2012-10-08T17:51:47.094Z,1349718707.094 [Supervisor](DEBUG): Initializing supervisor.
2012-10-08T17:51:47.097Z,1349718707.097 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-08T17:51:47.097Z,1349718707.097 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-08T17:51:47.098Z,1349718707.099 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-08T17:51:47.102Z,1349718707.102 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-08T17:51:47.112Z,1349718707.112 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-08T17:51:47.114Z,1349718707.114 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-08T17:51:47.115Z,1349718707.115 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-08T17:51:47.115Z,1349718707.115 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-08T17:51:47.116Z,1349718707.116 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-08T17:51:47.506Z,1349718707.506 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-08T17:51:47.507Z,1349718707.507 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-08T17:51:47.690Z,1349718707.690 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-08T17:51:47.691Z,1349718707.691 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-08T17:51:47.777Z,1349718707.777 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-08T17:51:47.777Z,1349718707.777 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-08T17:51:47.980Z,1349718707.980 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-08T17:51:47.980Z,1349718707.980 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-08T17:51:48.114Z,1349718708.114 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-08T17:51:48.115Z,1349718708.115 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-08T17:51:48.343Z,1349718708.343 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-08T17:51:48.343Z,1349718708.343 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-08T17:51:48.512Z,1349718708.512 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-08T17:51:48.512Z,1349718708.512 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-08T17:51:48.763Z,1349718708.763 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-08T17:51:48.763Z,1349718708.763 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-08T17:51:48.863Z,1349718708.863 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-08T17:51:48.863Z,1349718708.864 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-08T17:51:49.273Z,1349718709.273 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-08T17:51:49.273Z,1349718709.273 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-08T17:51:49.389Z,1349718709.389 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-08T17:51:49.389Z,1349718709.389 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-08T17:51:49.476Z,1349718709.476 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-08T17:51:49.477Z,1349718709.477 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-08T17:51:49.582Z,1349718709.582 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-08T17:51:49.714Z,1349718709.714 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-08T17:51:49.806Z,1349718709.806 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-08T17:51:49.940Z,1349718709.940 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-08T17:51:50.112Z,1349718710.112 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-08T17:51:50.235Z,1349718710.235 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-08T17:51:50.328Z,1349718710.328 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-08T17:51:50.416Z,1349718710.416 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-08T17:51:50.445Z,1349718710.445 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-08T17:51:50.585Z,1349718710.585 [InternalSim] Loaded
2012-10-08T17:51:50.585Z,1349718710.585 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-08T17:51:50.586Z,1349718710.586 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-08T17:51:50.586Z,1349718710.586 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-08T17:51:50.643Z,1349718710.644 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-08T17:51:50.657Z,1349718710.657 [SBIT] Loaded
2012-10-08T17:51:50.658Z,1349718710.658 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-08T17:51:50.659Z,1349718710.659 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-08T17:51:50.686Z,1349718710.686 [IBIT] Loaded
2012-10-08T17:51:50.686Z,1349718710.686 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-08T17:51:50.690Z,1349718710.690 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-08T17:51:50.811Z,1349718710.811 [CBIT] Loaded
2012-10-08T17:51:50.811Z,1349718710.811 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-08T17:51:50.812Z,1349718710.812 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-08T17:51:50.812Z,1349718710.812 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-08T17:51:50.960Z,1349718710.960 [BuoyancyServo] Loaded
2012-10-08T17:51:50.960Z,1349718710.960 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-08T17:51:50.969Z,1349718710.969 [ElevatorServo] Loaded
2012-10-08T17:51:50.970Z,1349718710.970 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-08T17:51:50.986Z,1349718710.986 [MassServo] Loaded
2012-10-08T17:51:50.986Z,1349718710.986 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-08T17:51:50.998Z,1349718710.998 [RudderServo] Loaded
2012-10-08T17:51:50.998Z,1349718710.998 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-08T17:51:51.010Z,1349718711.010 [ThrusterServo] Loaded
2012-10-08T17:51:51.010Z,1349718711.010 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-08T17:51:51.010Z,1349718711.010 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-08T17:51:51.011Z,1349718711.011 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-08T17:51:51.028Z,1349718711.028 [DepthRateCalculator] Loaded
