2012-10-09T01:15:09.526Z,1349745309.526 [Supervisor](DEBUG): Initializing supervisor.
2012-10-09T01:15:09.539Z,1349745309.539 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-09T01:15:09.539Z,1349745309.539 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-09T01:15:09.550Z,1349745309.550 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-09T01:15:09.554Z,1349745309.554 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-09T01:15:09.577Z,1349745309.577 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-09T01:15:09.586Z,1349745309.586 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-09T01:15:09.587Z,1349745309.588 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-09T01:15:09.588Z,1349745309.588 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-09T01:15:09.589Z,1349745309.589 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-09T01:15:10.176Z,1349745310.176 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-09T01:15:10.176Z,1349745310.177 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-09T01:15:10.527Z,1349745310.527 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-09T01:15:10.528Z,1349745310.528 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-09T01:15:10.692Z,1349745310.692 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-09T01:15:10.692Z,1349745310.692 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-09T01:15:11.076Z,1349745311.076 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-09T01:15:11.077Z,1349745311.077 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-09T01:15:11.206Z,1349745311.207 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-09T01:15:11.207Z,1349745311.207 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-09T01:15:11.427Z,1349745311.427 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-09T01:15:11.428Z,1349745311.428 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-09T01:15:11.596Z,1349745311.596 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-09T01:15:11.596Z,1349745311.596 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-09T01:15:11.836Z,1349745311.836 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-09T01:15:11.837Z,1349745311.837 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-09T01:15:11.934Z,1349745311.934 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-09T01:15:11.934Z,1349745311.934 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-09T01:15:12.323Z,1349745312.323 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-09T01:15:12.324Z,1349745312.324 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-09T01:15:12.444Z,1349745312.444 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-09T01:15:12.445Z,1349745312.445 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-09T01:15:12.531Z,1349745312.532 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-09T01:15:12.532Z,1349745312.532 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-09T01:15:12.632Z,1349745312.632 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-09T01:15:12.758Z,1349745312.758 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-09T01:15:12.844Z,1349745312.844 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-09T01:15:12.943Z,1349745312.944 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-09T01:15:13.042Z,1349745313.042 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-09T01:15:13.160Z,1349745313.160 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-09T01:15:13.249Z,1349745313.249 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-09T01:15:13.335Z,1349745313.335 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-09T01:15:15.298Z,1349745315.297 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-09T01:15:15.567Z,1349745315.566 [InternalSim] Loaded
2012-10-09T01:15:15.567Z,1349745315.567 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-09T01:15:15.568Z,1349745315.568 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-09T01:15:15.568Z,1349745315.568 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-09T01:15:15.694Z,1349745315.694 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-09T01:15:15.719Z,1349745315.719 [SBIT] Loaded
2012-10-09T01:15:15.720Z,1349745315.720 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-09T01:15:15.721Z,1349745315.721 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-09T01:15:15.785Z,1349745315.785 [IBIT] Loaded
2012-10-09T01:15:15.785Z,1349745315.786 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-09T01:15:15.789Z,1349745315.789 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-09T01:15:16.065Z,1349745316.065 [CBIT] Loaded
2012-10-09T01:15:16.065Z,1349745316.065 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-09T01:15:16.065Z,1349745316.065 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-09T01:15:16.066Z,1349745316.066 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-09T01:15:16.301Z,1349745316.301 [BuoyancyServo] Loaded
2012-10-09T01:15:16.301Z,1349745316.301 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-09T01:15:16.310Z,1349745316.310 [ElevatorServo] Loaded
2012-10-09T01:15:16.310Z,1349745316.310 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-09T01:15:16.334Z,1349745316.334 [MassServo] Loaded
2012-10-09T01:15:16.334Z,1349745316.334 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-09T01:15:16.359Z,1349745316.359 [RudderServo] Loaded
2012-10-09T01:15:16.359Z,1349745316.359 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-09T01:15:16.382Z,1349745316.382 [ThrusterServo] Loaded
2012-10-09T01:15:16.383Z,1349745316.383 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-09T01:15:16.383Z,1349745316.383 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-09T01:15:16.384Z,1349745316.384 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-09T01:15:16.413Z,1349745316.413 [DepthRateCalculator] Loaded
