2012-10-04T17:22:33.831Z,1349371353.831 [Supervisor](DEBUG): Initializing supervisor.
2012-10-04T17:22:33.833Z,1349371353.833 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-04T17:22:33.834Z,1349371353.834 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-04T17:22:33.835Z,1349371353.835 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-04T17:22:33.838Z,1349371353.838 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-04T17:22:33.848Z,1349371353.848 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-04T17:22:33.849Z,1349371353.849 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-04T17:22:33.850Z,1349371353.850 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-04T17:22:33.851Z,1349371353.851 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-04T17:22:33.854Z,1349371353.854 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-04T17:22:34.198Z,1349371354.198 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-04T17:22:34.199Z,1349371354.199 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-04T17:22:34.378Z,1349371354.378 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-04T17:22:34.379Z,1349371354.379 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-04T17:22:34.464Z,1349371354.464 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-04T17:22:34.465Z,1349371354.464 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-04T17:22:34.660Z,1349371354.660 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-04T17:22:34.660Z,1349371354.661 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-04T17:22:34.791Z,1349371354.791 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-04T17:22:34.791Z,1349371354.791 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-04T17:22:35.014Z,1349371355.014 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-04T17:22:35.015Z,1349371355.015 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-04T17:22:35.183Z,1349371355.183 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-04T17:22:35.183Z,1349371355.183 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-04T17:22:35.424Z,1349371355.424 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-04T17:22:35.424Z,1349371355.424 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-04T17:22:35.522Z,1349371355.522 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-04T17:22:35.522Z,1349371355.523 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-04T17:22:35.909Z,1349371355.909 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-04T17:22:35.909Z,1349371355.909 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-04T17:22:36.022Z,1349371356.022 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-04T17:22:36.023Z,1349371356.023 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-04T17:22:36.107Z,1349371356.107 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-04T17:22:36.111Z,1349371356.111 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-04T17:22:36.215Z,1349371356.215 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-04T17:22:36.341Z,1349371356.341 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-04T17:22:36.426Z,1349371356.426 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-04T17:22:36.525Z,1349371356.525 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-04T17:22:36.624Z,1349371356.625 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-04T17:22:36.740Z,1349371356.740 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-04T17:22:36.829Z,1349371356.829 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-04T17:22:36.916Z,1349371356.916 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-04T17:22:36.946Z,1349371356.946 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-04T17:22:37.086Z,1349371357.086 [InternalSim] Loaded
2012-10-04T17:22:37.086Z,1349371357.086 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-04T17:22:37.087Z,1349371357.087 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-04T17:22:37.088Z,1349371357.088 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-04T17:22:37.144Z,1349371357.144 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-04T17:22:37.157Z,1349371357.157 [SBIT] Loaded
2012-10-04T17:22:37.157Z,1349371357.157 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-04T17:22:37.158Z,1349371357.158 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-04T17:22:37.185Z,1349371357.185 [IBIT] Loaded
2012-10-04T17:22:37.185Z,1349371357.185 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-04T17:22:37.189Z,1349371357.189 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-04T17:22:37.305Z,1349371357.305 [CBIT] Loaded
2012-10-04T17:22:37.305Z,1349371357.305 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-04T17:22:37.306Z,1349371357.306 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-04T17:22:37.306Z,1349371357.306 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-04T17:22:37.448Z,1349371357.448 [BuoyancyServo] Loaded
2012-10-04T17:22:37.449Z,1349371357.448 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-04T17:22:37.460Z,1349371357.460 [MassServo] Loaded
2012-10-04T17:22:37.461Z,1349371357.461 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-04T17:22:37.472Z,1349371357.472 [RudderServo] Loaded
2012-10-04T17:22:37.472Z,1349371357.473 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-04T17:22:37.473Z,1349371357.473 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-04T17:22:37.474Z,1349371357.474 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-04T17:22:37.490Z,1349371357.490 [DepthRateCalculator] Loaded
2012-10-04T17:22:37.491Z,1349371357.491 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-04T17:22:43.048Z,1349371363.048 [HFRadarModelCalc] Loaded
2012-10-04T17:22:43.049Z,1349371363.049 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-04T17:22:43.065Z,1349371363.065 [NavChart] Loaded
2012-10-04T17:22:43.065Z,1349371363.065 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-04T17:22:43.071Z,1349371363.070 [PitchRateCalculator] Loaded
2012-10-04T17:22:43.071Z,1349371363.071 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-04T17:22:43.077Z,1349371363.077 [SpeedCalculator] Loaded
2012-10-04T17:22:43.077Z,1349371363.077 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-04T17:22:43.092Z,1349371363.092 [TempGradientCalculator] Loaded
2012-10-04T17:22:43.092Z,1349371363.092 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-04T17:22:43.098Z,1349371363.098 [YawRateCalculator] Loaded
2012-10-04T17:22:43.098Z,1349371363.098 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-04T17:22:43.117Z,1349371363.117 [Navigation] Loaded
2012-10-04T17:22:43.117Z,1349371363.117 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-04T17:22:43.118Z,1349371363.118 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-04T17:22:43.118Z,1349371363.118 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-04T17:22:43.338Z,1349371363.338 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-04T17:22:43.338Z,1349371363.338 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-04T17:22:43.360Z,1349371363.360 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-04T17:22:43.361Z,1349371363.361 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-04T17:22:43.401Z,1349371363.401 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-04T17:22:43.444Z,1349371363.444 [VerticalControl] Loaded
2012-10-04T17:22:43.444Z,1349371363.444 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-04T17:22:43.445Z,1349371363.445 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-04T17:22:43.466Z,1349371363.466 [HorizontalControl] Loaded
2012-10-04T17:22:43.466Z,1349371363.466 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-04T17:22:43.467Z,1349371363.467 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-04T17:22:43.469Z,1349371363.469 [SpeedControl] Loaded
2012-10-04T17:22:43.469Z,1349371363.469 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-04T17:22:43.470Z,1349371363.470 [LoopControl](DEBUG): Construct LoopControl.
2012-10-04T17:22:43.471Z,1349371363.471 [LoopControl] Loaded
2012-10-04T17:22:43.471Z,1349371363.471 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-04T17:22:43.471Z,1349371363.471 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-04T17:22:43.472Z,1349371363.472 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-04T17:22:43.477Z,1349371363.477 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-04T17:22:43.482Z,1349371363.482 [AsyncPiEstimator] Loaded
2012-10-04T17:22:43.482Z,1349371363.482 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-04T17:22:43.484Z,1349371363.484 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-04T17:22:43.484Z,1349371363.484 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-04T17:22:43.485Z,1349371363.485 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-04T17:22:43.621Z,1349371363.621 [AHRS_sp3003D] Loaded
2012-10-04T17:22:43.621Z,1349371363.621 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-04T17:22:43.634Z,1349371363.634 [Depth_Keller] Loaded
2012-10-04T17:22:43.635Z,1349371363.635 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-04T17:22:43.640Z,1349371363.640 [DropWeight] Loaded
2012-10-04T17:22:43.640Z,1349371363.640 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-04T17:22:43.752Z,1349371363.752 [DVL_micro] Loaded
2012-10-04T17:22:43.752Z,1349371363.752 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-04T17:22:43.753Z,1349371363.753 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-04T17:22:43.835Z,1349371363.835 [NAL9602] Loaded
2012-10-04T17:22:43.835Z,1349371363.835 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-04T17:22:43.885Z,1349371363.885 [Onboard] Loaded
2012-10-04T17:22:43.885Z,1349371363.885 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-04T17:22:43.892Z,1349371363.892 [Radio_Freewave] Loaded
2012-10-04T17:22:43.892Z,1349371363.892 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-04T17:22:43.893Z,1349371363.893 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-04T17:22:43.893Z,1349371363.893 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-04T17:22:43.980Z,1349371363.980 [CTD_NeilBrown] Loaded
2012-10-04T17:22:43.981Z,1349371363.981 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-04T17:22:43.982Z,1349371363.982 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-04T17:22:43.992Z,1349371363.992 [PAR_Licor] Loaded
2012-10-04T17:22:43.992Z,1349371363.992 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-04T17:22:44.009Z,1349371364.009 [Turbulence_NPS] Loaded
2012-10-04T17:22:44.009Z,1349371364.009 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-04T17:22:44.011Z,1349371364.011 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-04T17:22:44.042Z,1349371364.042 [WetLabsBB2FL] Loaded
2012-10-04T17:22:44.042Z,1349371364.042 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-04T17:22:44.043Z,1349371364.043 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-04T17:22:44.044Z,1349371364.044 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-04T17:22:44.046Z,1349371364.046 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-04T17:22:44.047Z,1349371364.047 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-04T17:22:44.053Z,1349371364.053 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-04T17:22:44.054Z,1349371364.054 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407D94E0
2012-10-04T17:22:44.059Z,1349371364.059 [Supervisor](DEBUG): Running supervisor.
2012-10-04T17:22:44.060Z,1349371364.060 [CommandLine](INFO): Thread ID is 2910
2012-10-04T17:22:44.062Z,1349371364.062 [controlThread](INFO): Thread ID is 2909
2012-10-04T17:22:44.062Z,1349371364.062 [controlThread](DEBUG): Initializing ControlThread
2012-10-04T17:22:44.063Z,1349371364.063 [CycleStarter](INFO): Thread ID is 2908
2012-10-04T17:22:44.064Z,1349371364.063 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-04T17:22:44.099Z,1349371364.099 [AsyncPiEstimator](INFO): Thread ID is 2972
2012-10-04T17:22:44.099Z,1349371364.099 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-04T17:22:44.108Z,1349371364.108 [SBIT](INFO): Initialize SBIT Component.
2012-10-04T17:22:44.109Z,1349371364.109 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9922
2012-10-04T17:22:44.109Z,1349371364.109 [IBIT](INFO): Initialize IBIT Component.
2012-10-04T17:22:44.111Z,1349371364.111 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-04T17:22:44.112Z,1349371364.112 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-04T17:22:44.113Z,1349371364.113 [DVL_micro](INFO): Thread ID is 2973
2012-10-04T17:22:44.122Z,1349371364.122 [DVL_micro](INFO): Initializing
2012-10-04T17:22:44.122Z,1349371364.122 [DVL_micro](INFO): start:Powering up
2012-10-04T17:22:44.123Z,1349371364.124 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-04T17:22:44.124Z,1349371364.124 [DVL_micro](INFO): Cycling power to configure device.
2012-10-04T17:22:44.131Z,1349371364.131 [CTD_NeilBrown](INFO): Thread ID is 2974
2012-10-04T17:22:44.132Z,1349371364.132 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-04T17:22:44.135Z,1349371364.135 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-04T17:22:44.141Z,1349371364.141 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-04T17:22:44.141Z,1349371364.141 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-04T17:22:44.142Z,1349371364.142 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-04T17:22:44.142Z,1349371364.142 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-04T17:22:44.146Z,1349371364.146 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-04T17:22:44.147Z,1349371364.147 [Turbulence_NPS](INFO): Thread ID is 2975
2012-10-04T17:22:44.147Z,1349371364.148 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-04T17:22:44.148Z,1349371364.148 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-04T17:22:44.160Z,1349371364.160 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-04T17:22:44.160Z,1349371364.160 [Navigation](DEBUG): Initializing Navigation.
2012-10-04T17:22:44.161Z,1349371364.161 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-04T17:22:44.163Z,1349371364.163 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-04T17:22:44.163Z,1349371364.164 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-04T17:22:44.164Z,1349371364.164 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-04T17:22:44.169Z,1349371364.169 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-04T17:22:44.176Z,1349371364.176 [WetLabsBB2FL](INFO): Thread ID is 2976
2012-10-04T17:22:44.176Z,1349371364.176 [WetLabsBB2FL](INFO): Powering down
2012-10-04T17:22:44.204Z,1349371364.204 [NavChartDb](INFO): Thread ID is 2977
2012-10-04T17:22:44.213Z,1349371364.213 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-04T17:22:44.215Z,1349371364.215 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-04T17:22:44.215Z,1349371364.215 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-04T17:22:44.216Z,1349371364.216 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-04T17:22:44.216Z,1349371364.216 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-04T17:22:44.218Z,1349371364.218 [Turbulence_NPS](INFO): Pause powering down
2012-10-04T17:22:44.240Z,1349371364.240 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T17:22:44.261Z,1349371364.261 [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>


2012-10-04T17:22:44.261Z,1349371364.261 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-04T17:22:44.295Z,1349371364.295 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-04T17:22:44.298Z,1349371364.297 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-04T17:22:44.301Z,1349371364.301 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T17:22:44.310Z,1349371364.310 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-04T17:22:44.319Z,1349371364.319 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T17:22:44.325Z,1349371364.325 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-04T17:22:44.335Z,1349371364.335 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-04T17:22:44.338Z,1349371364.338 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-04T17:22:44.343Z,1349371364.343 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-04T17:22:44.346Z,1349371364.346 [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>


2012-10-04T17:22:44.351Z,1349371364.351 [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,MassServo,RudderServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-10-04T17:22:44.371Z,1349371364.372 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-04T17:22:45.159Z,1349371365.159 [Radio_Freewave](INFO): Powering up
2012-10-04T17:22:45.344Z,1349371365.344 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-04T17:22:45.347Z,1349371365.347 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-04T17:22:45.353Z,1349371365.353 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-04T17:22:45.354Z,1349371365.354 [MassServo](DEBUG): Initializing MassServo.
2012-10-04T17:22:45.360Z,1349371365.360 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-04T17:22:45.363Z,1349371365.363 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-04T17:22:46.655Z,1349371366.655 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-04T17:22:46.655Z,1349371366.655 [DVL_micro](INFO): Querying output modes
2012-10-04T17:22:46.655Z,1349371366.655 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-04T17:22:46.659Z,1349371366.659 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-04T17:22:46.659Z,1349371366.659 [DVL_micro](INFO): NQ1 output enabled
2012-10-04T17:22:46.659Z,1349371366.659 [DVL_micro](INFO): RSSI output enabled
2012-10-04T17:22:46.659Z,1349371366.659 [DVL_micro](INFO): ADCP output enabled
2012-10-04T17:22:46.660Z,1349371366.659 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-04T17:22:46.667Z,1349371366.667 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-04T17:22:46.672Z,1349371366.672 [DVL_micro](INFO): pause:Powering down
2012-10-04T17:22:49.205Z,1349371369.205 [NAL9602](INFO): Powering up NAL9602
2012-10-04T17:23:00.988Z,1349371380.989 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-04T17:23:00.991Z,1349371380.991 [CBIT](IMPORTANT): Beginning GF scan
2012-10-04T17:23:01.223Z,1349371381.223 [NAL9602](INFO): NAL9602 initialized