2012-10-08T17:51:51.028Z,1349718711.028 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-08T17:51:55.023Z,1349718715.023 [HFRadarModelCalc] Loaded
2012-10-08T17:51:55.023Z,1349718715.023 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-08T17:51:55.039Z,1349718715.039 [NavChart] Loaded
2012-10-08T17:51:55.039Z,1349718715.039 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-08T17:51:55.045Z,1349718715.045 [PitchRateCalculator] Loaded
2012-10-08T17:51:55.045Z,1349718715.045 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-08T17:51:55.051Z,1349718715.051 [SpeedCalculator] Loaded
2012-10-08T17:51:55.052Z,1349718715.052 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-08T17:51:55.066Z,1349718715.066 [TempGradientCalculator] Loaded
2012-10-08T17:51:55.066Z,1349718715.066 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-08T17:51:55.072Z,1349718715.072 [YawRateCalculator] Loaded
2012-10-08T17:51:55.072Z,1349718715.072 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-08T17:51:55.091Z,1349718715.091 [Navigation] Loaded
2012-10-08T17:51:55.091Z,1349718715.091 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-08T17:51:55.092Z,1349718715.092 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-08T17:51:55.092Z,1349718715.092 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-08T17:51:55.316Z,1349718715.316 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-08T17:51:55.316Z,1349718715.316 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-08T17:51:55.339Z,1349718715.339 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-08T17:51:55.340Z,1349718715.340 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-08T17:51:55.380Z,1349718715.380 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-08T17:51:55.423Z,1349718715.423 [VerticalControl] Loaded
2012-10-08T17:51:55.423Z,1349718715.423 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-08T17:51:55.424Z,1349718715.424 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-08T17:51:55.444Z,1349718715.444 [HorizontalControl] Loaded
2012-10-08T17:51:55.444Z,1349718715.444 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-08T17:51:55.445Z,1349718715.445 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-08T17:51:55.446Z,1349718715.446 [SpeedControl] Loaded
2012-10-08T17:51:55.447Z,1349718715.447 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-08T17:51:55.448Z,1349718715.448 [LoopControl](DEBUG): Construct LoopControl.
2012-10-08T17:51:55.448Z,1349718715.448 [LoopControl] Loaded
2012-10-08T17:51:55.448Z,1349718715.448 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-08T17:51:55.449Z,1349718715.449 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-08T17:51:55.449Z,1349718715.449 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-08T17:51:55.454Z,1349718715.454 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-08T17:51:55.459Z,1349718715.459 [AsyncPiEstimator] Loaded
2012-10-08T17:51:55.460Z,1349718715.460 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-08T17:51:55.461Z,1349718715.461 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-08T17:51:55.461Z,1349718715.461 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-08T17:51:55.462Z,1349718715.462 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-08T17:51:55.587Z,1349718715.588 [AHRS_sp3003D] Loaded
2012-10-08T17:51:55.588Z,1349718715.588 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-08T17:51:55.601Z,1349718715.602 [Depth_Keller] Loaded
2012-10-08T17:51:55.602Z,1349718715.602 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-08T17:51:55.607Z,1349718715.607 [DropWeight] Loaded
2012-10-08T17:51:55.608Z,1349718715.608 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-08T17:51:55.724Z,1349718715.724 [DVL_micro] Loaded
2012-10-08T17:51:55.724Z,1349718715.724 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-08T17:51:55.725Z,1349718715.725 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-08T17:51:55.807Z,1349718715.807 [NAL9602] Loaded
2012-10-08T17:51:55.808Z,1349718715.808 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-08T17:51:55.858Z,1349718715.858 [Onboard] Loaded
2012-10-08T17:51:55.859Z,1349718715.859 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-08T17:51:55.865Z,1349718715.865 [Radio_Freewave] Loaded
2012-10-08T17:51:55.866Z,1349718715.866 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-08T17:51:55.867Z,1349718715.867 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-08T17:51:55.867Z,1349718715.867 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-08T17:51:55.938Z,1349718715.938 [CTD_NeilBrown] Loaded
2012-10-08T17:51:55.938Z,1349718715.938 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-08T17:51:55.939Z,1349718715.939 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-08T17:51:55.949Z,1349718715.949 [PAR_Licor] Loaded
2012-10-08T17:51:55.949Z,1349718715.949 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-08T17:51:55.965Z,1349718715.966 [Turbulence_NPS] Loaded
2012-10-08T17:51:55.966Z,1349718715.966 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-08T17:51:55.967Z,1349718715.967 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-08T17:51:56.003Z,1349718716.003 [WetLabsBB2FL] Loaded
2012-10-08T17:51:56.003Z,1349718716.003 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-08T17:51:56.004Z,1349718716.004 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-08T17:51:56.005Z,1349718716.005 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-08T17:51:56.007Z,1349718716.007 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-08T17:51:56.008Z,1349718716.008 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-08T17:51:56.014Z,1349718716.014 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-08T17:51:56.016Z,1349718716.016 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-08T17:51:56.020Z,1349718716.020 [Supervisor](DEBUG): Running supervisor.