2012-10-09T01:15:16.413Z,1349745316.413 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-09T01:15:25.048Z,1349745325.048 [HFRadarModelCalc] Loaded
2012-10-09T01:15:25.048Z,1349745325.048 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-09T01:15:25.077Z,1349745325.077 [NavChart] Loaded
2012-10-09T01:15:25.077Z,1349745325.077 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-09T01:15:25.095Z,1349745325.095 [PitchRateCalculator] Loaded
2012-10-09T01:15:25.095Z,1349745325.095 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-09T01:15:25.102Z,1349745325.102 [SpeedCalculator] Loaded
2012-10-09T01:15:25.102Z,1349745325.102 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-09T01:15:25.129Z,1349745325.129 [TempGradientCalculator] Loaded
2012-10-09T01:15:25.129Z,1349745325.129 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-09T01:15:25.143Z,1349745325.143 [YawRateCalculator] Loaded
2012-10-09T01:15:25.144Z,1349745325.144 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-09T01:15:25.188Z,1349745325.188 [Navigation] Loaded
2012-10-09T01:15:25.188Z,1349745325.188 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-09T01:15:25.188Z,1349745325.188 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-09T01:15:25.189Z,1349745325.189 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-09T01:15:25.680Z,1349745325.680 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-09T01:15:25.680Z,1349745325.680 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-09T01:15:25.727Z,1349745325.727 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-09T01:15:25.728Z,1349745325.728 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-09T01:15:25.805Z,1349745325.805 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-09T01:15:25.908Z,1349745325.908 [VerticalControl] Loaded
2012-10-09T01:15:25.908Z,1349745325.908 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-09T01:15:25.909Z,1349745325.909 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-09T01:15:25.954Z,1349745325.954 [HorizontalControl] Loaded
2012-10-09T01:15:25.954Z,1349745325.954 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-09T01:15:25.955Z,1349745325.955 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-09T01:15:25.957Z,1349745325.957 [SpeedControl] Loaded
2012-10-09T01:15:25.957Z,1349745325.957 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-09T01:15:25.958Z,1349745325.958 [LoopControl](DEBUG): Construct LoopControl.
2012-10-09T01:15:25.975Z,1349745325.975 [LoopControl] Loaded
2012-10-09T01:15:25.975Z,1349745325.975 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-09T01:15:25.975Z,1349745325.975 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-09T01:15:25.976Z,1349745325.976 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-09T01:15:25.983Z,1349745325.983 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-09T01:15:26.004Z,1349745326.004 [AsyncPiEstimator] Loaded
2012-10-09T01:15:26.004Z,1349745326.004 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-09T01:15:26.014Z,1349745326.014 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-09T01:15:26.015Z,1349745326.015 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-09T01:15:26.016Z,1349745326.016 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-09T01:15:26.308Z,1349745326.308 [AHRS_sp3003D] Loaded
2012-10-09T01:15:26.308Z,1349745326.308 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-09T01:15:26.351Z,1349745326.351 [Depth_Keller] Loaded
2012-10-09T01:15:26.351Z,1349745326.351 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-09T01:15:26.356Z,1349745326.356 [DropWeight] Loaded
2012-10-09T01:15:26.357Z,1349745326.357 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-09T01:15:26.611Z,1349745326.611 [DVL_micro] Loaded
2012-10-09T01:15:26.612Z,1349745326.612 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-09T01:15:26.643Z,1349745326.643 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-09T01:15:26.827Z,1349745326.827 [NAL9602] Loaded
2012-10-09T01:15:26.827Z,1349745326.827 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-09T01:15:26.927Z,1349745326.927 [Onboard] Loaded
2012-10-09T01:15:26.927Z,1349745326.927 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-09T01:15:26.934Z,1349745326.934 [Radio_Freewave] Loaded
2012-10-09T01:15:26.955Z,1349745326.955 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-09T01:15:26.957Z,1349745326.957 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-09T01:15:26.957Z,1349745326.957 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-09T01:15:27.105Z,1349745327.105 [CTD_NeilBrown] Loaded
2012-10-09T01:15:27.106Z,1349745327.106 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-09T01:15:27.119Z,1349745327.118 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-09T01:15:27.129Z,1349745327.129 [PAR_Licor] Loaded
2012-10-09T01:15:27.129Z,1349745327.129 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-09T01:15:27.182Z,1349745327.182 [Turbulence_NPS] Loaded
2012-10-09T01:15:27.183Z,1349745327.183 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-09T01:15:27.214Z,1349745327.214 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-09T01:15:27.275Z,1349745327.275 [WetLabsBB2FL] Loaded
2012-10-09T01:15:27.275Z,1349745327.275 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-09T01:15:27.283Z,1349745327.283 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-09T01:15:27.283Z,1349745327.283 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-09T01:15:27.286Z,1349745327.286 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-09T01:15:27.287Z,1349745327.286 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-09T01:15:27.293Z,1349745327.293 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-09T01:15:27.299Z,1349745327.299 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-09T01:15:27.303Z,1349745327.303 [Supervisor](DEBUG): Running supervisor.
