2012-10-02T17:41:19.659Z,1349199679.659 [Supervisor](DEBUG): Initializing supervisor.
2012-10-02T17:41:19.662Z,1349199679.662 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-02T17:41:19.663Z,1349199679.662 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-02T17:41:19.664Z,1349199679.664 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-02T17:41:19.669Z,1349199679.668 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-02T17:41:19.680Z,1349199679.680 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-02T17:41:19.681Z,1349199679.681 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-02T17:41:19.682Z,1349199679.682 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-02T17:41:19.683Z,1349199679.683 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-02T17:41:19.684Z,1349199679.684 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-02T17:41:19.955Z,1349199679.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-02T17:41:19.955Z,1349199679.955 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-02T17:41:20.134Z,1349199680.134 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-02T17:41:20.135Z,1349199680.135 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-02T17:41:20.218Z,1349199680.218 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-02T17:41:20.219Z,1349199680.219 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-02T17:41:20.410Z,1349199680.410 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-02T17:41:20.411Z,1349199680.411 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-02T17:41:20.541Z,1349199680.541 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-02T17:41:20.542Z,1349199680.542 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-02T17:41:20.765Z,1349199680.765 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-02T17:41:20.765Z,1349199680.765 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-02T17:41:20.931Z,1349199680.931 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-02T17:41:20.931Z,1349199680.931 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-02T17:41:21.172Z,1349199681.172 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-02T17:41:21.172Z,1349199681.172 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-02T17:41:21.269Z,1349199681.269 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-02T17:41:21.270Z,1349199681.270 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-02T17:41:21.659Z,1349199681.658 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-02T17:41:21.659Z,1349199681.659 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-02T17:41:21.771Z,1349199681.771 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-02T17:41:21.771Z,1349199681.771 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-02T17:41:21.855Z,1349199681.855 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-02T17:41:21.856Z,1349199681.856 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-02T17:41:21.956Z,1349199681.955 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-02T17:41:22.082Z,1349199682.082 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-02T17:41:22.166Z,1349199682.166 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-02T17:41:22.265Z,1349199682.265 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-02T17:41:22.363Z,1349199682.363 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-02T17:41:22.478Z,1349199682.478 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-02T17:41:22.566Z,1349199682.566 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-02T17:41:22.665Z,1349199682.665 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-02T17:41:22.708Z,1349199682.708 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-02T17:41:22.886Z,1349199682.885 [InternalSim] Loaded
2012-10-02T17:41:22.886Z,1349199682.886 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-02T17:41:22.887Z,1349199682.887 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-02T17:41:22.887Z,1349199682.887 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-02T17:41:22.947Z,1349199682.947 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-02T17:41:22.960Z,1349199682.960 [SBIT] Loaded
2012-10-02T17:41:22.961Z,1349199682.961 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-02T17:41:22.961Z,1349199682.961 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-02T17:41:22.989Z,1349199682.990 [IBIT] Loaded
2012-10-02T17:41:22.990Z,1349199682.990 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-02T17:41:22.993Z,1349199682.993 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-02T17:41:23.112Z,1349199683.112 [CBIT] Loaded
2012-10-02T17:41:23.112Z,1349199683.112 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-02T17:41:23.112Z,1349199683.112 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-02T17:41:23.113Z,1349199683.113 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-02T17:41:23.258Z,1349199683.258 [BuoyancyServo] Loaded
2012-10-02T17:41:23.258Z,1349199683.258 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-02T17:41:23.267Z,1349199683.267 [ElevatorServo] Loaded
2012-10-02T17:41:23.268Z,1349199683.268 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-02T17:41:23.279Z,1349199683.279 [MassServo] Loaded
2012-10-02T17:41:23.280Z,1349199683.280 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-02T17:41:23.291Z,1349199683.291 [RudderServo] Loaded
2012-10-02T17:41:23.292Z,1349199683.292 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-02T17:41:23.303Z,1349199683.303 [ThrusterServo] Loaded
2012-10-02T17:41:23.303Z,1349199683.303 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-02T17:41:23.304Z,1349199683.304 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-02T17:41:23.305Z,1349199683.305 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-02T17:41:23.323Z,1349199683.323 [DepthRateCalculator] Loaded