2012-10-08T17:51:56.021Z,1349718716.021 [CommandLine](INFO): Thread ID is 975
2012-10-08T17:51:56.024Z,1349718716.024 [controlThread](INFO): Thread ID is 974
2012-10-08T17:51:56.024Z,1349718716.024 [controlThread](DEBUG): Initializing ControlThread
2012-10-08T17:51:56.024Z,1349718716.024 [CycleStarter](INFO): Thread ID is 973
2012-10-08T17:51:56.025Z,1349718716.025 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-08T17:51:56.059Z,1349718716.059 [AsyncPiEstimator](INFO): Thread ID is 1037
2012-10-08T17:51:56.059Z,1349718716.059 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-08T17:51:56.069Z,1349718716.069 [SBIT](INFO): Initialize SBIT Component.
2012-10-08T17:51:56.069Z,1349718716.069 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9936
2012-10-08T17:51:56.070Z,1349718716.070 [IBIT](INFO): Initialize IBIT Component.
2012-10-08T17:51:56.071Z,1349718716.071 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-08T17:51:56.071Z,1349718716.071 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-08T17:51:56.072Z,1349718716.072 [DVL_micro](INFO): Thread ID is 1038
2012-10-08T17:51:56.081Z,1349718716.081 [DVL_micro](INFO): Initializing
2012-10-08T17:51:56.081Z,1349718716.081 [DVL_micro](INFO): start:Powering up
2012-10-08T17:51:56.083Z,1349718716.083 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-08T17:51:56.083Z,1349718716.083 [DVL_micro](INFO): Cycling power to configure device.
2012-10-08T17:51:56.096Z,1349718716.096 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-08T17:51:56.096Z,1349718716.096 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-08T17:51:56.097Z,1349718716.097 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-08T17:51:56.097Z,1349718716.097 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-08T17:51:56.097Z,1349718716.098 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-08T17:51:56.099Z,1349718716.099 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-08T17:51:56.099Z,1349718716.099 [Navigation](DEBUG): Initializing Navigation.
