2012-10-04T04:10:48.350Z,1349323848.350 [Supervisor](DEBUG): Initializing supervisor.
2012-10-04T04:10:48.352Z,1349323848.352 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-04T04:10:48.353Z,1349323848.353 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-04T04:10:48.354Z,1349323848.354 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-04T04:10:48.358Z,1349323848.358 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-04T04:10:48.368Z,1349323848.368 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-04T04:10:48.369Z,1349323848.369 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-04T04:10:48.370Z,1349323848.370 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-04T04:10:48.370Z,1349323848.370 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-04T04:10:48.371Z,1349323848.371 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-04T04:10:48.639Z,1349323848.639 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-04T04:10:48.639Z,1349323848.639 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-04T04:10:48.816Z,1349323848.816 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-04T04:10:48.817Z,1349323848.816 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-04T04:10:48.899Z,1349323848.899 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-04T04:10:48.900Z,1349323848.900 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-04T04:10:49.092Z,1349323849.092 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-04T04:10:49.093Z,1349323849.092 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-04T04:10:49.221Z,1349323849.221 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-04T04:10:49.221Z,1349323849.221 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-04T04:10:49.441Z,1349323849.441 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-04T04:10:49.441Z,1349323849.441 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-04T04:10:49.605Z,1349323849.605 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-04T04:10:49.606Z,1349323849.606 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-04T04:10:49.842Z,1349323849.842 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-04T04:10:49.843Z,1349323849.843 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-04T04:10:49.939Z,1349323849.939 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-04T04:10:49.940Z,1349323849.940 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-04T04:10:50.329Z,1349323850.329 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-04T04:10:50.330Z,1349323850.330 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-04T04:10:50.440Z,1349323850.440 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-04T04:10:50.441Z,1349323850.441 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-04T04:10:50.524Z,1349323850.524 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-04T04:10:50.525Z,1349323850.525 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-04T04:10:50.624Z,1349323850.624 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-04T04:10:50.748Z,1349323850.748 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-04T04:10:50.832Z,1349323850.832 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-04T04:10:50.929Z,1349323850.930 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-04T04:10:51.026Z,1349323851.026 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-04T04:10:51.140Z,1349323851.140 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-04T04:10:51.227Z,1349323851.227 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-04T04:10:51.312Z,1349323851.312 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-10-04T04:10:51.340Z,1349323851.340 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-04T04:10:51.478Z,1349323851.478 [InternalSim] Loaded
2012-10-04T04:10:51.479Z,1349323851.478 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-04T04:10:51.479Z,1349323851.479 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-04T04:10:51.480Z,1349323851.480 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-04T04:10:51.536Z,1349323851.536 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-04T04:10:51.549Z,1349323851.549 [SBIT] Loaded
2012-10-04T04:10:51.549Z,1349323851.549 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-04T04:10:51.550Z,1349323851.550 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-04T04:10:51.577Z,1349323851.577 [IBIT] Loaded
2012-10-04T04:10:51.578Z,1349323851.578 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-04T04:10:51.581Z,1349323851.581 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-04T04:10:51.696Z,1349323851.695 [CBIT] Loaded
2012-10-04T04:10:51.696Z,1349323851.696 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-04T04:10:51.696Z,1349323851.696 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-04T04:10:51.697Z,1349323851.697 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-04T04:10:51.836Z,1349323851.836 [BuoyancyServo] Loaded
2012-10-04T04:10:51.836Z,1349323851.836 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-04T04:10:51.845Z,1349323851.845 [ElevatorServo] Loaded
2012-10-04T04:10:51.846Z,1349323851.846 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-04T04:10:51.857Z,1349323851.857 [MassServo] Loaded
2012-10-04T04:10:51.857Z,1349323851.857 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-04T04:10:51.869Z,1349323851.869 [RudderServo] Loaded
2012-10-04T04:10:51.869Z,1349323851.869 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-04T04:10:51.880Z,1349323851.880 [ThrusterServo] Loaded
2012-10-04T04:10:51.881Z,1349323851.881 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-04T04:10:51.881Z,1349323851.881 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-04T04:10:51.882Z,1349323851.882 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-04T04:10:51.898Z,1349323851.898 [DepthRateCalculator] Loaded