2012-10-02T17:41:23.323Z,1349199683.323 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-02T17:41:27.020Z,1349199687.020 [HFRadarModelCalc] Loaded
2012-10-02T17:41:27.020Z,1349199687.020 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-02T17:41:27.036Z,1349199687.036 [NavChart] Loaded
2012-10-02T17:41:27.037Z,1349199687.037 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-02T17:41:27.043Z,1349199687.043 [PitchRateCalculator] Loaded
2012-10-02T17:41:27.043Z,1349199687.043 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-02T17:41:27.049Z,1349199687.049 [SpeedCalculator] Loaded
2012-10-02T17:41:27.050Z,1349199687.050 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-02T17:41:27.064Z,1349199687.064 [TempGradientCalculator] Loaded
2012-10-02T17:41:27.064Z,1349199687.065 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-02T17:41:27.070Z,1349199687.070 [YawRateCalculator] Loaded
2012-10-02T17:41:27.071Z,1349199687.070 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-02T17:41:27.090Z,1349199687.090 [Navigation] Loaded
2012-10-02T17:41:27.090Z,1349199687.090 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-02T17:41:27.091Z,1349199687.091 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-02T17:41:27.091Z,1349199687.091 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-02T17:41:27.320Z,1349199687.320 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-02T17:41:27.321Z,1349199687.321 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-02T17:41:27.345Z,1349199687.345 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-02T17:41:27.345Z,1349199687.345 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-02T17:41:27.388Z,1349199687.388 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-02T17:41:27.431Z,1349199687.431 [VerticalControl] Loaded
2012-10-02T17:41:27.431Z,1349199687.431 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-02T17:41:27.432Z,1349199687.432 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-02T17:41:27.452Z,1349199687.452 [HorizontalControl] Loaded
2012-10-02T17:41:27.453Z,1349199687.453 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-02T17:41:27.454Z,1349199687.454 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-02T17:41:27.456Z,1349199687.455 [SpeedControl] Loaded
2012-10-02T17:41:27.456Z,1349199687.456 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-02T17:41:27.457Z,1349199687.457 [LoopControl](DEBUG): Construct LoopControl.
2012-10-02T17:41:27.457Z,1349199687.457 [LoopControl] Loaded
2012-10-02T17:41:27.458Z,1349199687.457 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-02T17:41:27.458Z,1349199687.458 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-02T17:41:27.459Z,1349199687.459 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-02T17:41:27.464Z,1349199687.464 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-02T17:41:27.469Z,1349199687.469 [AsyncPiEstimator] Loaded
2012-10-02T17:41:27.469Z,1349199687.469 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-02T17:41:27.470Z,1349199687.470 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-02T17:41:27.471Z,1349199687.471 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-02T17:41:27.472Z,1349199687.472 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-02T17:41:27.602Z,1349199687.602 [AHRS_sp3003D] Loaded
2012-10-02T17:41:27.602Z,1349199687.602 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-02T17:41:27.616Z,1349199687.616 [Depth_Keller] Loaded
2012-10-02T17:41:27.616Z,1349199687.616 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-02T17:41:27.622Z,1349199687.622 [DropWeight] Loaded
2012-10-02T17:41:27.622Z,1349199687.622 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-02T17:41:27.738Z,1349199687.738 [DVL_micro] Loaded
2012-10-02T17:41:27.738Z,1349199687.738 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-02T17:41:27.739Z,1349199687.740 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-02T17:41:27.822Z,1349199687.822 [NAL9602] Loaded
2012-10-02T17:41:27.822Z,1349199687.822 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-02T17:41:27.873Z,1349199687.873 [Onboard] Loaded
2012-10-02T17:41:27.874Z,1349199687.874 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-02T17:41:27.881Z,1349199687.881 [Radio_Freewave] Loaded
2012-10-02T17:41:27.881Z,1349199687.881 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-02T17:41:27.882Z,1349199687.882 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-02T17:41:27.882Z,1349199687.882 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-02T17:41:27.961Z,1349199687.961 [CTD_NeilBrown] Loaded
2012-10-02T17:41:27.962Z,1349199687.962 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-02T17:41:27.963Z,1349199687.963 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-02T17:41:27.973Z,1349199687.973 [PAR_Licor] Loaded
2012-10-02T17:41:27.974Z,1349199687.974 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-02T17:41:27.990Z,1349199687.990 [Turbulence_NPS] Loaded
2012-10-02T17:41:27.990Z,1349199687.990 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-02T17:41:27.992Z,1349199687.991 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-02T17:41:28.022Z,1349199688.022 [WetLabsBB2FL] Loaded
2012-10-02T17:41:28.022Z,1349199688.022 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-02T17:41:28.023Z,1349199688.023 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-02T17:41:28.024Z,1349199688.024 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-02T17:41:28.026Z,1349199688.026 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-02T17:41:28.027Z,1349199688.027 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-02T17:41:28.034Z,1349199688.033 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-02T17:41:28.035Z,1349199688.035 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407D94E0
2012-10-02T17:41:28.039Z,1349199688.039 [Supervisor](DEBUG): Running supervisor.