2012-10-08T17:51:56.100Z,1349718716.100 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-08T17:51:56.101Z,1349718716.102 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-08T17:51:56.102Z,1349718716.102 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-08T17:51:56.103Z,1349718716.103 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-08T17:51:56.108Z,1349718716.108 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-08T17:51:56.111Z,1349718716.111 [CTD_NeilBrown](INFO): Thread ID is 1039
2012-10-08T17:51:56.112Z,1349718716.112 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-08T17:51:56.119Z,1349718716.119 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-08T17:51:56.132Z,1349718716.132 [Turbulence_NPS](INFO): Thread ID is 1040
2012-10-08T17:51:56.132Z,1349718716.132 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-08T17:51:56.133Z,1349718716.133 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-08T17:51:56.147Z,1349718716.148 [WetLabsBB2FL](INFO): Thread ID is 1041
2012-10-08T17:51:56.148Z,1349718716.148 [WetLabsBB2FL](INFO): Powering down
2012-10-08T17:51:56.164Z,1349718716.164 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T17:51:56.177Z,1349718716.177 [NavChartDb](INFO): Thread ID is 1042
2012-10-08T17:51:56.183Z,1349718716.183 [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>


2012-10-08T17:51:56.184Z,1349718716.184 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-08T17:51:56.203Z,1349718716.203 [Turbulence_NPS](INFO): Pause powering down
2012-10-08T17:51:56.251Z,1349718716.251 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-08T17:51:56.253Z,1349718716.253 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-08T17:51:56.257Z,1349718716.257 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T17:51:56.264Z,1349718716.264 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-08T17:51:56.268Z,1349718716.267 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T17:51:56.274Z,1349718716.274 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-08T17:51:56.282Z,1349718716.282 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-08T17:51:56.285Z,1349718716.285 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T17:51:56.290Z,1349718716.290 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-08T17:51:56.294Z,1349718716.293 [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>


2012-10-08T17:51:56.298Z,1349718716.298 [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,
2012-10-08T17:51:56.318Z,1349718716.318 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-08T17:51:56.331Z,1349718716.331 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-08T17:51:56.332Z,1349718716.332 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-08T17:51:56.332Z,1349718716.332 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-08T17:51:56.332Z,1349718716.332 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-08T17:51:56.333Z,1349718716.332 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-08T17:51:56.804Z,1349718716.804 [Radio_Freewave](INFO): Powering up
2012-10-08T17:51:56.911Z,1349718716.911 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:51:56.915Z,1349718716.915 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-08T17:51:56.921Z,1349718716.921 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:51:56.922Z,1349718716.922 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-08T17:51:56.928Z,1349718716.928 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:51:56.931Z,1349718716.931 [MassServo](DEBUG): Initializing MassServo.
2012-10-08T17:51:56.937Z,1349718716.937 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:51:56.938Z,1349718716.938 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-08T17:51:56.943Z,1349718716.944 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:51:56.947Z,1349718716.947 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-08T17:51:58.147Z,1349718718.147 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-08T17:51:58.147Z,1349718718.147 [DVL_micro](INFO): Querying output modes
2012-10-08T17:51:58.147Z,1349718718.148 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-08T17:51:58.151Z,1349718718.151 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-08T17:51:58.151Z,1349718718.151 [DVL_micro](INFO): NQ1 output enabled
2012-10-08T17:51:58.151Z,1349718718.151 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-08T17:51:58.159Z,1349718718.159 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-08T17:51:58.164Z,1349718718.164 [DVL_micro](INFO): pause:Powering down
2012-10-08T17:52:02.061Z,1349718722.061 [NAL9602](INFO): Powering up NAL9602
2012-10-08T17:52:12.854Z,1349718732.854 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-08T17:52:12.860Z,1349718732.860 [CBIT](IMPORTANT): Beginning GF scan
2012-10-08T17:52:13.083Z,1349718733.083 [NAL9602](INFO): NAL9602 initialized
2012-10-08T17:52:16.303Z,1349718736.303 [CommandLine](IMPORTANT): got command report mod platform_mass_position
2012-10-08T17:52:16.411Z,1349718736.411 [Reporter](INFO): platform_mass_position 0.000000 m
2012-10-08T17:52:19.771Z,1349718739.771 [Reporter](INFO): platform_mass_position 0.001307 m
2012-10-08T17:52:21.086Z,1349718741.086 [Reporter](INFO): platform_mass_position 0.002258 m
2012-10-08T17:52:21.703Z,1349718741.703 [Reporter](INFO): platform_mass_position 0.002672 m
2012-10-08T17:52:23.099Z,1349718743.099 [Reporter](INFO): platform_mass_position 0.003803 m
2012-10-08T17:52:24.124Z,1349718744.124 [Reporter](INFO): platform_mass_position 0.004562 m
2012-10-08T17:52:25.335Z,1349718745.335 [Reporter](INFO): platform_mass_position 0.005458 m
2012-10-08T17:52:26.328Z,1349718746.328 [Reporter](INFO): platform_mass_position 0.005557 m
2012-10-08T17:52:31.948Z,1349718751.948 [Reporter](INFO): platform_mass_position 0.005293 m
2012-10-08T17:52:32.363Z,1349718752.363 [Reporter](INFO): platform_mass_position 0.004972 m
2012-10-08T17:52:33.036Z,1349718753.036 [Reporter](INFO): platform_mass_position 0.004473 m
2012-10-08T17:52:34.324Z,1349718754.323 [Reporter](INFO): platform_mass_position 0.003516 m
2012-10-08T17:52:35.672Z,1349718755.672 [Reporter](INFO): platform_mass_position 0.002515 m
2012-10-08T17:52:36.656Z,1349718756.656 [Reporter](INFO): platform_mass_position 0.001802 m
2012-10-08T17:52:37.155Z,1349718757.155 [Reporter](INFO): platform_mass_position 0.001477 m
2012-10-08T17:52:38.059Z,1349718758.059 [Reporter](INFO): platform_mass_position 0.000718 m
2012-10-08T17:52:39.016Z,1349718759.016 [Reporter](INFO): platform_mass_position 0.000007 m
2012-10-08T17:52:40.284Z,1349718760.284 [Reporter](INFO): platform_mass_position -0.000929 m
2012-10-08T17:52:40.928Z,1349718760.928 [Reporter](INFO): platform_mass_position -0.001398 m
2012-10-08T17:52:42.225Z,1349718762.225 [CBIT](IMPORTANT): No ground fault detected
2012-10-08T17:52:42.228Z,1349718762.228 [Reporter](INFO): platform_mass_position -0.002369 m
2012-10-08T17:52:43.116Z,1349718763.116 [Reporter](INFO): platform_mass_position -0.003032 m
2012-10-08T17:52:44.677Z,1349718764.677 [Reporter](INFO): platform_mass_position -0.004192 m
2012-10-08T17:52:46.456Z,1349718766.456 [Reporter](INFO): platform_mass_position -0.005525 m
2012-10-08T17:52:46.748Z,1349718766.748 [Reporter](INFO): platform_mass_position -0.005561 m
2012-10-08T17:52:58.623Z,1349718778.623 [Reporter](INFO): platform_mass_position -0.005091 m
2012-10-08T17:52:58.947Z,1349718778.947 [Reporter](INFO): platform_mass_position -0.004864 m
2012-10-08T17:53:00.367Z,1349718780.367 [Reporter](INFO): platform_mass_position -0.003799 m
2012-10-08T17:53:01.795Z,1349718781.796 [Reporter](INFO): platform_mass_position -0.002765 m
2012-10-08T17:53:03.187Z,1349718783.187 [Reporter](INFO): platform_mass_position -0.001784 m
2012-10-08T17:53:03.439Z,1349718783.439 [Reporter](INFO): platform_mass_position -0.001508 m
2012-10-08T17:53:03.819Z,1349718783.819 [Reporter](INFO): platform_mass_position -0.001213 m
2012-10-08T17:53:04.223Z,1349718784.223 [Reporter](INFO): platform_mass_position -0.000923 m
2012-10-08T17:53:04.619Z,1349718784.619 [Reporter](INFO): platform_mass_position -0.000622 m
2012-10-08T17:53:05.019Z,1349718785.019 [Reporter](INFO): platform_mass_position -0.000329 m
2012-10-08T17:53:05.423Z,1349718785.423 [Reporter](INFO): platform_mass_position -0.000045 m
2012-10-08T17:53:08.192Z,1349718788.192 [SBIT](IMPORTANT): SBIT PASSED
2012-10-08T17:53:08.588Z,1349718788.588 [MissionManager](IMPORTANT): Started mission Startup
2012-10-08T17:53:08.588Z,1349718788.588 [Startup] Running Loop=1
2012-10-08T17:53:08.589Z,1349718788.589 [Startup](INFO): Aggregate::initialize Startup
2012-10-08T17:53:08.589Z,1349718788.589 [Startup:A.GoToSurface] Running Loop=1
2012-10-08T17:53:08.589Z,1349718788.589 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-08T17:53:08.595Z,1349718788.595 [Startup:StartupSatComms] Running Loop=1
