2012-10-08T23:12:15.267Z,1349737935.267 [Supervisor](DEBUG): Initializing supervisor.
2012-10-08T23:12:15.270Z,1349737935.270 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-08T23:12:15.271Z,1349737935.271 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-08T23:12:15.272Z,1349737935.272 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-08T23:12:15.276Z,1349737935.276 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-08T23:12:15.288Z,1349737935.288 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-08T23:12:15.289Z,1349737935.289 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-08T23:12:15.289Z,1349737935.289 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-08T23:12:15.290Z,1349737935.290 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-08T23:12:15.292Z,1349737935.292 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-08T23:12:15.682Z,1349737935.682 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-08T23:12:15.683Z,1349737935.683 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-08T23:12:15.862Z,1349737935.862 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-08T23:12:15.862Z,1349737935.862 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-08T23:12:15.948Z,1349737935.948 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-08T23:12:15.948Z,1349737935.948 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-08T23:12:16.185Z,1349737936.185 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-08T23:12:16.186Z,1349737936.186 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-08T23:12:16.319Z,1349737936.319 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-08T23:12:16.320Z,1349737936.320 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-08T23:12:16.542Z,1349737936.542 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-08T23:12:16.543Z,1349737936.543 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-08T23:12:16.709Z,1349737936.709 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-08T23:12:16.710Z,1349737936.710 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-08T23:12:16.952Z,1349737936.952 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-08T23:12:16.952Z,1349737936.952 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-08T23:12:17.051Z,1349737937.051 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-08T23:12:17.052Z,1349737937.052 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-08T23:12:17.437Z,1349737937.437 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-08T23:12:17.438Z,1349737937.438 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-08T23:12:17.552Z,1349737937.552 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-08T23:12:17.552Z,1349737937.552 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-08T23:12:17.638Z,1349737937.638 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-08T23:12:17.639Z,1349737937.639 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-08T23:12:17.740Z,1349737937.740 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-08T23:12:17.869Z,1349737937.869 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-08T23:12:17.956Z,1349737937.956 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-08T23:12:18.056Z,1349737938.056 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-08T23:12:18.157Z,1349737938.157 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-08T23:12:18.273Z,1349737938.273 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-08T23:12:18.364Z,1349737938.364 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-08T23:12:18.452Z,1349737938.452 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-08T23:12:18.481Z,1349737938.481 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-08T23:12:18.653Z,1349737938.653 [InternalSim] Loaded
2012-10-08T23:12:18.654Z,1349737938.654 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-08T23:12:18.654Z,1349737938.654 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-08T23:12:18.655Z,1349737938.655 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-08T23:12:18.732Z,1349737938.732 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-08T23:12:18.745Z,1349737938.745 [SBIT] Loaded
2012-10-08T23:12:18.745Z,1349737938.745 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-08T23:12:18.746Z,1349737938.746 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-08T23:12:18.774Z,1349737938.774 [IBIT] Loaded
2012-10-08T23:12:18.774Z,1349737938.774 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-08T23:12:18.778Z,1349737938.778 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-08T23:12:18.893Z,1349737938.893 [CBIT] Loaded