2012-10-04T04:10:51.899Z,1349323851.899 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-04T04:10:55.613Z,1349323855.613 [HFRadarModelCalc] Loaded
2012-10-04T04:10:55.613Z,1349323855.614 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-04T04:10:55.629Z,1349323855.629 [NavChart] Loaded
2012-10-04T04:10:55.629Z,1349323855.629 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-04T04:10:55.635Z,1349323855.635 [PitchRateCalculator] Loaded
2012-10-04T04:10:55.636Z,1349323855.635 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-04T04:10:55.642Z,1349323855.642 [SpeedCalculator] Loaded
2012-10-04T04:10:55.642Z,1349323855.642 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-04T04:10:55.656Z,1349323855.656 [TempGradientCalculator] Loaded
2012-10-04T04:10:55.656Z,1349323855.656 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-04T04:10:55.662Z,1349323855.662 [YawRateCalculator] Loaded
2012-10-04T04:10:55.662Z,1349323855.662 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-04T04:10:55.681Z,1349323855.681 [Navigation] Loaded
2012-10-04T04:10:55.681Z,1349323855.681 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-04T04:10:55.682Z,1349323855.682 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-04T04:10:55.683Z,1349323855.682 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-04T04:10:55.970Z,1349323855.970 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-04T04:10:55.970Z,1349323855.970 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-04T04:10:55.993Z,1349323855.993 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-04T04:10:55.994Z,1349323855.994 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-04T04:10:56.036Z,1349323856.036 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-04T04:10:56.079Z,1349323856.079 [VerticalControl] Loaded
2012-10-04T04:10:56.079Z,1349323856.079 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-04T04:10:56.080Z,1349323856.080 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-04T04:10:56.100Z,1349323856.100 [HorizontalControl] Loaded
2012-10-04T04:10:56.100Z,1349323856.100 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-04T04:10:56.101Z,1349323856.101 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-04T04:10:56.103Z,1349323856.103 [SpeedControl] Loaded
2012-10-04T04:10:56.103Z,1349323856.103 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-04T04:10:56.104Z,1349323856.104 [LoopControl](DEBUG): Construct LoopControl.
2012-10-04T04:10:56.104Z,1349323856.104 [LoopControl] Loaded
2012-10-04T04:10:56.105Z,1349323856.105 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-04T04:10:56.105Z,1349323856.105 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-04T04:10:56.106Z,1349323856.106 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-04T04:10:56.111Z,1349323856.111 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-04T04:10:56.116Z,1349323856.116 [AsyncPiEstimator] Loaded
2012-10-04T04:10:56.116Z,1349323856.116 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-04T04:10:56.117Z,1349323856.117 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-04T04:10:56.118Z,1349323856.118 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-04T04:10:56.118Z,1349323856.118 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-04T04:10:56.240Z,1349323856.240 [AHRS_sp3003D] Loaded
2012-10-04T04:10:56.240Z,1349323856.240 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-04T04:10:56.254Z,1349323856.254 [Depth_Keller] Loaded
2012-10-04T04:10:56.254Z,1349323856.254 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-04T04:10:56.260Z,1349323856.260 [DropWeight] Loaded
2012-10-04T04:10:56.260Z,1349323856.260 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-04T04:10:56.372Z,1349323856.372 [DVL_micro] Loaded
2012-10-04T04:10:56.373Z,1349323856.372 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-04T04:10:56.374Z,1349323856.374 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-04T04:10:56.454Z,1349323856.454 [NAL9602] Loaded
2012-10-04T04:10:56.454Z,1349323856.454 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-04T04:10:56.503Z,1349323856.503 [Onboard] Loaded
2012-10-04T04:10:56.504Z,1349323856.504 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-04T04:10:56.511Z,1349323856.511 [Radio_Freewave] Loaded
2012-10-04T04:10:56.511Z,1349323856.511 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-04T04:10:56.512Z,1349323856.512 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-04T04:10:56.512Z,1349323856.512 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-04T04:10:56.581Z,1349323856.582 [CTD_NeilBrown] Loaded
2012-10-04T04:10:56.582Z,1349323856.582 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-04T04:10:56.583Z,1349323856.583 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-04T04:10:56.593Z,1349323856.593 [PAR_Licor] Loaded
2012-10-04T04:10:56.593Z,1349323856.593 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-04T04:10:56.610Z,1349323856.610 [Turbulence_NPS] Loaded
2012-10-04T04:10:56.610Z,1349323856.610 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-04T04:10:56.611Z,1349323856.611 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-04T04:10:56.641Z,1349323856.641 [WetLabsBB2FL] Loaded
2012-10-04T04:10:56.641Z,1349323856.641 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-04T04:10:56.642Z,1349323856.642 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-04T04:10:56.643Z,1349323856.643 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-04T04:10:56.645Z,1349323856.645 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-04T04:10:56.646Z,1349323856.646 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-04T04:10:56.652Z,1349323856.652 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-04T04:10:56.653Z,1349323856.653 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407D94E0
2012-10-04T04:10:56.740Z,1349323856.740 [Supervisor](DEBUG): Running supervisor.