2012-10-02T17:41:28.041Z,1349199688.040 [CommandLine](INFO): Thread ID is 1083
2012-10-02T17:41:28.043Z,1349199688.043 [controlThread](INFO): Thread ID is 1082
2012-10-02T17:41:28.043Z,1349199688.043 [controlThread](DEBUG): Initializing ControlThread
2012-10-02T17:41:28.044Z,1349199688.044 [CycleStarter](INFO): Thread ID is 1081
2012-10-02T17:41:28.045Z,1349199688.045 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-02T17:41:28.081Z,1349199688.081 [AsyncPiEstimator](INFO): Thread ID is 1144
2012-10-02T17:41:28.081Z,1349199688.081 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-02T17:41:28.091Z,1349199688.091 [SBIT](INFO): Initialize SBIT Component.
2012-10-02T17:41:28.091Z,1349199688.091 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9914
2012-10-02T17:41:28.092Z,1349199688.092 [IBIT](INFO): Initialize IBIT Component.
2012-10-02T17:41:28.093Z,1349199688.093 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-02T17:41:28.093Z,1349199688.093 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-02T17:41:28.094Z,1349199688.094 [DVL_micro](INFO): Thread ID is 1145
2012-10-02T17:41:28.104Z,1349199688.104 [DVL_micro](INFO): Initializing
2012-10-02T17:41:28.104Z,1349199688.104 [DVL_micro](INFO): start:Powering up
2012-10-02T17:41:28.105Z,1349199688.105 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-02T17:41:28.106Z,1349199688.106 [DVL_micro](INFO): Cycling power to configure device.
2012-10-02T17:41:28.113Z,1349199688.113 [CTD_NeilBrown](INFO): Thread ID is 1146
2012-10-02T17:41:28.113Z,1349199688.113 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-02T17:41:28.116Z,1349199688.116 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-02T17:41:28.123Z,1349199688.123 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-02T17:41:28.123Z,1349199688.123 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-02T17:41:28.123Z,1349199688.124 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-02T17:41:28.124Z,1349199688.124 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-02T17:41:28.124Z,1349199688.124 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-02T17:41:28.126Z,1349199688.126 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-02T17:41:28.126Z,1349199688.126 [Navigation](DEBUG): Initializing Navigation.