2012-10-08T23:12:18.893Z,1349737938.893 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-08T23:12:18.894Z,1349737938.894 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-08T23:12:18.894Z,1349737938.894 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-08T23:12:19.056Z,1349737939.056 [BuoyancyServo] Loaded
2012-10-08T23:12:19.057Z,1349737939.057 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-08T23:12:19.066Z,1349737939.066 [ElevatorServo] Loaded
2012-10-08T23:12:19.066Z,1349737939.066 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-08T23:12:19.077Z,1349737939.077 [MassServo] Loaded
2012-10-08T23:12:19.078Z,1349737939.078 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-08T23:12:19.089Z,1349737939.089 [RudderServo] Loaded
2012-10-08T23:12:19.090Z,1349737939.090 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-08T23:12:19.101Z,1349737939.101 [ThrusterServo] Loaded
2012-10-08T23:12:19.101Z,1349737939.101 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-08T23:12:19.102Z,1349737939.102 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-08T23:12:19.102Z,1349737939.102 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-08T23:12:19.120Z,1349737939.121 [DepthRateCalculator] Loaded
2012-10-08T23:12:19.121Z,1349737939.121 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-08T23:12:23.106Z,1349737943.106 [HFRadarModelCalc] Loaded
2012-10-08T23:12:23.107Z,1349737943.107 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-08T23:12:23.123Z,1349737943.123 [NavChart] Loaded
2012-10-08T23:12:23.123Z,1349737943.123 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-08T23:12:23.129Z,1349737943.129 [PitchRateCalculator] Loaded
2012-10-08T23:12:23.129Z,1349737943.129 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-08T23:12:23.135Z,1349737943.135 [SpeedCalculator] Loaded
2012-10-08T23:12:23.135Z,1349737943.135 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-08T23:12:23.150Z,1349737943.150 [TempGradientCalculator] Loaded
2012-10-08T23:12:23.150Z,1349737943.150 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-08T23:12:23.156Z,1349737943.156 [YawRateCalculator] Loaded
2012-10-08T23:12:23.156Z,1349737943.156 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-08T23:12:23.175Z,1349737943.175 [Navigation] Loaded
2012-10-08T23:12:23.175Z,1349737943.175 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-08T23:12:23.176Z,1349737943.176 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-08T23:12:23.176Z,1349737943.176 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-08T23:12:23.401Z,1349737943.401 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-08T23:12:23.402Z,1349737943.402 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-08T23:12:23.425Z,1349737943.425 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-08T23:12:23.426Z,1349737943.426 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-08T23:12:23.468Z,1349737943.468 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-08T23:12:23.528Z,1349737943.528 [VerticalControl] Loaded
2012-10-08T23:12:23.529Z,1349737943.529 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-08T23:12:23.530Z,1349737943.530 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-08T23:12:23.549Z,1349737943.549 [HorizontalControl] Loaded
2012-10-08T23:12:23.550Z,1349737943.550 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-08T23:12:23.551Z,1349737943.551 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-08T23:12:23.552Z,1349737943.552 [SpeedControl] Loaded
2012-10-08T23:12:23.553Z,1349737943.553 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-08T23:12:23.553Z,1349737943.553 [LoopControl](DEBUG): Construct LoopControl.
2012-10-08T23:12:23.554Z,1349737943.554 [LoopControl] Loaded
2012-10-08T23:12:23.554Z,1349737943.554 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-08T23:12:23.555Z,1349737943.555 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-08T23:12:23.555Z,1349737943.555 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-08T23:12:23.561Z,1349737943.561 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-08T23:12:23.566Z,1349737943.566 [AsyncPiEstimator] Loaded
2012-10-08T23:12:23.566Z,1349737943.566 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-08T23:12:23.567Z,1349737943.567 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-08T23:12:23.568Z,1349737943.568 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-08T23:12:23.568Z,1349737943.568 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-08T23:12:23.698Z,1349737943.698 [AHRS_sp3003D] Loaded