2012-10-04T04:10:56.741Z,1349323856.741 [CommandLine](INFO): Thread ID is 8723
2012-10-04T04:10:56.744Z,1349323856.744 [controlThread](INFO): Thread ID is 8722
2012-10-04T04:10:56.744Z,1349323856.744 [controlThread](DEBUG): Initializing ControlThread
2012-10-04T04:10:56.744Z,1349323856.744 [CycleStarter](INFO): Thread ID is 8721
2012-10-04T04:10:56.745Z,1349323856.745 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-04T04:10:56.779Z,1349323856.779 [AsyncPiEstimator](INFO): Thread ID is 8785
2012-10-04T04:10:56.779Z,1349323856.779 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-04T04:10:56.790Z,1349323856.790 [SBIT](INFO): Initialize SBIT Component.
2012-10-04T04:10:56.790Z,1349323856.790 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9922
2012-10-04T04:10:56.791Z,1349323856.791 [IBIT](INFO): Initialize IBIT Component.
2012-10-04T04:10:56.792Z,1349323856.792 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-04T04:10:56.792Z,1349323856.792 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-04T04:10:56.792Z,1349323856.792 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2012-10-04T04:10:56.794Z,1349323856.793 [DVL_micro](INFO): Thread ID is 8786
2012-10-04T04:10:56.803Z,1349323856.803 [DVL_micro](INFO): Initializing
2012-10-04T04:10:56.803Z,1349323856.803 [DVL_micro](INFO): start:Powering up
2012-10-04T04:10:56.804Z,1349323856.804 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-04T04:10:56.805Z,1349323856.805 [DVL_micro](INFO): Cycling power to configure device.
2012-10-04T04:10:56.820Z,1349323856.820 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-04T04:10:56.820Z,1349323856.820 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-04T04:10:56.821Z,1349323856.821 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-04T04:10:56.821Z,1349323856.821 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-04T04:10:56.821Z,1349323856.821 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-04T04:10:56.823Z,1349323856.823 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-04T04:10:56.823Z,1349323856.823 [Navigation](DEBUG): Initializing Navigation.
2012-10-04T04:10:56.824Z,1349323856.824 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-04T04:10:56.826Z,1349323856.826 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-04T04:10:56.826Z,1349323856.826 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-04T04:10:56.827Z,1349323856.827 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-04T04:10:56.831Z,1349323856.831 [CTD_NeilBrown](INFO): Thread ID is 8787
2012-10-04T04:10:56.832Z,1349323856.832 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-04T04:10:56.843Z,1349323856.843 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-04T04:10:56.852Z,1349323856.852 [Turbulence_NPS](INFO): Thread ID is 8788
2012-10-04T04:10:56.852Z,1349323856.852 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-04T04:10:56.853Z,1349323856.853 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-04T04:10:56.864Z,1349323856.864 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-04T04:10:56.868Z,1349323856.868 [WetLabsBB2FL](INFO): Thread ID is 8789
2012-10-04T04:10:56.869Z,1349323856.869 [WetLabsBB2FL](INFO): Powering down
2012-10-04T04:10:56.897Z,1349323856.897 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T04:10:56.900Z,1349323856.899 [NavChartDb](INFO): Thread ID is 8790
2012-10-04T04:10:56.901Z,1349323856.901 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-04T04:10:56.902Z,1349323856.902 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-04T04:10:56.913Z,1349323856.913 [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>


2012-10-04T04:10:56.914Z,1349323856.914 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-04T04:10:56.923Z,1349323856.923 [Turbulence_NPS](INFO): Pause powering down
2012-10-04T04:10:56.943Z,1349323856.943 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-04T04:10:56.943Z,1349323856.943 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-04T04:10:56.943Z,1349323856.944 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-04T04:10:56.966Z,1349323856.967 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-04T04:10:56.969Z,1349323856.969 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-04T04:10:56.972Z,1349323856.972 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T04:10:56.980Z,1349323856.980 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-04T04:10:56.983Z,1349323856.983 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T04:10:56.990Z,1349323856.990 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-04T04:10:56.999Z,1349323856.999 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-04T04:10:57.002Z,1349323857.002 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T04:10:57.007Z,1349323857.007 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-04T04:10:57.011Z,1349323857.011 [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>


2012-10-04T04:10:57.015Z,1349323857.015 [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,
2012-10-04T04:10:57.036Z,1349323857.036 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-04T04:10:58.348Z,1349323858.348 [Radio_Freewave](INFO): Powering up
2012-10-04T04:10:58.533Z,1349323858.533 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-04T04:10:58.535Z,1349323858.535 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-04T04:10:58.541Z,1349323858.541 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-04T04:10:58.547Z,1349323858.547 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-04T04:10:58.548Z,1349323858.548 [MassServo](DEBUG): Initializing MassServo.