2012-10-02T17:41:28.126Z,1349199688.126 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-02T17:41:28.128Z,1349199688.128 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-02T17:41:28.129Z,1349199688.129 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-02T17:41:28.129Z,1349199688.129 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-02T17:41:28.135Z,1349199688.135 [Turbulence_NPS](INFO): Thread ID is 1147
2012-10-02T17:41:28.143Z,1349199688.143 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-02T17:41:28.144Z,1349199688.144 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-02T17:41:28.150Z,1349199688.150 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-02T17:41:28.157Z,1349199688.157 [WetLabsBB2FL](INFO): Thread ID is 1148
2012-10-02T17:41:28.157Z,1349199688.157 [WetLabsBB2FL](INFO): Powering down
2012-10-02T17:41:28.189Z,1349199688.189 [NavChartDb](INFO): Thread ID is 1149
2012-10-02T17:41:28.200Z,1349199688.200 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T17:41:28.211Z,1349199688.211 [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>


2012-10-02T17:41:28.212Z,1349199688.211 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-02T17:41:28.239Z,1349199688.239 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-02T17:41:28.241Z,1349199688.241 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-02T17:41:28.245Z,1349199688.245 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T17:41:28.253Z,1349199688.253 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-02T17:41:28.256Z,1349199688.256 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T17:41:28.263Z,1349199688.263 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-02T17:41:28.272Z,1349199688.272 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-02T17:41:28.275Z,1349199688.275 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T17:41:28.280Z,1349199688.280 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-02T17:41:28.283Z,1349199688.283 [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>


2012-10-02T17:41:28.288Z,1349199688.288 [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,
2012-10-02T17:41:28.309Z,1349199688.309 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-02T17:41:28.373Z,1349199688.373 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-02T17:41:28.373Z,1349199688.373 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-02T17:41:28.374Z,1349199688.374 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-02T17:41:28.374Z,1349199688.374 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-02T17:41:28.374Z,1349199688.374 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-02T17:41:29.477Z,1349199689.477 [Radio_Freewave](INFO): Powering up
2012-10-02T17:41:29.586Z,1349199689.586 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-02T17:41:29.588Z,1349199689.588 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-02T17:41:29.595Z,1349199689.595 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-02T17:41:29.601Z,1349199689.601 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-02T17:41:29.602Z,1349199689.602 [MassServo](DEBUG): Initializing MassServo.
2012-10-02T17:41:29.612Z,1349199689.612 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-02T17:41:29.617Z,1349199689.617 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-02T17:41:29.620Z,1349199689.620 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-02T17:41:30.556Z,1349199690.556 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-02T17:41:30.557Z,1349199690.557 [DVL_micro](INFO): Querying output modes
2012-10-02T17:41:30.557Z,1349199690.557 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-02T17:41:30.560Z,1349199690.560 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-02T17:41:30.561Z,1349199690.560 [DVL_micro](INFO): NQ1 output enabled
2012-10-02T17:41:30.561Z,1349199690.561 [DVL_micro](INFO): RSSI output enabled
2012-10-02T17:41:30.561Z,1349199690.561 [DVL_micro](INFO): ADCP output enabled
2012-10-02T17:41:30.561Z,1349199690.561 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-02T17:41:30.568Z,1349199690.568 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-02T17:41:30.574Z,1349199690.574 [DVL_micro](INFO): pause:Powering down
2012-10-02T17:41:33.803Z,1349199693.803 [NAL9602](INFO): Powering up NAL9602
2012-10-02T17:41:38.200Z,1349199698.200 [CommandLine](IMPORTANT): got command show variable dvl
2012-10-02T17:41:38.205Z,1349199698.205 [CommandLine](INFO): Config/vehicle.DVL_micro_card (none)
2012-10-02T17:41:38.206Z,1349199698.205 [CommandLine](INFO): Config/vehicle.DVL_micro_uart (none)
2012-10-02T17:41:38.206Z,1349199698.206 [CommandLine](INFO): Config/vehicle.DVL_micro_baud (bit_per_second)
2012-10-02T17:41:38.209Z,1349199698.209 [CommandLine](INFO): Config/Sensor.DVL_micro_enable (bool)
2012-10-02T17:41:38.210Z,1349199698.210 [CommandLine](INFO): Config/Sensor.DVL_micro_useHardware (bool)
2012-10-02T17:41:38.210Z,1349199698.210 [CommandLine](INFO): Config/Sensor.DVL_micro_magDeviation (degree)
2012-10-02T17:41:38.211Z,1349199698.211 [CommandLine](INFO): Config/Sensor.DVL_micro_pitchOffset (degree)
2012-10-02T17:41:38.211Z,1349199698.211 [CommandLine](INFO): Config/Sensor.DVL_micro_rollOffset (degree)
2012-10-02T17:41:38.211Z,1349199698.211 [CommandLine](INFO): Config/Sensor.DVL_micro_power (watt)
2012-10-02T17:41:38.227Z,1349199698.227 [CommandLine](INFO): DVL_micro.height_above_sea_floor (meter)
2012-10-02T17:41:38.227Z,1349199698.227 [CommandLine](INFO): DVL_micro.platform_orientation (degree)
2012-10-02T17:41:38.228Z,1349199698.228 [CommandLine](INFO): DVL_micro.platform_magnetic_orientation (degree)
2012-10-02T17:41:38.228Z,1349199698.228 [CommandLine](INFO): DVL_micro.platform_pitch_angle (degree)
2012-10-02T17:41:38.229Z,1349199698.229 [CommandLine](INFO): DVL_micro.platform_roll_angle (degree)
2012-10-02T17:41:38.229Z,1349199698.229 [CommandLine](INFO): DVL_micro.platform_speed_wrt_ground (meter_per_second)
2012-10-02T17:41:38.230Z,1349199698.230 [CommandLine](INFO): DVL_micro.platform_speed_wrt_sea_water (meter_per_second)
2012-10-02T17:41:38.230Z,1349199698.230 [CommandLine](INFO): DVL_micro.platform_x_velocity_wrt_ground (meter_per_second)
2012-10-02T17:41:38.230Z,1349199698.230 [CommandLine](INFO): DVL_micro.platform_y_velocity_wrt_ground (meter_per_second)
2012-10-02T17:41:38.231Z,1349199698.231 [CommandLine](INFO): DVL_micro.platform_z_velocity_wrt_ground (meter_per_second)
2012-10-02T17:41:38.231Z,1349199698.231 [CommandLine](INFO): DVL_micro.platform_x_velocity_wrt_sea_water (meter_per_second)
2012-10-02T17:41:38.231Z,1349199698.231 [CommandLine](INFO): DVL_micro.platform_y_velocity_wrt_sea_water (meter_per_second)
2012-10-02T17:41:38.236Z,1349199698.236 [CommandLine](INFO): DVL_micro.platform_z_velocity_wrt_sea_water (meter_per_second)
2012-10-02T17:41:38.236Z,1349199698.237 [CommandLine](INFO): DVL_micro.Status (count)
2012-10-02T17:41:38.237Z,1349199698.237 [CommandLine](INFO): DVL_micro.Beam1Good (count)
2012-10-02T17:41:38.237Z,1349199698.237 [CommandLine](INFO): DVL_micro.Beam2Good (count)
2012-10-02T17:41:38.238Z,1349199698.238 [CommandLine](INFO): DVL_micro.Beam3Good (count)
2012-10-02T17:41:38.238Z,1349199698.238 [CommandLine](INFO): DVL_micro.Beam4Good (count)
2012-10-02T17:41:38.238Z,1349199698.238 [CommandLine](INFO): DVL_micro.Altitude1 (meter)
2012-10-02T17:41:38.239Z,1349199698.239 [CommandLine](INFO): DVL_micro.Altitude2 (meter)
2012-10-02T17:41:38.239Z,1349199698.239 [CommandLine](INFO): DVL_micro.Altitude3 (meter)
2012-10-02T17:41:38.239Z,1349199698.239 [CommandLine](INFO): DVL_micro.Altitude4 (meter)
2012-10-02T17:41:38.240Z,1349199698.240 [CommandLine](INFO): DVL_micro.BottomVelocityFlag (count)
2012-10-02T17:41:38.240Z,1349199698.240 [CommandLine](INFO): DVL_micro.WaterVelocityFlag (unknown)
2012-10-02T17:41:38.240Z,1349199698.240 [CommandLine](INFO): DVL_micro.Beam1RSSI (decibel)
2012-10-02T17:41:38.241Z,1349199698.241 [CommandLine](INFO): DVL_micro.Beam2RSSI (decibel)
2012-10-02T17:41:38.241Z,1349199698.241 [CommandLine](INFO): DVL_micro.Beam3RSSI (decibel)
2012-10-02T17:41:38.242Z,1349199698.241 [CommandLine](INFO): DVL_micro.Beam4RSSI (decibel)
2012-10-02T17:41:38.242Z,1349199698.242 [CommandLine](INFO): DVL_micro.RSSIFilterLength (count)
2012-10-02T17:41:38.242Z,1349199698.242 [CommandLine](INFO): DVL_micro.RSSIPoints (count)
2012-10-02T17:41:38.243Z,1349199698.243 [CommandLine](INFO): DVL_micro.AdcpNumBins (count)