2012-10-08T23:12:23.698Z,1349737943.698 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-08T23:12:23.712Z,1349737943.712 [Depth_Keller] Loaded
2012-10-08T23:12:23.712Z,1349737943.712 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-08T23:12:23.717Z,1349737943.717 [DropWeight] Loaded
2012-10-08T23:12:23.718Z,1349737943.718 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-08T23:12:23.833Z,1349737943.833 [DVL_micro] Loaded
2012-10-08T23:12:23.833Z,1349737943.833 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-08T23:12:23.834Z,1349737943.834 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-08T23:12:23.915Z,1349737943.915 [NAL9602] Loaded
2012-10-08T23:12:23.915Z,1349737943.915 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-08T23:12:23.965Z,1349737943.966 [Onboard] Loaded
2012-10-08T23:12:23.966Z,1349737943.966 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-08T23:12:23.973Z,1349737943.973 [Radio_Freewave] Loaded
2012-10-08T23:12:23.973Z,1349737943.973 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-08T23:12:23.974Z,1349737943.974 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-08T23:12:23.975Z,1349737943.974 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-08T23:12:24.068Z,1349737944.068 [CTD_NeilBrown] Loaded
2012-10-08T23:12:24.069Z,1349737944.069 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-08T23:12:24.070Z,1349737944.070 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-08T23:12:24.080Z,1349737944.080 [PAR_Licor] Loaded
2012-10-08T23:12:24.080Z,1349737944.080 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-08T23:12:24.097Z,1349737944.096 [Turbulence_NPS] Loaded
2012-10-08T23:12:24.097Z,1349737944.097 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-08T23:12:24.098Z,1349737944.098 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-08T23:12:24.127Z,1349737944.127 [WetLabsBB2FL] Loaded
2012-10-08T23:12:24.127Z,1349737944.127 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-08T23:12:24.128Z,1349737944.128 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-08T23:12:24.129Z,1349737944.129 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-08T23:12:24.132Z,1349737944.132 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-08T23:12:24.132Z,1349737944.132 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-08T23:12:24.139Z,1349737944.139 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-08T23:12:24.140Z,1349737944.140 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-08T23:12:24.145Z,1349737944.145 [Supervisor](DEBUG): Running supervisor.
2012-10-08T23:12:24.146Z,1349737944.146 [CommandLine](INFO): Thread ID is 7461
2012-10-08T23:12:24.148Z,1349737944.148 [controlThread](INFO): Thread ID is 7460
2012-10-08T23:12:24.148Z,1349737944.148 [controlThread](DEBUG): Initializing ControlThread
2012-10-08T23:12:24.149Z,1349737944.149 [CycleStarter](INFO): Thread ID is 7459
2012-10-08T23:12:24.150Z,1349737944.150 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-08T23:12:24.183Z,1349737944.183 [AsyncPiEstimator](INFO): Thread ID is 7522
2012-10-08T23:12:24.183Z,1349737944.183 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-08T23:12:24.195Z,1349737944.195 [SBIT](INFO): Initialize SBIT Component.
2012-10-08T23:12:24.195Z,1349737944.195 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9939
2012-10-08T23:12:24.196Z,1349737944.196 [IBIT](INFO): Initialize IBIT Component.
2012-10-08T23:12:24.197Z,1349737944.197 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-08T23:12:24.197Z,1349737944.197 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-08T23:12:24.198Z,1349737944.198 [DVL_micro](INFO): Thread ID is 7523
2012-10-08T23:12:24.207Z,1349737944.207 [DVL_micro](INFO): Initializing
2012-10-08T23:12:24.208Z,1349737944.208 [DVL_micro](INFO): start:Powering up
2012-10-08T23:12:24.209Z,1349737944.209 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-08T23:12:24.209Z,1349737944.210 [DVL_micro](INFO): Cycling power to configure device.
2012-10-08T23:12:24.224Z,1349737944.224 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-08T23:12:24.224Z,1349737944.224 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-08T23:12:24.225Z,1349737944.225 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-08T23:12:24.225Z,1349737944.225 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-08T23:12:24.225Z,1349737944.225 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-08T23:12:24.227Z,1349737944.227 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-08T23:12:24.227Z,1349737944.227 [Navigation](DEBUG): Initializing Navigation.