2012-10-09T01:15:27.311Z,1349745327.311 [CommandLine](INFO): Thread ID is 969
2012-10-09T01:15:27.313Z,1349745327.313 [controlThread](INFO): Thread ID is 968
2012-10-09T01:15:27.313Z,1349745327.313 [controlThread](DEBUG): Initializing ControlThread
2012-10-09T01:15:27.314Z,1349745327.314 [CycleStarter](INFO): Thread ID is 967
2012-10-09T01:15:27.315Z,1349745327.315 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-09T01:15:27.368Z,1349745327.368 [AsyncPiEstimator](INFO): Thread ID is 1030
2012-10-09T01:15:27.368Z,1349745327.368 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-09T01:15:27.380Z,1349745327.380 [SBIT](INFO): Initialize SBIT Component.
2012-10-09T01:15:27.381Z,1349745327.381 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9939
2012-10-09T01:15:27.381Z,1349745327.381 [IBIT](INFO): Initialize IBIT Component.
2012-10-09T01:15:27.382Z,1349745327.382 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-09T01:15:27.383Z,1349745327.383 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2012-10-09T01:15:27.383Z,1349745327.383 [CBIT] Hardware Fault, FailCount= 1
2012-10-09T01:15:27.383Z,1349745327.383 [CBIT](ERROR): Hardware Fault
2012-10-09T01:15:27.384Z,1349745327.384 [DVL_micro](INFO): Thread ID is 1031
2012-10-09T01:15:27.393Z,1349745327.393 [DVL_micro](INFO): Initializing
2012-10-09T01:15:27.393Z,1349745327.393 [DVL_micro](INFO): start:Powering up
2012-10-09T01:15:27.394Z,1349745327.394 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T01:15:27.395Z,1349745327.395 [DVL_micro](INFO): Cycling power to configure device.
2012-10-09T01:15:27.416Z,1349745327.416 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-09T01:15:27.416Z,1349745327.416 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-09T01:15:27.417Z,1349745327.417 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-09T01:15:27.417Z,1349745327.417 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-09T01:15:27.418Z,1349745327.418 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-09T01:15:27.419Z,1349745327.419 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-09T01:15:27.419Z,1349745327.420 [Navigation](DEBUG): Initializing Navigation.
2012-10-09T01:15:27.420Z,1349745327.420 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-09T01:15:27.422Z,1349745327.422 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-09T01:15:27.422Z,1349745327.422 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-09T01:15:27.423Z,1349745327.423 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-09T01:15:27.443Z,1349745327.443 [CTD_NeilBrown](INFO): Thread ID is 1032
2012-10-09T01:15:27.443Z,1349745327.443 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-09T01:15:27.447Z,1349745327.447 [Turbulence_NPS](INFO): Thread ID is 1033
2012-10-09T01:15:27.448Z,1349745327.448 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-09T01:15:27.448Z,1349745327.448 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-09T01:15:27.459Z,1349745327.459 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-09T01:15:27.472Z,1349745327.471 [WetLabsBB2FL](INFO): Thread ID is 1034
2012-10-09T01:15:27.472Z,1349745327.472 [WetLabsBB2FL](INFO): Powering down
2012-10-09T01:15:27.498Z,1349745327.498 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-09T01:15:27.507Z,1349745327.507 [NavChartDb](INFO): Thread ID is 1035
2012-10-09T01:15:27.509Z,1349745327.509 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-09T01:15:27.510Z,1349745327.510 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-09T01:15:27.516Z,1349745327.516 [Turbulence_NPS](INFO): Pause powering down
2012-10-09T01:15:27.571Z,1349745327.571 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T01:15:27.593Z,1349745327.593 [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>


2012-10-09T01:15:27.599Z,1349745327.599 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-09T01:15:27.651Z,1349745327.651 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-09T01:15:27.653Z,1349745327.653 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-09T01:15:27.665Z,1349745327.665 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T01:15:27.681Z,1349745327.681 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-09T01:15:27.684Z,1349745327.684 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T01:15:27.706Z,1349745327.706 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-09T01:15:27.728Z,1349745327.727 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-09T01:15:27.731Z,1349745327.731 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T01:15:27.768Z,1349745327.768 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-09T01:15:27.771Z,1349745327.771 [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>


2012-10-09T01:15:27.776Z,1349745327.776 [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,
2012-10-09T01:15:27.811Z,1349745327.811 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-09T01:15:28.079Z,1349745328.079 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-09T01:15:28.079Z,1349745328.079 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-09T01:15:28.079Z,1349745328.079 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-09T01:15:28.127Z,1349745328.127 [Radio_Freewave](INFO): Powering up
2012-10-09T01:15:28.280Z,1349745328.280 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:15:28.299Z,1349745328.299 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-09T01:15:28.305Z,1349745328.305 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:15:28.311Z,1349745328.311 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-09T01:15:28.317Z,1349745328.317 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:15:28.323Z,1349745328.323 [MassServo](DEBUG): Initializing MassServo.
2012-10-09T01:15:28.329Z,1349745328.329 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:15:28.335Z,1349745328.335 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-09T01:15:28.341Z,1349745328.341 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:15:28.347Z,1349745328.347 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-09T01:15:28.373Z,1349745328.373 [CBIT](DEBUG): Uninitialize CBIT Component.
2012-10-09T01:15:29.439Z,1349745329.439 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T01:15:29.439Z,1349745329.439 [DVL_micro](INFO): Querying output modes
2012-10-09T01:15:29.440Z,1349745329.440 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-09T01:15:31.442Z,1349745331.443 [DVL_micro](DEBUG): cmdResponse: 
2012-10-09T01:15:31.443Z,1349745331.443 [DVL_micro](INFO): Output Modes: No Response
2012-10-09T01:15:31.443Z,1349745331.443 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-09T01:15:33.447Z,1349745333.447 [DVL_micro](DEBUG): cmdResponse: 
2012-10-09T01:15:33.452Z,1349745333.452 [DVL_micro](INFO): pause:Powering down
2012-10-09T01:15:34.088Z,1349745334.088 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-10-09T01:15:34.088Z,1349745334.088 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xA4A0
2012-10-09T01:15:34.088Z,1349745334.088 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-10-09T01:15:34.088Z,1349745334.088 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-10-09T01:15:34.088Z,1349745334.088 [AHRS_sp3003D](ERROR): Hardware Fault
2012-10-09T01:15:34.130Z,1349745334.130 [NAL9602](INFO): Powering up NAL9602
2012-10-09T01:15:34.435Z,1349745334.435 [DVL_micro](INFO): NQ1 requested
2012-10-09T01:15:34.436Z,1349745334.436 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T01:15:34.436Z,1349745334.436 [DVL_micro](INFO): resume:Powering up
2012-10-09T01:15:34.436Z,1349745334.436 [DVL_micro](INFO): Cycling power to configure device.