2012-10-04T04:10:58.554Z,1349323858.554 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-04T04:10:58.563Z,1349323858.563 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-04T04:10:58.568Z,1349323858.569 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-04T04:10:58.570Z,1349323858.569 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-04T04:10:58.911Z,1349323858.911 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-04T04:10:58.911Z,1349323858.911 [DVL_micro](INFO): Querying output modes
2012-10-04T04:10:58.912Z,1349323858.912 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-04T04:10:58.915Z,1349323858.915 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-04T04:10:58.915Z,1349323858.915 [DVL_micro](INFO): NQ1 output enabled
2012-10-04T04:10:58.915Z,1349323858.915 [DVL_micro](INFO): RSSI output enabled
2012-10-04T04:10:58.915Z,1349323858.915 [DVL_micro](INFO): ADCP output enabled
2012-10-04T04:10:58.916Z,1349323858.916 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-04T04:10:58.923Z,1349323858.923 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-04T04:10:58.928Z,1349323858.928 [DVL_micro](INFO): pause:Powering down
2012-10-04T04:11:01.485Z,1349323861.485 [NAL9602](INFO): Powering up NAL9602
2012-10-04T04:11:15.002Z,1349323875.003 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2012-10-04T04:11:15.003Z,1349323875.003 [NAL9602] Communications Fault, FailCount= 1
2012-10-04T04:11:15.003Z,1349323875.003 [NAL9602](ERROR): Communications Fault
2012-10-04T04:11:15.386Z,1349323875.386 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-04T04:11:15.389Z,1349323875.389 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-10-04T04:11:15.389Z,1349323875.389 [CBIT](IMPORTANT): Beginning GF scan
2012-10-04T04:11:15.637Z,1349323875.636 [NAL9602](INFO): Powering down
2012-10-04T04:11:16.137Z,1349323876.137 [CBIT](INFO): Clearing failed state for component NAL9602
2012-10-04T04:11:16.138Z,1349323876.138 [NAL9602] No Fault, FailCount= 1
2012-10-04T04:11:21.145Z,1349323881.145 [NAL9602](INFO): Powering up NAL9602
2012-10-04T04:11:33.619Z,1349323893.619 [NAL9602](INFO): NAL9602 initialized
2012-10-04T04:11:46.331Z,1349323906.331 [CBIT](IMPORTANT): No ground fault detected
2012-10-04T04:12:09.789Z,1349323929.789 [SBIT](IMPORTANT): SBIT PASSED
2012-10-04T04:12:10.176Z,1349323930.176 [MissionManager](IMPORTANT): Started mission Startup
2012-10-04T04:12:10.176Z,1349323930.176 [Startup] Running Loop=1
2012-10-04T04:12:10.176Z,1349323930.176 [Startup](INFO): Aggregate::initialize Startup
2012-10-04T04:12:10.176Z,1349323930.176 [Startup:A.GoToSurface] Running Loop=1
2012-10-04T04:12:10.176Z,1349323930.176 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-04T04:12:10.182Z,1349323930.182 [Startup:StartupSatComms] Running Loop=1
2012-10-04T04:12:10.182Z,1349323930.182 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-04T04:12:10.182Z,1349323930.182 [Startup:StartupSatComms:A] Running Loop=1
2012-10-04T04:12:10.592Z,1349323930.592 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix