2012-10-02T17:45:36.871Z,1349199936.871 [Supervisor](DEBUG): Initializing supervisor.
2012-10-02T17:45:36.874Z,1349199936.874 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-02T17:45:36.874Z,1349199936.874 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-02T17:45:36.875Z,1349199936.875 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-02T17:45:36.879Z,1349199936.879 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-02T17:45:36.889Z,1349199936.889 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-02T17:45:36.890Z,1349199936.890 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-02T17:45:36.891Z,1349199936.891 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-02T17:45:36.892Z,1349199936.892 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-02T17:45:36.893Z,1349199936.893 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-02T17:45:37.158Z,1349199937.158 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-02T17:45:37.159Z,1349199937.159 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-02T17:45:37.336Z,1349199937.336 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-02T17:45:37.336Z,1349199937.336 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-02T17:45:37.420Z,1349199937.420 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-02T17:45:37.421Z,1349199937.421 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-02T17:45:37.610Z,1349199937.610 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-02T17:45:37.610Z,1349199937.611 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-02T17:45:37.740Z,1349199937.740 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-02T17:45:37.741Z,1349199937.741 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-02T17:45:37.962Z,1349199937.962 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-02T17:45:37.962Z,1349199937.962 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-02T17:45:38.126Z,1349199938.126 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-02T17:45:38.127Z,1349199938.127 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-02T17:45:38.365Z,1349199938.365 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-02T17:45:38.365Z,1349199938.365 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-02T17:45:38.462Z,1349199938.462 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-02T17:45:38.462Z,1349199938.462 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-02T17:45:38.845Z,1349199938.845 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-02T17:45:38.845Z,1349199938.845 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-02T17:45:38.957Z,1349199938.957 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-02T17:45:38.957Z,1349199938.957 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-02T17:45:39.041Z,1349199939.041 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-02T17:45:39.042Z,1349199939.042 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-02T17:45:39.141Z,1349199939.141 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-02T17:45:39.267Z,1349199939.267 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-02T17:45:39.351Z,1349199939.351 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-02T17:45:39.450Z,1349199939.450 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-02T17:45:39.548Z,1349199939.548 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-02T17:45:39.663Z,1349199939.663 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-02T17:45:39.751Z,1349199939.750 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-02T17:45:39.837Z,1349199939.837 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-02T17:45:39.867Z,1349199939.867 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-02T17:45:40.026Z,1349199940.026 [InternalSim] Loaded
2012-10-02T17:45:40.026Z,1349199940.026 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-02T17:45:40.027Z,1349199940.027 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-02T17:45:40.027Z,1349199940.027 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-02T17:45:40.083Z,1349199940.083 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-02T17:45:40.096Z,1349199940.096 [SBIT] Loaded
2012-10-02T17:45:40.096Z,1349199940.096 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-02T17:45:40.097Z,1349199940.097 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-02T17:45:40.124Z,1349199940.124 [IBIT] Loaded
2012-10-02T17:45:40.124Z,1349199940.124 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-02T17:45:40.127Z,1349199940.128 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-02T17:45:40.275Z,1349199940.275 [CBIT] Loaded
2012-10-02T17:45:40.275Z,1349199940.275 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-02T17:45:40.276Z,1349199940.276 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-02T17:45:40.276Z,1349199940.276 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-02T17:45:40.418Z,1349199940.418 [BuoyancyServo] Loaded
2012-10-02T17:45:40.418Z,1349199940.418 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-02T17:45:40.427Z,1349199940.427 [ElevatorServo] Loaded
2012-10-02T17:45:40.427Z,1349199940.427 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-02T17:45:40.439Z,1349199940.439 [MassServo] Loaded
2012-10-02T17:45:40.439Z,1349199940.439 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-02T17:45:40.450Z,1349199940.450 [RudderServo] Loaded
2012-10-02T17:45:40.450Z,1349199940.450 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-02T17:45:40.462Z,1349199940.462 [ThrusterServo] Loaded
2012-10-02T17:45:40.462Z,1349199940.462 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-02T17:45:40.462Z,1349199940.462 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-02T17:45:40.463Z,1349199940.463 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-02T17:45:40.480Z,1349199940.480 [DepthRateCalculator] Loaded
2012-10-02T17:45:40.480Z,1349199940.480 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-02T17:45:44.387Z,1349199944.387 [HFRadarModelCalc] Loaded
2012-10-02T17:45:44.387Z,1349199944.387 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-02T17:45:44.403Z,1349199944.403 [NavChart] Loaded
2012-10-02T17:45:44.405Z,1349199944.405 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-02T17:45:44.411Z,1349199944.411 [PitchRateCalculator] Loaded
2012-10-02T17:45:44.412Z,1349199944.412 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-02T17:45:44.418Z,1349199944.418 [SpeedCalculator] Loaded
2012-10-02T17:45:44.418Z,1349199944.418 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-02T17:45:44.432Z,1349199944.432 [TempGradientCalculator] Loaded
2012-10-02T17:45:44.433Z,1349199944.432 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-02T17:45:44.438Z,1349199944.438 [YawRateCalculator] Loaded
2012-10-02T17:45:44.438Z,1349199944.438 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-02T17:45:44.457Z,1349199944.457 [Navigation] Loaded
2012-10-02T17:45:44.458Z,1349199944.457 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-02T17:45:44.458Z,1349199944.458 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-02T17:45:44.458Z,1349199944.458 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-02T17:45:44.677Z,1349199944.677 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-02T17:45:44.677Z,1349199944.677 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-02T17:45:44.700Z,1349199944.700 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-02T17:45:44.700Z,1349199944.700 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-02T17:45:44.743Z,1349199944.743 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-02T17:45:44.785Z,1349199944.785 [VerticalControl] Loaded
2012-10-02T17:45:44.786Z,1349199944.786 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-02T17:45:44.787Z,1349199944.787 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-02T17:45:44.807Z,1349199944.806 [HorizontalControl] Loaded
2012-10-02T17:45:44.807Z,1349199944.807 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-02T17:45:44.808Z,1349199944.808 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-02T17:45:44.809Z,1349199944.809 [SpeedControl] Loaded
2012-10-02T17:45:44.810Z,1349199944.810 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-02T17:45:44.811Z,1349199944.810 [LoopControl](DEBUG): Construct LoopControl.
2012-10-02T17:45:44.811Z,1349199944.811 [LoopControl] Loaded
2012-10-02T17:45:44.811Z,1349199944.811 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-02T17:45:44.812Z,1349199944.812 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-02T17:45:44.812Z,1349199944.812 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-02T17:45:44.817Z,1349199944.817 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-02T17:45:44.822Z,1349199944.822 [AsyncPiEstimator] Loaded
2012-10-02T17:45:44.822Z,1349199944.822 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-02T17:45:44.823Z,1349199944.823 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-02T17:45:44.824Z,1349199944.824 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-02T17:45:44.825Z,1349199944.825 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-02T17:45:44.945Z,1349199944.945 [AHRS_sp3003D] Loaded
2012-10-02T17:45:44.945Z,1349199944.945 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-02T17:45:44.958Z,1349199944.958 [Depth_Keller] Loaded
2012-10-02T17:45:44.959Z,1349199944.959 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-02T17:45:44.966Z,1349199944.966 [DropWeight] Loaded
2012-10-02T17:45:44.966Z,1349199944.966 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-02T17:45:45.084Z,1349199945.084 [DVL_micro] Loaded
2012-10-02T17:45:45.085Z,1349199945.085 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-02T17:45:45.086Z,1349199945.086 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-02T17:45:45.166Z,1349199945.165 [NAL9602] Loaded
2012-10-02T17:45:45.166Z,1349199945.166 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-02T17:45:45.215Z,1349199945.215 [Onboard] Loaded
2012-10-02T17:45:45.215Z,1349199945.216 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-02T17:45:45.222Z,1349199945.222 [Radio_Freewave] Loaded
2012-10-02T17:45:45.223Z,1349199945.223 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-02T17:45:45.223Z,1349199945.223 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-02T17:45:45.224Z,1349199945.224 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-02T17:45:45.293Z,1349199945.293 [CTD_NeilBrown] Loaded
2012-10-02T17:45:45.294Z,1349199945.293 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-02T17:45:45.295Z,1349199945.295 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-02T17:45:45.305Z,1349199945.305 [PAR_Licor] Loaded
2012-10-02T17:45:45.305Z,1349199945.305 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-02T17:45:45.321Z,1349199945.321 [Turbulence_NPS] Loaded
2012-10-02T17:45:45.322Z,1349199945.322 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-02T17:45:45.323Z,1349199945.323 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-02T17:45:45.351Z,1349199945.351 [WetLabsBB2FL] Loaded
2012-10-02T17:45:45.352Z,1349199945.352 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-02T17:45:45.353Z,1349199945.353 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-02T17:45:45.353Z,1349199945.353 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-02T17:45:45.356Z,1349199945.355 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-02T17:45:45.356Z,1349199945.356 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-02T17:45:45.363Z,1349199945.362 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-02T17:45:45.364Z,1349199945.364 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407D94E0
2012-10-02T17:45:45.368Z,1349199945.368 [Supervisor](DEBUG): Running supervisor.
2012-10-02T17:45:45.369Z,1349199945.369 [CommandLine](INFO): Thread ID is 1363
2012-10-02T17:45:45.372Z,1349199945.372 [controlThread](INFO): Thread ID is 1362
2012-10-02T17:45:45.372Z,1349199945.372 [controlThread](DEBUG): Initializing ControlThread
2012-10-02T17:45:45.373Z,1349199945.372 [CycleStarter](INFO): Thread ID is 1361
2012-10-02T17:45:45.373Z,1349199945.373 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-02T17:45:45.409Z,1349199945.409 [AsyncPiEstimator](INFO): Thread ID is 1425
2012-10-02T17:45:45.409Z,1349199945.409 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-02T17:45:45.418Z,1349199945.418 [SBIT](INFO): Initialize SBIT Component.
2012-10-02T17:45:45.418Z,1349199945.418 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9914
2012-10-02T17:45:45.419Z,1349199945.419 [IBIT](INFO): Initialize IBIT Component.
2012-10-02T17:45:45.420Z,1349199945.420 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-02T17:45:45.420Z,1349199945.420 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-02T17:45:45.421Z,1349199945.421 [DVL_micro](INFO): Thread ID is 1426
2012-10-02T17:45:45.430Z,1349199945.430 [DVL_micro](INFO): Initializing
2012-10-02T17:45:45.431Z,1349199945.431 [DVL_micro](INFO): start:Powering up
2012-10-02T17:45:45.432Z,1349199945.432 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-02T17:45:45.433Z,1349199945.433 [DVL_micro](INFO): Cycling power to configure device.
2012-10-02T17:45:45.445Z,1349199945.445 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-02T17:45:45.446Z,1349199945.446 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-02T17:45:45.446Z,1349199945.446 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-02T17:45:45.447Z,1349199945.447 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-02T17:45:45.447Z,1349199945.447 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-02T17:45:45.448Z,1349199945.448 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-02T17:45:45.449Z,1349199945.449 [Navigation](DEBUG): Initializing Navigation.
2012-10-02T17:45:45.449Z,1349199945.449 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-02T17:45:45.451Z,1349199945.451 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-02T17:45:45.452Z,1349199945.452 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-02T17:45:45.452Z,1349199945.452 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-02T17:45:45.457Z,1349199945.457 [CTD_NeilBrown](INFO): Thread ID is 1427
2012-10-02T17:45:45.458Z,1349199945.458 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-02T17:45:45.465Z,1349199945.465 [Turbulence_NPS](INFO): Thread ID is 1428
2012-10-02T17:45:45.465Z,1349199945.465 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-02T17:45:45.466Z,1349199945.466 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-02T17:45:45.473Z,1349199945.473 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-02T17:45:45.482Z,1349199945.482 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-02T17:45:45.491Z,1349199945.491 [WetLabsBB2FL](INFO): Thread ID is 1429
2012-10-02T17:45:45.492Z,1349199945.492 [WetLabsBB2FL](INFO): Powering down
2012-10-02T17:45:45.521Z,1349199945.521 [NavChartDb](INFO): Thread ID is 1430
2012-10-02T17:45:45.525Z,1349199945.525 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T17:45:45.535Z,1349199945.536 [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>


2012-10-02T17:45:45.557Z,1349199945.557 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-02T17:45:45.585Z,1349199945.585 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-02T17:45:45.587Z,1349199945.587 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-02T17:45:45.591Z,1349199945.591 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T17:45:45.599Z,1349199945.599 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-02T17:45:45.602Z,1349199945.602 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T17:45:45.609Z,1349199945.609 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-02T17:45:45.617Z,1349199945.617 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-02T17:45:45.621Z,1349199945.621 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T17:45:45.625Z,1349199945.625 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-02T17:45:45.629Z,1349199945.629 [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="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>


2012-10-02T17:45:45.633Z,1349199945.634 [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,
2012-10-02T17:45:45.654Z,1349199945.654 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-02T17:45:45.680Z,1349199945.680 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-02T17:45:45.681Z,1349199945.681 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-02T17:45:45.681Z,1349199945.681 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-02T17:45:45.681Z,1349199945.681 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-02T17:45:45.682Z,1349199945.682 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-02T17:45:47.129Z,1349199947.129 [Radio_Freewave](INFO): Powering up
2012-10-02T17:45:47.238Z,1349199947.238 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-02T17:45:47.240Z,1349199947.240 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-02T17:45:47.247Z,1349199947.247 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-02T17:45:47.252Z,1349199947.252 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-02T17:45:47.253Z,1349199947.253 [MassServo](DEBUG): Initializing MassServo.