2012-10-02T17:41:38.243Z,1349199698.243 [CommandLine](INFO): DVL_micro.AdcpStartDepth (meter)
2012-10-02T17:41:38.243Z,1349199698.243 [CommandLine](INFO): DVL_micro.AdcpXWaterVelocity (meter_per_second)
2012-10-02T17:41:38.244Z,1349199698.244 [CommandLine](INFO): DVL_micro.AdcpYWaterVelocity (meter_per_second)
2012-10-02T17:41:38.244Z,1349199698.244 [CommandLine](INFO): DVL_micro.AdcpZWaterVelocity (meter_per_second)
2012-10-02T17:41:38.246Z,1349199698.246 [CommandLine](INFO): DVL_micro.component_voltage (volt)
2012-10-02T17:41:38.246Z,1349199698.246 [CommandLine](INFO): DVL_micro.component_avgVoltage (unknown)
2012-10-02T17:41:38.247Z,1349199698.247 [CommandLine](INFO): DVL_micro.component_current (milliampere)
2012-10-02T17:41:38.247Z,1349199698.247 [CommandLine](INFO): DVL_micro.component_avgCurrent (milliampere)
2012-10-02T17:41:38.249Z,1349199698.249 [CommandLine](INFO): DVL_micro.durationOfLastRun (second)
2012-10-02T17:41:44.313Z,1349199704.313 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-02T17:41:44.315Z,1349199704.315 [CBIT](IMPORTANT): Beginning GF scan
2012-10-02T17:41:44.584Z,1349199704.584 [NAL9602](INFO): NAL9602 initialized
2012-10-02T17:41:45.563Z,1349199705.563 [Radio_Freewave](INFO): Powering down
2012-10-02T17:41:46.317Z,1349199706.316 [Radio_Freewave](INFO): Powering up
2012-10-02T17:41:52.056Z,1349199712.056 [CommandLine](IMPORTANT): got command quit
2012-10-02T17:41:53.276Z,1349199713.276 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-02T17:41:53.276Z,1349199713.276 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-02T17:41:54.848Z,1349199714.848 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-02T17:41:55.076Z,1349199715.076 [WetLabsBB2FL](INFO): Powering down
2012-10-02T17:41:55.088Z,1349199715.088 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-02T17:41:55.192Z,1349199715.192 [Turbulence_NPS](INFO): Powering down
2012-10-02T17:41:55.208Z,1349199715.208 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-02T17:41:55.520Z,1349199715.520 [CTD_NeilBrown](INFO): Powering down
2012-10-02T17:41:55.528Z,1349199715.528 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-02T17:41:55.540Z,1349199715.540 [DVL_micro](INFO): uninitialize:Powering down
2012-10-02T17:41:55.549Z,1349199715.549 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-02T17:41:55.804Z,1349199715.804 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-02T17:41:55.811Z,1349199715.811 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-02T17:41:55.813Z,1349199715.813 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-02T17:41:55.872Z,1349199715.872 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-02T17:41:55.873Z,1349199715.873 [AHRS_sp3003D](INFO): Powering down
2012-10-02T17:41:55.961Z,1349199715.961 [NAL9602](INFO): Powering down
2012-10-02T17:41:55.963Z,1349199715.963 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-02T17:41:55.963Z,1349199715.963 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-02T17:41:55.968Z,1349199715.968 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-02T17:41:55.969Z,1349199715.969 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-02T17:41:55.969Z,1349199715.969 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-02T17:41:55.969Z,1349199715.969 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-02T17:41:55.970Z,1349199715.970 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-02T17:41:55.970Z,1349199715.970 [BuoyancyServo](INFO): Powering down
2012-10-02T17:41:55.972Z,1349199715.972 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-02T17:41:55.973Z,1349199715.973 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-02T17:41:55.973Z,1349199715.973 [MassServo](INFO): Powering down
2012-10-02T17:41:55.974Z,1349199715.974 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-02T17:41:55.974Z,1349199715.974 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-02T17:41:55.974Z,1349199715.974 [ThrusterServo](INFO): Powering down
2012-10-02T17:41:55.975Z,1349199715.975 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-02T17:41:55.975Z,1349199715.975 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-02T17:41:55.975Z,1349199715.975 [CBIT](DEBUG): Uninitialize CBIT Component.