2012-10-04T04:09:44.497Z,1349323784.497 [Supervisor](DEBUG): Initializing supervisor.
2012-10-04T04:09:44.499Z,1349323784.499 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-04T04:09:44.500Z,1349323784.500 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-04T04:09:44.501Z,1349323784.501 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-04T04:09:44.505Z,1349323784.505 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-04T04:09:44.515Z,1349323784.515 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-04T04:09:44.516Z,1349323784.516 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-04T04:09:44.517Z,1349323784.517 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-04T04:09:44.517Z,1349323784.517 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-04T04:09:44.518Z,1349323784.518 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-04T04:09:44.787Z,1349323784.787 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-04T04:09:44.788Z,1349323784.787 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-04T04:09:44.965Z,1349323784.965 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-04T04:09:44.965Z,1349323784.966 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-04T04:09:45.049Z,1349323785.049 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-04T04:09:45.049Z,1349323785.049 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-04T04:09:45.241Z,1349323785.241 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-04T04:09:45.242Z,1349323785.242 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-04T04:09:45.371Z,1349323785.371 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-04T04:09:45.371Z,1349323785.371 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-04T04:09:45.591Z,1349323785.592 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-04T04:09:45.592Z,1349323785.592 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-04T04:09:45.757Z,1349323785.757 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-04T04:09:45.757Z,1349323785.757 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-04T04:09:45.994Z,1349323785.994 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-04T04:09:45.994Z,1349323785.994 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-04T04:09:46.091Z,1349323786.091 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-04T04:09:46.091Z,1349323786.091 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-04T04:09:46.476Z,1349323786.476 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-04T04:09:46.477Z,1349323786.477 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-04T04:09:46.588Z,1349323786.588 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-04T04:09:46.588Z,1349323786.588 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-04T04:09:46.672Z,1349323786.672 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-04T04:09:46.673Z,1349323786.673 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-04T04:09:46.772Z,1349323786.772 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-04T04:09:46.896Z,1349323786.896 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-04T04:09:46.980Z,1349323786.980 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-04T04:09:47.080Z,1349323787.080 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-04T04:09:47.184Z,1349323787.184 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-04T04:09:47.326Z,1349323787.326 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-04T04:09:47.412Z,1349323787.412 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-04T04:09:47.497Z,1349323787.497 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-10-04T04:09:47.525Z,1349323787.524 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-04T04:09:47.663Z,1349323787.663 [InternalSim] Loaded
2012-10-04T04:09:47.663Z,1349323787.663 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-04T04:09:47.664Z,1349323787.664 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-04T04:09:47.665Z,1349323787.665 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-04T04:09:47.721Z,1349323787.721 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-04T04:09:47.734Z,1349323787.734 [SBIT] Loaded
2012-10-04T04:09:47.735Z,1349323787.735 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-04T04:09:47.736Z,1349323787.736 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-04T04:09:47.763Z,1349323787.763 [IBIT] Loaded
2012-10-04T04:09:47.763Z,1349323787.763 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-04T04:09:47.767Z,1349323787.767 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-04T04:09:47.881Z,1349323787.881 [CBIT] Loaded
2012-10-04T04:09:47.882Z,1349323787.882 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-04T04:09:47.882Z,1349323787.882 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-04T04:09:47.883Z,1349323787.883 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-04T04:09:48.024Z,1349323788.024 [BuoyancyServo] Loaded
2012-10-04T04:09:48.025Z,1349323788.025 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-04T04:09:48.034Z,1349323788.034 [ElevatorServo] Loaded
2012-10-04T04:09:48.034Z,1349323788.034 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-04T04:09:48.045Z,1349323788.046 [MassServo] Loaded
2012-10-04T04:09:48.046Z,1349323788.046 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-04T04:09:48.057Z,1349323788.057 [RudderServo] Loaded
2012-10-04T04:09:48.058Z,1349323788.057 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-04T04:09:48.069Z,1349323788.069 [ThrusterServo] Loaded
2012-10-04T04:09:48.069Z,1349323788.069 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-04T04:09:48.070Z,1349323788.070 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-04T04:09:48.070Z,1349323788.070 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-04T04:09:48.087Z,1349323788.087 [DepthRateCalculator] Loaded
2012-10-04T04:09:48.087Z,1349323788.087 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-04T04:09:51.745Z,1349323791.745 [HFRadarModelCalc] Loaded
2012-10-04T04:09:51.746Z,1349323791.746 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-04T04:09:51.761Z,1349323791.761 [NavChart] Loaded
2012-10-04T04:09:51.762Z,1349323791.761 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-04T04:09:51.767Z,1349323791.767 [PitchRateCalculator] Loaded
2012-10-04T04:09:51.768Z,1349323791.768 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-04T04:09:51.774Z,1349323791.774 [SpeedCalculator] Loaded
2012-10-04T04:09:51.774Z,1349323791.774 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-04T04:09:51.788Z,1349323791.788 [TempGradientCalculator] Loaded
2012-10-04T04:09:51.789Z,1349323791.789 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-04T04:09:51.794Z,1349323791.794 [YawRateCalculator] Loaded
2012-10-04T04:09:51.794Z,1349323791.794 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-04T04:09:51.813Z,1349323791.813 [Navigation] Loaded
2012-10-04T04:09:51.814Z,1349323791.814 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-04T04:09:51.814Z,1349323791.814 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-04T04:09:51.815Z,1349323791.815 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-04T04:09:52.032Z,1349323792.032 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-04T04:09:52.033Z,1349323792.033 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-04T04:09:52.056Z,1349323792.056 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-04T04:09:52.056Z,1349323792.056 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-04T04:09:52.096Z,1349323792.096 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-04T04:09:52.139Z,1349323792.139 [VerticalControl] Loaded
2012-10-04T04:09:52.139Z,1349323792.139 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-04T04:09:52.140Z,1349323792.140 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-04T04:09:52.160Z,1349323792.160 [HorizontalControl] Loaded
2012-10-04T04:09:52.160Z,1349323792.160 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-04T04:09:52.161Z,1349323792.161 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-04T04:09:52.163Z,1349323792.163 [SpeedControl] Loaded
2012-10-04T04:09:52.163Z,1349323792.163 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-04T04:09:52.164Z,1349323792.164 [LoopControl](DEBUG): Construct LoopControl.
2012-10-04T04:09:52.165Z,1349323792.165 [LoopControl] Loaded
2012-10-04T04:09:52.165Z,1349323792.165 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-04T04:09:52.165Z,1349323792.165 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-04T04:09:52.166Z,1349323792.166 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-04T04:09:52.171Z,1349323792.171 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-04T04:09:52.176Z,1349323792.176 [AsyncPiEstimator] Loaded
2012-10-04T04:09:52.176Z,1349323792.176 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-04T04:09:52.177Z,1349323792.177 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-04T04:09:52.178Z,1349323792.178 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-04T04:09:52.179Z,1349323792.179 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-04T04:09:52.309Z,1349323792.309 [AHRS_sp3003D] Loaded
2012-10-04T04:09:52.309Z,1349323792.309 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-04T04:09:52.323Z,1349323792.323 [Depth_Keller] Loaded
2012-10-04T04:09:52.323Z,1349323792.323 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-04T04:09:52.329Z,1349323792.329 [DropWeight] Loaded
2012-10-04T04:09:52.329Z,1349323792.329 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-04T04:09:52.442Z,1349323792.442 [DVL_micro] Loaded
2012-10-04T04:09:52.442Z,1349323792.442 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-04T04:09:52.443Z,1349323792.443 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-04T04:09:52.524Z,1349323792.524 [NAL9602] Loaded
2012-10-04T04:09:52.524Z,1349323792.524 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-04T04:09:52.574Z,1349323792.574 [Onboard] Loaded
2012-10-04T04:09:52.574Z,1349323792.574 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-04T04:09:52.581Z,1349323792.581 [Radio_Freewave] Loaded
2012-10-04T04:09:52.581Z,1349323792.581 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-04T04:09:52.582Z,1349323792.582 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-04T04:09:52.582Z,1349323792.582 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-04T04:09:52.652Z,1349323792.652 [CTD_NeilBrown] Loaded
2012-10-04T04:09:52.652Z,1349323792.652 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-04T04:09:52.654Z,1349323792.654 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-04T04:09:52.664Z,1349323792.664 [PAR_Licor] Loaded
2012-10-04T04:09:52.664Z,1349323792.664 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-04T04:09:52.680Z,1349323792.680 [Turbulence_NPS] Loaded
2012-10-04T04:09:52.681Z,1349323792.681 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-04T04:09:52.682Z,1349323792.682 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-04T04:09:52.711Z,1349323792.711 [WetLabsBB2FL] Loaded
2012-10-04T04:09:52.712Z,1349323792.712 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-04T04:09:52.713Z,1349323792.713 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-04T04:09:52.713Z,1349323792.713 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-04T04:09:52.716Z,1349323792.716 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-04T04:09:52.716Z,1349323792.717 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-04T04:09:52.723Z,1349323792.723 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-04T04:09:52.724Z,1349323792.724 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407D94E0
2012-10-04T04:09:52.729Z,1349323792.729 [Supervisor](DEBUG): Running supervisor.