2012-10-02T17:45:47.259Z,1349199947.259 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-02T17:45:47.268Z,1349199947.268 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-02T17:45:47.272Z,1349199947.272 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-02T17:45:47.629Z,1349199947.629 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-02T17:45:47.629Z,1349199947.629 [DVL_micro](INFO): Querying output modes
2012-10-02T17:45:47.630Z,1349199947.630 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-02T17:45:47.636Z,1349199947.636 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-02T17:45:47.637Z,1349199947.636 [DVL_micro](INFO): NQ1 output enabled
2012-10-02T17:45:47.637Z,1349199947.637 [DVL_micro](INFO): RSSI output enabled
2012-10-02T17:45:47.637Z,1349199947.637 [DVL_micro](INFO): ADCP output enabled
2012-10-02T17:45:47.637Z,1349199947.637 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-02T17:45:47.644Z,1349199947.644 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-02T17:45:47.650Z,1349199947.650 [DVL_micro](INFO): pause:Powering down
2012-10-02T17:45:49.692Z,1349199949.692 [CommandLine](IMPORTANT): got command quit
2012-10-02T17:45:50.812Z,1349199950.812 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-02T17:45:50.812Z,1349199950.812 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-02T17:45:50.934Z,1349199950.934 [NAL9602](INFO): Powering up NAL9602
2012-10-02T17:45:52.976Z,1349199952.976 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-02T17:45:52.985Z,1349199952.985 [WetLabsBB2FL](INFO): Powering down
2012-10-02T17:45:52.996Z,1349199952.996 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-02T17:45:53.184Z,1349199953.184 [Turbulence_NPS](INFO): Powering down
2012-10-02T17:45:53.196Z,1349199953.196 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-02T17:45:53.412Z,1349199953.412 [CTD_NeilBrown](INFO): Powering down
2012-10-02T17:45:53.416Z,1349199953.416 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-02T17:45:53.432Z,1349199953.432 [DVL_micro](INFO): uninitialize:Powering down
2012-10-02T17:45:53.441Z,1349199953.441 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-02T17:45:53.474Z,1349199953.474 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-02T17:45:53.481Z,1349199953.481 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-02T17:45:53.482Z,1349199953.483 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-02T17:45:53.584Z,1349199953.584 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-02T17:45:53.585Z,1349199953.585 [AHRS_sp3003D](INFO): Powering down
2012-10-02T17:45:53.673Z,1349199953.673 [NAL9602](INFO): Powering down
2012-10-02T17:45:53.692Z,1349199953.692 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-02T17:45:53.692Z,1349199953.692 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-02T17:45:53.698Z,1349199953.698 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-02T17:45:53.698Z,1349199953.698 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-02T17:45:53.698Z,1349199953.698 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-02T17:45:53.698Z,1349199953.698 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-02T17:45:53.699Z,1349199953.699 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-02T17:45:53.699Z,1349199953.699 [BuoyancyServo](INFO): Powering down
2012-10-02T17:45:53.724Z,1349199953.724 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-02T17:45:53.725Z,1349199953.724 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-02T17:45:53.725Z,1349199953.725 [MassServo](INFO): Powering down
2012-10-02T17:45:53.744Z,1349199953.744 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-02T17:45:53.744Z,1349199953.744 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-02T17:45:53.744Z,1349199953.744 [ThrusterServo](INFO): Powering down
2012-10-02T17:45:53.763Z,1349199953.763 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-02T17:45:53.763Z,1349199953.763 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-02T17:45:53.764Z,1349199953.764 [CBIT](DEBUG): Uninitialize CBIT Component.