2012-10-08T17:50:14.102Z,1349718614.102 [Supervisor](DEBUG): Initializing supervisor.
2012-10-08T17:50:14.105Z,1349718614.105 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-08T17:50:14.105Z,1349718614.105 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-08T17:50:14.106Z,1349718614.106 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-08T17:50:14.110Z,1349718614.110 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-08T17:50:14.120Z,1349718614.120 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-08T17:50:14.121Z,1349718614.121 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-08T17:50:14.122Z,1349718614.122 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-08T17:50:14.122Z,1349718614.122 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-08T17:50:14.123Z,1349718614.124 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-08T17:50:14.396Z,1349718614.396 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-08T17:50:14.397Z,1349718614.397 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-08T17:50:14.579Z,1349718614.579 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-08T17:50:14.580Z,1349718614.579 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-08T17:50:14.665Z,1349718614.665 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-08T17:50:14.666Z,1349718614.666 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-08T17:50:14.865Z,1349718614.865 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-08T17:50:14.866Z,1349718614.866 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-08T17:50:14.997Z,1349718614.997 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-08T17:50:14.998Z,1349718614.997 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-08T17:50:15.219Z,1349718615.219 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-08T17:50:15.220Z,1349718615.220 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-08T17:50:15.385Z,1349718615.385 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-08T17:50:15.386Z,1349718615.386 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-08T17:50:15.626Z,1349718615.626 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-08T17:50:15.627Z,1349718615.627 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-08T17:50:15.726Z,1349718615.726 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-08T17:50:15.726Z,1349718615.726 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-08T17:50:16.108Z,1349718616.108 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-08T17:50:16.109Z,1349718616.109 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-08T17:50:16.229Z,1349718616.229 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-08T17:50:16.230Z,1349718616.230 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-08T17:50:16.316Z,1349718616.316 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-08T17:50:16.317Z,1349718616.317 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-08T17:50:16.418Z,1349718616.418 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-08T17:50:16.544Z,1349718616.544 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-08T17:50:16.631Z,1349718616.631 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-08T17:50:16.732Z,1349718616.731 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-08T17:50:16.836Z,1349718616.836 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-08T17:50:16.962Z,1349718616.962 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-08T17:50:17.064Z,1349718617.064 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-08T17:50:17.184Z,1349718617.184 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-08T17:50:17.212Z,1349718617.212 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-08T17:50:17.347Z,1349718617.347 [InternalSim] Loaded
2012-10-08T17:50:17.347Z,1349718617.347 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-08T17:50:17.348Z,1349718617.348 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-08T17:50:17.348Z,1349718617.348 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-08T17:50:17.403Z,1349718617.403 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-08T17:50:17.416Z,1349718617.416 [SBIT] Loaded
2012-10-08T17:50:17.417Z,1349718617.417 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-08T17:50:17.418Z,1349718617.418 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-08T17:50:17.444Z,1349718617.444 [IBIT] Loaded
2012-10-08T17:50:17.445Z,1349718617.445 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-08T17:50:17.448Z,1349718617.448 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-08T17:50:17.561Z,1349718617.561 [CBIT] Loaded
2012-10-08T17:50:17.561Z,1349718617.561 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-08T17:50:17.561Z,1349718617.561 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-08T17:50:17.562Z,1349718617.562 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-08T17:50:17.708Z,1349718617.708 [BuoyancyServo] Loaded
2012-10-08T17:50:17.708Z,1349718617.708 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-08T17:50:17.717Z,1349718617.717 [ElevatorServo] Loaded
2012-10-08T17:50:17.717Z,1349718617.717 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-08T17:50:17.729Z,1349718617.729 [MassServo] Loaded
2012-10-08T17:50:17.729Z,1349718617.729 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-08T17:50:17.740Z,1349718617.740 [RudderServo] Loaded
2012-10-08T17:50:17.741Z,1349718617.741 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-08T17:50:17.752Z,1349718617.752 [ThrusterServo] Loaded
2012-10-08T17:50:17.752Z,1349718617.752 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-08T17:50:17.752Z,1349718617.752 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-08T17:50:17.753Z,1349718617.753 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-08T17:50:17.770Z,1349718617.770 [DepthRateCalculator] Loaded
2012-10-08T17:50:17.770Z,1349718617.770 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-08T17:50:21.543Z,1349718621.543 [HFRadarModelCalc] Loaded
2012-10-08T17:50:21.544Z,1349718621.544 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-08T17:50:21.559Z,1349718621.559 [NavChart] Loaded
2012-10-08T17:50:21.559Z,1349718621.559 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-08T17:50:21.565Z,1349718621.565 [PitchRateCalculator] Loaded
2012-10-08T17:50:21.565Z,1349718621.565 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-08T17:50:21.571Z,1349718621.571 [SpeedCalculator] Loaded
2012-10-08T17:50:21.572Z,1349718621.572 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-08T17:50:21.586Z,1349718621.586 [TempGradientCalculator] Loaded
2012-10-08T17:50:21.586Z,1349718621.586 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-08T17:50:21.592Z,1349718621.592 [YawRateCalculator] Loaded
2012-10-08T17:50:21.592Z,1349718621.592 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-08T17:50:21.617Z,1349718621.617 [Navigation] Loaded
2012-10-08T17:50:21.617Z,1349718621.617 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-08T17:50:21.618Z,1349718621.618 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-08T17:50:21.618Z,1349718621.618 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-08T17:50:21.832Z,1349718621.832 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-08T17:50:21.833Z,1349718621.833 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-08T17:50:21.855Z,1349718621.855 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-08T17:50:21.856Z,1349718621.856 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-08T17:50:21.895Z,1349718621.895 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-08T17:50:21.937Z,1349718621.937 [VerticalControl] Loaded
2012-10-08T17:50:21.938Z,1349718621.938 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-08T17:50:21.938Z,1349718621.938 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-08T17:50:21.958Z,1349718621.958 [HorizontalControl] Loaded
2012-10-08T17:50:21.958Z,1349718621.958 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-08T17:50:21.959Z,1349718621.959 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-08T17:50:21.961Z,1349718621.961 [SpeedControl] Loaded
2012-10-08T17:50:21.961Z,1349718621.961 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-08T17:50:21.962Z,1349718621.962 [LoopControl](DEBUG): Construct LoopControl.
2012-10-08T17:50:21.962Z,1349718621.962 [LoopControl] Loaded
2012-10-08T17:50:21.963Z,1349718621.963 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-08T17:50:21.963Z,1349718621.963 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-08T17:50:21.964Z,1349718621.964 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-08T17:50:21.974Z,1349718621.974 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-08T17:50:21.981Z,1349718621.981 [AsyncPiEstimator] Loaded
2012-10-08T17:50:21.981Z,1349718621.981 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-08T17:50:21.982Z,1349718621.982 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-08T17:50:21.983Z,1349718621.983 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-08T17:50:21.984Z,1349718621.984 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-08T17:50:22.105Z,1349718622.105 [AHRS_sp3003D] Loaded
2012-10-08T17:50:22.106Z,1349718622.106 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-08T17:50:22.119Z,1349718622.119 [Depth_Keller] Loaded
2012-10-08T17:50:22.119Z,1349718622.119 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-08T17:50:22.124Z,1349718622.124 [DropWeight] Loaded
2012-10-08T17:50:22.125Z,1349718622.125 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-08T17:50:22.238Z,1349718622.238 [DVL_micro] Loaded
2012-10-08T17:50:22.238Z,1349718622.238 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-08T17:50:22.239Z,1349718622.239 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-08T17:50:22.319Z,1349718622.319 [NAL9602] Loaded
2012-10-08T17:50:22.320Z,1349718622.320 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-08T17:50:22.369Z,1349718622.369 [Onboard] Loaded
2012-10-08T17:50:22.369Z,1349718622.369 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-08T17:50:22.376Z,1349718622.376 [Radio_Freewave] Loaded
2012-10-08T17:50:22.376Z,1349718622.376 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-08T17:50:22.377Z,1349718622.377 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-08T17:50:22.378Z,1349718622.378 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-08T17:50:22.446Z,1349718622.446 [CTD_NeilBrown] Loaded
2012-10-08T17:50:22.447Z,1349718622.447 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-08T17:50:22.448Z,1349718622.448 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-08T17:50:22.458Z,1349718622.457 [PAR_Licor] Loaded
2012-10-08T17:50:22.458Z,1349718622.458 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-08T17:50:22.474Z,1349718622.474 [Turbulence_NPS] Loaded
2012-10-08T17:50:22.474Z,1349718622.474 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-08T17:50:22.475Z,1349718622.475 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-08T17:50:22.504Z,1349718622.504 [WetLabsBB2FL] Loaded
2012-10-08T17:50:22.504Z,1349718622.504 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-08T17:50:22.505Z,1349718622.505 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-08T17:50:22.506Z,1349718622.506 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-08T17:50:22.508Z,1349718622.508 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-08T17:50:22.509Z,1349718622.509 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-08T17:50:22.515Z,1349718622.515 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-08T17:50:22.516Z,1349718622.516 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-08T17:50:22.521Z,1349718622.521 [Supervisor](DEBUG): Running supervisor.
2012-10-08T17:50:22.522Z,1349718622.522 [CommandLine](INFO): Thread ID is 866
2012-10-08T17:50:22.525Z,1349718622.525 [controlThread](INFO): Thread ID is 865
2012-10-08T17:50:22.525Z,1349718622.525 [controlThread](DEBUG): Initializing ControlThread
2012-10-08T17:50:22.526Z,1349718622.526 [CycleStarter](INFO): Thread ID is 864
2012-10-08T17:50:22.526Z,1349718622.526 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-08T17:50:22.559Z,1349718622.559 [AsyncPiEstimator](INFO): Thread ID is 927
2012-10-08T17:50:22.559Z,1349718622.559 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-08T17:50:22.570Z,1349718622.570 [SBIT](INFO): Initialize SBIT Component.
2012-10-08T17:50:22.571Z,1349718622.571 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9936
2012-10-08T17:50:22.572Z,1349718622.572 [IBIT](INFO): Initialize IBIT Component.
2012-10-08T17:50:22.572Z,1349718622.572 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-08T17:50:22.573Z,1349718622.573 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-08T17:50:22.574Z,1349718622.574 [DVL_micro](INFO): Thread ID is 928
2012-10-08T17:50:22.583Z,1349718622.583 [DVL_micro](INFO): Initializing
2012-10-08T17:50:22.583Z,1349718622.583 [DVL_micro](INFO): start:Powering up
2012-10-08T17:50:22.584Z,1349718622.584 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-08T17:50:22.585Z,1349718622.585 [DVL_micro](INFO): Cycling power to configure device.
2012-10-08T17:50:22.600Z,1349718622.600 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-08T17:50:22.600Z,1349718622.600 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-08T17:50:22.601Z,1349718622.601 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-08T17:50:22.601Z,1349718622.601 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-08T17:50:22.601Z,1349718622.601 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-08T17:50:22.603Z,1349718622.603 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-08T17:50:22.603Z,1349718622.603 [Navigation](DEBUG): Initializing Navigation.
2012-10-08T17:50:22.604Z,1349718622.604 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-08T17:50:22.605Z,1349718622.605 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-08T17:50:22.606Z,1349718622.606 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-08T17:50:22.607Z,1349718622.607 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-08T17:50:22.611Z,1349718622.611 [CTD_NeilBrown](INFO): Thread ID is 929
2012-10-08T17:50:22.612Z,1349718622.612 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-08T17:50:22.615Z,1349718622.615 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-08T17:50:22.616Z,1349718622.616 [Turbulence_NPS](INFO): Thread ID is 930
2012-10-08T17:50:22.631Z,1349718622.631 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-08T17:50:22.631Z,1349718622.631 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-08T17:50:22.643Z,1349718622.643 [WetLabsBB2FL](INFO): Thread ID is 931
2012-10-08T17:50:22.644Z,1349718622.644 [WetLabsBB2FL](INFO): Powering down
2012-10-08T17:50:22.660Z,1349718622.660 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-08T17:50:22.673Z,1349718622.673 [NavChartDb](INFO): Thread ID is 932
2012-10-08T17:50:22.679Z,1349718622.679 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T17:50:22.690Z,1349718622.690 [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>


2012-10-08T17:50:22.691Z,1349718622.691 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-08T17:50:22.718Z,1349718622.718 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-08T17:50:22.721Z,1349718622.721 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-08T17:50:22.724Z,1349718622.724 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T17:50:22.732Z,1349718622.732 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-08T17:50:22.735Z,1349718622.735 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T17:50:22.741Z,1349718622.741 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-08T17:50:22.749Z,1349718622.750 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-08T17:50:22.753Z,1349718622.753 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T17:50:22.757Z,1349718622.757 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-08T17:50:22.761Z,1349718622.761 [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>


2012-10-08T17:50:22.765Z,1349718622.765 [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,
2012-10-08T17:50:22.786Z,1349718622.786 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-08T17:50:22.839Z,1349718622.839 [Turbulence_NPS](INFO): Pause powering down
2012-10-08T17:50:22.875Z,1349718622.875 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-08T17:50:22.876Z,1349718622.876 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-08T17:50:22.876Z,1349718622.876 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-08T17:50:22.876Z,1349718622.876 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-08T17:50:22.877Z,1349718622.876 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-08T17:50:24.275Z,1349718624.275 [Radio_Freewave](INFO): Powering up
2012-10-08T17:50:24.378Z,1349718624.378 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:50:24.379Z,1349718624.379 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-08T17:50:24.389Z,1349718624.389 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:50:24.391Z,1349718624.391 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-08T17:50:24.397Z,1349718624.397 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:50:24.398Z,1349718624.398 [MassServo](DEBUG): Initializing MassServo.
2012-10-08T17:50:24.404Z,1349718624.404 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:50:24.407Z,1349718624.407 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-08T17:50:24.412Z,1349718624.412 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:50:24.414Z,1349718624.414 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-08T17:50:24.767Z,1349718624.767 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-08T17:50:24.767Z,1349718624.767 [DVL_micro](INFO): Querying output modes
2012-10-08T17:50:24.767Z,1349718624.767 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-08T17:50:24.771Z,1349718624.771 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-08T17:50:24.771Z,1349718624.771 [DVL_micro](INFO): NQ1 output enabled
2012-10-08T17:50:24.771Z,1349718624.771 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-08T17:50:24.775Z,1349718624.775 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-08T17:50:24.779Z,1349718624.779 [DVL_micro](INFO): pause:Powering down
2012-10-08T17:50:27.325Z,1349718627.325 [NAL9602](INFO): Powering up NAL9602
2012-10-08T17:50:38.327Z,1349718638.327 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-08T17:50:38.329Z,1349718638.329 [CBIT](IMPORTANT): Beginning GF scan
2012-10-08T17:50:38.547Z,1349718638.547 [NAL9602](INFO): NAL9602 initialized
2012-10-08T17:50:43.356Z,1349718643.356 [MassServo](FAULT): Mass Shifter uart error: serial timeout
2012-10-08T17:50:43.356Z,1349718643.356 [MassServo] Communications Fault, FailCount= 1
2012-10-08T17:50:43.356Z,1349718643.356 [MassServo](ERROR): Communications Fault
2012-10-08T17:50:43.418Z,1349718643.418 [CBIT](ERROR): Communications Fault in component: MassServo
2012-10-08T17:50:44.823Z,1349718644.823 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-08T17:50:44.824Z,1349718644.824 [MassServo](INFO): Powering down
2012-10-08T17:50:44.854Z,1349718644.854 [CBIT](INFO): Clearing failed state for component MassServo
2012-10-08T17:50:44.854Z,1349718644.854 [MassServo] No Fault, FailCount= 1
2012-10-08T17:50:46.405Z,1349718646.405 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:50:46.527Z,1349718646.527 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-08T17:50:46.527Z,1349718646.527 [MassServo](DEBUG): Initializing MassServo.
2012-10-08T17:50:52.345Z,1349718652.345 [SBIT](FAULT): Mass: EXPECTED:0.005600 ACTUAL:0.000000
2012-10-08T17:50:52.345Z,1349718652.345 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.936239
2012-10-08T17:51:05.701Z,1349718665.701 [CBIT](IMPORTANT): No ground fault detected
2012-10-08T17:51:22.271Z,1349718682.271 [CommandLine](IMPORTANT): got command report mod platform_mass_position
2012-10-08T17:51:23.319Z,1349718683.319 [Reporter](INFO): platform_mass_position -0.005561 m
2012-10-08T17:51:25.887Z,1349718685.887 [Reporter](INFO): platform_mass_position -0.004649 m
2012-10-08T17:51:26.208Z,1349718686.208 [Reporter](INFO): platform_mass_position -0.004403 m
2012-10-08T17:51:26.575Z,1349718686.575 [Reporter](INFO): platform_mass_position -0.004137 m
2012-10-08T17:51:27.004Z,1349718687.004 [Reporter](INFO): platform_mass_position -0.003821 m
2012-10-08T17:51:27.499Z,1349718687.499 [Reporter](INFO): platform_mass_position -0.003469 m
2012-10-08T17:51:27.852Z,1349718687.852 [Reporter](INFO): platform_mass_position -0.003254 m
2012-10-08T17:51:28.135Z,1349718688.135 [Reporter](INFO): platform_mass_position -0.002960 m
2012-10-08T17:51:28.531Z,1349718688.531 [Reporter](INFO): platform_mass_position -0.002674 m
2012-10-08T17:51:28.939Z,1349718688.939 [Reporter](INFO): platform_mass_position -0.002355 m
2012-10-08T17:51:29.335Z,1349718689.335 [Reporter](INFO): platform_mass_position -0.002070 m
2012-10-08T17:51:29.728Z,1349718689.727 [Reporter](INFO): platform_mass_position -0.001780 m
2012-10-08T17:51:30.135Z,1349718690.135 [Reporter](INFO): platform_mass_position -0.001484 m
2012-10-08T17:51:30.535Z,1349718690.535 [Reporter](INFO): platform_mass_position -0.001173 m
2012-10-08T17:51:30.938Z,1349718690.938 [Reporter](INFO): platform_mass_position -0.000879 m
2012-10-08T17:51:31.336Z,1349718691.336 [Reporter](INFO): platform_mass_position -0.000592 m
2012-10-08T17:51:31.739Z,1349718691.739 [Reporter](INFO): platform_mass_position -0.000277 m
2012-10-08T17:51:32.131Z,1349718692.131 [Reporter](INFO): platform_mass_position -0.000047 m
2012-10-08T17:51:33.312Z,1349718693.312 [SBIT](CRITICAL): SBIT FAILED
2012-10-08T17:51:33.700Z,1349718693.700 [MissionManager](IMPORTANT): Started mission Startup
2012-10-08T17:51:33.700Z,1349718693.700 [Startup] Running Loop=1
2012-10-08T17:51:33.700Z,1349718693.700 [Startup](INFO): Aggregate::initialize Startup
2012-10-08T17:51:33.700Z,1349718693.700 [Startup:A.GoToSurface] Running Loop=1
2012-10-08T17:51:33.700Z,1349718693.700 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-08T17:51:33.706Z,1349718693.706 [Startup:StartupSatComms] Running Loop=1
2012-10-08T17:51:33.706Z,1349718693.706 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-08T17:51:33.706Z,1349718693.706 [Startup:StartupSatComms:A] Running Loop=1
2012-10-08T17:51:34.104Z,1349718694.104 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-10-08T17:51:43.979Z,1349718703.979 [CommandLine](IMPORTANT): got command restart application
2012-10-08T17:51:45.062Z,1349718705.062 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-08T17:51:45.062Z,1349718705.062 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-08T17:51:45.322Z,1349718705.322 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-08T17:51:45.595Z,1349718705.595 [WetLabsBB2FL](INFO): Powering down
2012-10-08T17:51:45.610Z,1349718705.610 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-08T17:51:45.623Z,1349718705.623 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-10-08T17:51:45.631Z,1349718705.631 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-08T17:51:46.011Z,1349718706.011 [CTD_NeilBrown](INFO): Powering down
2012-10-08T17:51:46.030Z,1349718706.030 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-08T17:51:46.059Z,1349718706.059 [DVL_micro](INFO): uninitialize:Powering down
2012-10-08T17:51:46.072Z,1349718706.072 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-08T17:51:46.263Z,1349718706.263 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-08T17:51:46.271Z,1349718706.271 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-08T17:51:46.273Z,1349718706.273 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-08T17:51:46.323Z,1349718706.323 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-08T17:51:46.323Z,1349718706.323 [AHRS_sp3003D](INFO): Powering down
2012-10-08T17:51:46.411Z,1349718706.411 [NAL9602](INFO): Powering down
2012-10-08T17:51:46.413Z,1349718706.413 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-08T17:51:46.414Z,1349718706.414 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-08T17:51:46.418Z,1349718706.418 [Startup] Stopped
2012-10-08T17:51:46.418Z,1349718706.418 [Startup](INFO): Aggregate::uninitialize Startup
2012-10-08T17:51:46.418Z,1349718706.418 [Startup:A.GoToSurface] Stopped
2012-10-08T17:51:46.418Z,1349718706.418 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-08T17:51:46.418Z,1349718706.418 [Startup:StartupSatComms] Stopped
2012-10-08T17:51:46.419Z,1349718706.418 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-10-08T17:51:46.419Z,1349718706.419 [Startup:StartupSatComms:A] Stopped
2012-10-08T17:51:46.420Z,1349718706.420 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-08T17:51:46.420Z,1349718706.420 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-08T17:51:46.421Z,1349718706.421 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-08T17:51:46.421Z,1349718706.421 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-08T17:51:46.421Z,1349718706.421 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-08T17:51:46.421Z,1349718706.421 [BuoyancyServo](INFO): Powering down
2012-10-08T17:51:46.427Z,1349718706.427 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-08T17:51:46.427Z,1349718706.427 [ElevatorServo](INFO): Powering down
2012-10-08T17:51:46.428Z,1349718706.428 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-08T17:51:46.428Z,1349718706.428 [MassServo](INFO): Powering down
2012-10-08T17:51:46.428Z,1349718706.428 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-08T17:51:46.428Z,1349718706.428 [RudderServo](INFO): Powering down
2012-10-08T17:51:46.429Z,1349718706.429 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-08T17:51:46.429Z,1349718706.429 [ThrusterServo](INFO): Powering down
2012-10-08T17:51:46.430Z,1349718706.430 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-08T17:51:46.431Z,1349718706.431 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-08T17:51:46.431Z,1349718706.431 [CBIT](DEBUG): Uninitialize CBIT Component.