2012-10-08T17:53:08.595Z,1349718788.595 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-08T17:53:08.595Z,1349718788.595 [Startup:StartupSatComms:A] Running Loop=1
2012-10-08T17:53:08.988Z,1349718788.989 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-10-08T17:54:08.992Z,1349718848.992 [Startup:StartupSatComms:A](INFO): Timed out from 2012-10-08T17:53:08.6Z
2012-10-08T17:54:08.992Z,1349718848.992 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2012-10-08T17:54:08.992Z,1349718848.992 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2012-10-08T17:54:08.993Z,1349718848.993 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2012-10-08T17:54:08.993Z,1349718848.993 [Startup:StartupSatComms:A] Stopped
2012-10-08T17:54:08.993Z,1349718848.993 [Startup:StartupSatComms:B] Running Loop=1
2012-10-08T17:54:09.384Z,1349718849.384 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-10-08T17:54:29.631Z,1349718869.631 [CommandLine](IMPORTANT): got command restart application
2012-10-08T17:54:30.774Z,1349718870.774 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-08T17:54:30.775Z,1349718870.774 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-08T17:54:30.794Z,1349718870.795 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-08T17:54:30.959Z,1349718870.959 [WetLabsBB2FL](INFO): Powering down
2012-10-08T17:54:30.974Z,1349718870.974 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-08T17:54:31.157Z,1349718871.157 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-10-08T17:54:31.175Z,1349718871.174 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-08T17:54:31.447Z,1349718871.447 [CTD_NeilBrown](INFO): Powering down
2012-10-08T17:54:31.454Z,1349718871.454 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-08T17:54:31.819Z,1349718871.819 [DVL_micro](INFO): uninitialize:Powering down
2012-10-08T17:54:31.835Z,1349718871.835 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-08T17:54:32.095Z,1349718872.095 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-08T17:54:32.096Z,1349718872.096 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-08T17:54:32.098Z,1349718872.098 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-08T17:54:32.159Z,1349718872.159 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-08T17:54:32.159Z,1349718872.159 [AHRS_sp3003D](INFO): Powering down
2012-10-08T17:54:32.247Z,1349718872.247 [NAL9602](INFO): Powering down
2012-10-08T17:54:32.249Z,1349718872.249 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-08T17:54:32.250Z,1349718872.250 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-08T17:54:32.254Z,1349718872.254 [Startup] Stopped
2012-10-08T17:54:32.254Z,1349718872.254 [Startup](INFO): Aggregate::uninitialize Startup
2012-10-08T17:54:32.254Z,1349718872.254 [Startup:A.GoToSurface] Stopped
2012-10-08T17:54:32.255Z,1349718872.254 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-08T17:54:32.255Z,1349718872.255 [Startup:StartupSatComms] Stopped
2012-10-08T17:54:32.255Z,1349718872.255 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-10-08T17:54:32.255Z,1349718872.255 [Startup:StartupSatComms:B] Stopped
2012-10-08T17:54:32.256Z,1349718872.256 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-08T17:54:32.256Z,1349718872.256 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-08T17:54:32.257Z,1349718872.257 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-08T17:54:32.257Z,1349718872.257 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-08T17:54:32.257Z,1349718872.257 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-08T17:54:32.257Z,1349718872.257 [BuoyancyServo](INFO): Powering down
2012-10-08T17:54:32.263Z,1349718872.263 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-08T17:54:32.263Z,1349718872.263 [ElevatorServo](INFO): Powering down
2012-10-08T17:54:32.264Z,1349718872.264 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-08T17:54:32.264Z,1349718872.264 [MassServo](INFO): Powering down
2012-10-08T17:54:32.264Z,1349718872.264 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-08T17:54:32.264Z,1349718872.264 [RudderServo](INFO): Powering down
2012-10-08T17:54:32.265Z,1349718872.265 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-08T17:54:32.265Z,1349718872.265 [ThrusterServo](INFO): Powering down
2012-10-08T17:54:32.266Z,1349718872.266 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-08T17:54:32.267Z,1349718872.267 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-08T17:54:32.267Z,1349718872.267 [CBIT](DEBUG): Uninitialize CBIT Component.