thread ID is 2974
2012-10-01T23:24:56.988Z,1349133896.988 [controlThread](INFO): Thread ID is 2973
2012-10-01T23:24:56.988Z,1349133896.989 [controlThread](DEBUG): Initializing ControlThread
2012-10-01T23:24:56.989Z,1349133896.989 [CycleStarter](INFO): Thread ID is 2972
2012-10-01T23:24:56.990Z,1349133896.990 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-01T23:24:57.023Z,1349133897.023 [AsyncPiEstimator](INFO): Thread ID is 3039
2012-10-01T23:24:57.024Z,1349133897.024 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-01T23:24:57.033Z,1349133897.033 [SBIT](INFO): Initialize SBIT Component.
2012-10-01T23:24:57.034Z,1349133897.034 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9907
2012-10-01T23:24:57.034Z,1349133897.034 [IBIT](INFO): Initialize IBIT Component.
2012-10-01T23:24:57.035Z,1349133897.035 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-01T23:24:57.035Z,1349133897.035 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-01T23:24:57.036Z,1349133897.036 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-01T23:24:57.036Z,1349133897.036 [DVL_micro](INFO): Thread ID is 3040
2012-10-01T23:24:57.045Z,1349133897.046 [DVL_micro](INFO): Initializing
2012-10-01T23:24:57.046Z,1349133897.046 [DVL_micro](INFO): start:Powering up
2012-10-01T23:24:57.047Z,1349133897.047 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-01T23:24:57.048Z,1349133897.048 [DVL_micro](INFO): Cycling power to configure device.
2012-10-01T23:24:57.060Z,1349133897.060 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-01T23:24:57.060Z,1349133897.060 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-01T23:24:57.061Z,1349133897.061 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-01T23:24:57.061Z,1349133897.061 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-01T23:24:57.062Z,1349133897.062 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-01T23:24:57.063Z,1349133897.063 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-01T23:24:57.064Z,1349133897.063 [Navigation](DEBUG): Initializing Navigation.
2012-10-01T23:24:57.064Z,1349133897.064 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-01T23:24:57.065Z,1349133897.066 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-01T23:24:57.066Z,1349133897.066 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-01T23:24:57.067Z,1349133897.067 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-01T23:24:57.072Z,1349133897.072 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-01T23:24:57.075Z,1349133897.075 [CTD_NeilBrown](INFO): Thread ID is 3041
2012-10-01T23:24:57.076Z,1349133897.076 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-01T23:24:57.083Z,1349133897.083 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-01T23:24:57.094Z,1349133897.094 [Turbulence_NPS](INFO): Thread ID is 3042
2012-10-01T23:24:57.094Z,1349133897.095 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-01T23:24:57.095Z,1349133897.095 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-01T23:24:57.108Z,1349133897.108 [WetLabsBB2FL](INFO): Thread ID is 3043
2012-10-01T23:24:57.108Z,1349133897.108 [WetLabsBB2FL](INFO): Powering down
2012-10-01T23:24:57.132Z,1349133897.132 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-01T23:24:57.138Z,1349133897.138 [NavChartDb](INFO): Thread ID is 3044
2012-10-01T23:24:57.147Z,1349133897.147 [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>


2012-10-01T23:24:57.148Z,1349133897.148 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-01T23:24:57.175Z,1349133897.175 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-01T23:24:57.177Z,1349133897.177 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-01T23:24:57.180Z,1349133897.180 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-01T23:24:57.188Z,1349133897.188 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-01T23:24:57.191Z,1349133897.191 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-01T23:24:57.197Z,1349133897.197 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-01T23:24:57.206Z,1349133897.206 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-01T23:24:57.209Z,1349133897.209 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-01T23:24:57.214Z,1349133897.214 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-01T23:24:57.218Z,1349133897.217 [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>


2012-10-01T23:24:57.222Z,1349133897.222 [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,
2012-10-01T23:24:57.242Z,1349133897.242 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-01T23:24:57.335Z,1349133897.335 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-01T23:24:57.335Z,1349133897.335 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-01T23:24:57.336Z,1349133897.336 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-01T23:24:57.336Z,1349133897.336 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-01T23:24:57.336Z,1349133897.336 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-01T23:24:57.361Z,1349133897.361 [Radio_Freewave](INFO): Powering up
2012-10-01T23:24:57.462Z,1349133897.462 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-01T23:24:57.471Z,1349133897.471 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-01T23:24:57.477Z,1349133897.477 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-01T23:24:57.482Z,1349133897.482 [MassServo](DEBUG): Initializing MassServo.
2012-10-01T23:24:57.487Z,1349133897.487 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-01T23:24:57.493Z,1349133897.493 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-01T23:24:57.495Z,1349133897.495 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-01T23:24:59.111Z,1349133899.111 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-01T23:24:59.111Z,1349133899.111 [DVL_micro](INFO): Querying output modes
2012-10-01T23:24:59.112Z,1349133899.112 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-01T23:24:59.163Z,1349133899.163 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-01T23:24:59.163Z,1349133899.163 [DVL_micro](INFO): NQ1 output enabled
2012-10-01T23:24:59.163Z,1349133899.163 [DVL_micro](INFO): RSSI output enabled
2012-10-01T23:24:59.163Z,1349133899.163 [DVL_micro](INFO): ADCP output enabled
2012-10-01T23:24:59.163Z,1349133899.164 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-01T23:24:59.171Z,1349133899.171 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-01T23:24:59.183Z,1349133899.183 [DVL_micro](INFO): pause:Powering down
2012-10-01T23:25:02.069Z,1349133902.069 [NAL9602](INFO): Powering up NAL9602