2012-10-08T23:12:24.228Z,1349737944.228 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-08T23:12:24.229Z,1349737944.229 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-08T23:12:24.230Z,1349737944.230 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-08T23:12:24.231Z,1349737944.231 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-08T23:12:24.235Z,1349737944.235 [CTD_NeilBrown](INFO): Thread ID is 7524
2012-10-08T23:12:24.236Z,1349737944.236 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-08T23:12:24.239Z,1349737944.239 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-08T23:12:24.240Z,1349737944.240 [Turbulence_NPS](INFO): Thread ID is 7525
2012-10-08T23:12:24.251Z,1349737944.251 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-08T23:12:24.251Z,1349737944.251 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-08T23:12:24.263Z,1349737944.263 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-08T23:12:24.276Z,1349737944.276 [WetLabsBB2FL](INFO): Thread ID is 7526
2012-10-08T23:12:24.277Z,1349737944.277 [WetLabsBB2FL](INFO): Powering down
2012-10-08T23:12:24.298Z,1349737944.298 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T23:12:24.314Z,1349737944.314 [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>


2012-10-08T23:12:24.315Z,1349737944.315 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-08T23:12:24.317Z,1349737944.317 [NavChartDb](INFO): Thread ID is 7527
2012-10-08T23:12:24.323Z,1349737944.323 [Turbulence_NPS](INFO): Pause powering down
2012-10-08T23:12:24.358Z,1349737944.358 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-08T23:12:24.370Z,1349737944.370 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-08T23:12:24.372Z,1349737944.372 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-08T23:12:24.375Z,1349737944.375 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T23:12:24.383Z,1349737944.383 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-08T23:12:24.387Z,1349737944.387 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T23:12:24.393Z,1349737944.393 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-08T23:12:24.402Z,1349737944.402 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-08T23:12:24.405Z,1349737944.405 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T23:12:24.410Z,1349737944.410 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-08T23:12:24.414Z,1349737944.414 [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>


2012-10-08T23:12:24.418Z,1349737944.418 [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,
2012-10-08T23:12:24.439Z,1349737944.439 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-08T23:12:24.471Z,1349737944.471 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-08T23:12:24.471Z,1349737944.471 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-08T23:12:24.472Z,1349737944.472 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-08T23:12:24.472Z,1349737944.472 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-08T23:12:25.640Z,1349737945.640 [Radio_Freewave](INFO): Powering up
2012-10-08T23:12:25.728Z,1349737945.728 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-08T23:12:25.731Z,1349737945.731 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-08T23:12:25.737Z,1349737945.737 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-08T23:12:25.738Z,1349737945.738 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-08T23:12:25.744Z,1349737945.744 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-08T23:12:25.747Z,1349737945.747 [MassServo](DEBUG): Initializing MassServo.
2012-10-08T23:12:25.752Z,1349737945.752 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-08T23:12:25.753Z,1349737945.753 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-08T23:12:25.760Z,1349737945.760 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-08T23:12:25.763Z,1349737945.763 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-08T23:12:26.283Z,1349737946.283 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-08T23:12:26.283Z,1349737946.283 [DVL_micro](INFO): Querying output modes
2012-10-08T23:12:26.283Z,1349737946.283 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-08T23:12:26.287Z,1349737946.287 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-08T23:12:26.287Z,1349737946.287 [DVL_micro](INFO): NQ1 output enabled
2012-10-08T23:12:26.287Z,1349737946.287 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-08T23:12:26.291Z,1349737946.291 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-08T23:12:26.296Z,1349737946.296 [DVL_micro](INFO): pause:Powering down
2012-10-08T23:12:29.274Z,1349737949.274 [NAL9602](INFO): Powering up NAL9602
2012-10-08T23:12:34.744Z,1349737954.744 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:20%. Temp:22 C. ABORTING MISSION
2012-10-08T23:12:40.734Z,1349737960.734 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-08T23:12:40.737Z,1349737960.737 [CBIT](IMPORTANT): Beginning GF scan
2012-10-08T23:12:40.959Z,1349737960.959 [NAL9602](INFO): NAL9602 initialized
2012-10-08T23:12:52.831Z,1349737972.831 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:20%. Temp:22 C. ABORTING MISSION