2012-10-04T04:09:52.730Z,1349323792.730 [CommandLine](INFO): Thread ID is 8592
2012-10-04T04:09:52.733Z,1349323792.733 [controlThread](INFO): Thread ID is 8591
2012-10-04T04:09:52.733Z,1349323792.733 [controlThread](DEBUG): Initializing ControlThread
2012-10-04T04:09:52.733Z,1349323792.733 [CycleStarter](INFO): Thread ID is 8590
2012-10-04T04:09:52.734Z,1349323792.734 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-04T04:09:52.767Z,1349323792.767 [AsyncPiEstimator](INFO): Thread ID is 8653
2012-10-04T04:09:52.768Z,1349323792.768 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-04T04:09:52.780Z,1349323792.780 [SBIT](INFO): Initialize SBIT Component.
2012-10-04T04:09:52.780Z,1349323792.780 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9922
2012-10-04T04:09:52.781Z,1349323792.781 [IBIT](INFO): Initialize IBIT Component.
2012-10-04T04:09:52.781Z,1349323792.782 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-04T04:09:52.782Z,1349323792.782 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-04T04:09:52.782Z,1349323792.782 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2012-10-04T04:09:52.783Z,1349323792.783 [DVL_micro](INFO): Thread ID is 8654
2012-10-04T04:09:52.792Z,1349323792.792 [DVL_micro](INFO): Initializing
2012-10-04T04:09:52.793Z,1349323792.793 [DVL_micro](INFO): start:Powering up
2012-10-04T04:09:52.794Z,1349323792.794 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-04T04:09:52.795Z,1349323792.795 [DVL_micro](INFO): Cycling power to configure device.
2012-10-04T04:09:52.808Z,1349323792.808 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-04T04:09:52.808Z,1349323792.808 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-04T04:09:52.809Z,1349323792.809 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-04T04:09:52.809Z,1349323792.809 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-04T04:09:52.809Z,1349323792.809 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-04T04:09:52.811Z,1349323792.811 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-04T04:09:52.811Z,1349323792.811 [Navigation](DEBUG): Initializing Navigation.
2012-10-04T04:09:52.812Z,1349323792.812 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-04T04:09:52.813Z,1349323792.813 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-04T04:09:52.814Z,1349323792.814 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-04T04:09:52.815Z,1349323792.815 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-04T04:09:52.819Z,1349323792.819 [CTD_NeilBrown](INFO): Thread ID is 8655
2012-10-04T04:09:52.820Z,1349323792.820 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-04T04:09:52.826Z,1349323792.826 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-04T04:09:52.827Z,1349323792.827 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-04T04:09:52.840Z,1349323792.840 [Turbulence_NPS](INFO): Thread ID is 8656
2012-10-04T04:09:52.840Z,1349323792.840 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-04T04:09:52.841Z,1349323792.841 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-04T04:09:52.862Z,1349323792.862 [WetLabsBB2FL](INFO): Thread ID is 8657
2012-10-04T04:09:52.865Z,1349323792.865 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T04:09:52.871Z,1349323792.871 [WetLabsBB2FL](INFO): Powering down
2012-10-04T04:09:52.891Z,1349323792.891 [NavChartDb](INFO): Thread ID is 8658
2012-10-04T04:09:52.893Z,1349323792.893 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-04T04:09:52.911Z,1349323792.911 [Turbulence_NPS](INFO): Pause powering down
2012-10-04T04:09:52.937Z,1349323792.937 [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>


2012-10-04T04:09:52.937Z,1349323792.937 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-04T04:09:52.969Z,1349323792.969 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-04T04:09:52.971Z,1349323792.971 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-04T04:09:52.975Z,1349323792.975 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T04:09:52.982Z,1349323792.982 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-04T04:09:52.985Z,1349323792.986 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T04:09:52.992Z,1349323792.992 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-04T04:09:53.001Z,1349323793.001 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-04T04:09:53.004Z,1349323793.004 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T04:09:53.009Z,1349323793.009 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-04T04:09:53.012Z,1349323793.012 [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>


2012-10-04T04:09:53.016Z,1349323793.016 [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,
2012-10-04T04:09:53.037Z,1349323793.037 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-04T04:09:53.051Z,1349323793.051 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-04T04:09:53.051Z,1349323793.051 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-04T04:09:53.051Z,1349323793.051 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-04T04:09:53.052Z,1349323793.052 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-04T04:09:53.095Z,1349323793.095 [Radio_Freewave](INFO): Powering up
2012-10-04T04:09:53.206Z,1349323793.206 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-04T04:09:53.207Z,1349323793.207 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-04T04:09:53.217Z,1349323793.217 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-04T04:09:53.219Z,1349323793.219 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-04T04:09:53.225Z,1349323793.225 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-04T04:09:53.226Z,1349323793.226 [MassServo](DEBUG): Initializing MassServo.
2012-10-04T04:09:53.232Z,1349323793.232 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-04T04:09:53.235Z,1349323793.235 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-04T04:09:53.240Z,1349323793.240 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-04T04:09:53.242Z,1349323793.241 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-04T04:09:54.867Z,1349323794.867 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-04T04:09:54.867Z,1349323794.867 [DVL_micro](INFO): Querying output modes
2012-10-04T04:09:54.868Z,1349323794.868 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-04T04:09:54.871Z,1349323794.871 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-04T04:09:54.871Z,1349323794.871 [DVL_micro](INFO): NQ1 output enabled
2012-10-04T04:09:54.871Z,1349323794.871 [DVL_micro](INFO): RSSI output enabled
2012-10-04T04:09:54.871Z,1349323794.871 [DVL_micro](INFO): ADCP output enabled
2012-10-04T04:09:54.872Z,1349323794.872 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-04T04:09:54.879Z,1349323794.879 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-04T04:09:54.884Z,1349323794.884 [DVL_micro](INFO): pause:Powering down
2012-10-04T04:09:57.985Z,1349323797.985 [NAL9602](INFO): Powering up NAL9602
2012-10-04T04:10:08.226Z,1349323808.226 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-04T04:10:08.229Z,1349323808.229 [CBIT](IMPORTANT): Beginning GF scan
2012-10-04T04:10:08.791Z,1349323808.791 [NAL9602](INFO): NAL9602 initialized
2012-10-04T04:10:11.467Z,1349323811.467 [ElevatorServo](FAULT): Overload Error
2012-10-04T04:10:11.467Z,1349323811.467 [ElevatorServo] Hardware Fault, FailCount= 1
2012-10-04T04:10:11.467Z,1349323811.467 [ElevatorServo](ERROR): Hardware Fault
2012-10-04T04:10:11.526Z,1349323811.526 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2012-10-04T04:10:11.749Z,1349323811.749 [NAL9602](IMPORTANT): GPS fix at: 1349323835.00
2012-10-04T04:10:12.513Z,1349323812.513 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-04T04:10:12.514Z,1349323812.514 [ElevatorServo](INFO): Powering down
2012-10-04T04:10:13.141Z,1349323813.141 [CBIT](INFO): Clearing failed state for component ElevatorServo
2012-10-04T04:10:13.142Z,1349323813.142 [ElevatorServo] No Fault, FailCount= 1
2012-10-04T04:10:15.078Z,1349323815.078 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-04T04:10:15.203Z,1349323815.203 [ElevatorServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-04T04:10:15.203Z,1349323815.203 [ElevatorServo](DEBUG): Initializing ElevatorServo.