2012-10-09T01:15:35.167Z,1349745335.167 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2012-10-09T01:15:35.167Z,1349745335.167 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2012-10-09T01:15:35.167Z,1349745335.167 [BuoyancyServo] Communications Fault, FailCount= 1
2012-10-09T01:15:35.167Z,1349745335.167 [BuoyancyServo](ERROR): Communications Fault
2012-10-09T01:15:35.874Z,1349745335.874 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2012-10-09T01:15:35.874Z,1349745335.874 [ElevatorServo](FAULT): Elevator failed to initialize
2012-10-09T01:15:35.874Z,1349745335.874 [ElevatorServo] Communications Fault, FailCount= 1
2012-10-09T01:15:35.874Z,1349745335.874 [ElevatorServo](ERROR): Communications Fault
2012-10-09T01:15:36.423Z,1349745336.423 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2012-10-09T01:15:36.423Z,1349745336.423 [RudderServo](FAULT): Rudder failed to initialize
2012-10-09T01:15:36.423Z,1349745336.423 [RudderServo] Communications Fault, FailCount= 1
2012-10-09T01:15:36.423Z,1349745336.423 [RudderServo](ERROR): Communications Fault
2012-10-09T01:15:36.624Z,1349745336.624 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T01:15:36.624Z,1349745336.625 [DVL_micro](INFO): Querying output modes
2012-10-09T01:15:36.625Z,1349745336.625 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-09T01:15:36.987Z,1349745336.987 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-10-09T01:15:36.987Z,1349745336.987 [ThrusterServo](FAULT): Thruster failed to initialize
2012-10-09T01:15:36.987Z,1349745336.987 [ThrusterServo] Communications Fault, FailCount= 1
2012-10-09T01:15:36.987Z,1349745336.987 [ThrusterServo](ERROR): Communications Fault
2012-10-09T01:15:37.398Z,1349745337.398 [AHRS_sp3003D](INFO): Powering down
2012-10-09T01:15:37.746Z,1349745337.746 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-09T01:15:37.746Z,1349745337.746 [BuoyancyServo](INFO): Powering down
2012-10-09T01:15:37.975Z,1349745337.975 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-09T01:15:37.975Z,1349745337.975 [ElevatorServo](INFO): Powering down
2012-10-09T01:15:38.719Z,1349745338.719 [DVL_micro](DEBUG): cmdResponse: 
2012-10-09T01:15:38.721Z,1349745338.721 [DVL_micro](INFO): Output Modes: No Response
2012-10-09T01:15:38.722Z,1349745338.722 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-09T01:15:38.759Z,1349745338.759 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2012-10-09T01:15:38.759Z,1349745338.759 [MassServo] Communications Fault, FailCount= 1
2012-10-09T01:15:38.759Z,1349745338.759 [MassServo](ERROR): Communications Fault
2012-10-09T01:15:38.760Z,1349745338.760 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-09T01:15:38.760Z,1349745338.760 [RudderServo](INFO): Powering down
2012-10-09T01:15:38.805Z,1349745338.805 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-09T01:15:38.805Z,1349745338.805 [ThrusterServo](INFO): Powering down
2012-10-09T01:15:39.268Z,1349745339.268 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-09T01:15:39.268Z,1349745339.268 [MassServo](INFO): Powering down
2012-10-09T01:15:40.831Z,1349745340.831 [DVL_micro](DEBUG): cmdResponse: 
2012-10-09T01:15:40.832Z,1349745340.832 [DVL_micro](INFO): NQ1 requested
2012-10-09T01:15:40.832Z,1349745340.832 [DVL_micro](INFO): Cycling power to configure device.
2012-10-09T01:15:42.743Z,1349745342.743 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-09T01:15:42.891Z,1349745342.891 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T01:15:42.891Z,1349745342.891 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-10-09T01:15:44.895Z,1349745344.895 [DVL_micro](DEBUG): cmdResponse: 
2012-10-09T01:15:44.895Z,1349745344.895 [DVL_micro](INFO): Enabling NQ1 output
2012-10-09T01:15:44.895Z,1349745344.895 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-10-09T01:15:47.162Z,1349745347.162 [DVL_micro](DEBUG): cmdResponse: 
2012-10-09T01:15:47.163Z,1349745347.163 [DVL_micro](INFO): Querying output modes
2012-10-09T01:15:47.163Z,1349745347.163 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-09T01:15:47.183Z,1349745347.183 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2012-10-09T01:15:47.183Z,1349745347.183 [NAL9602] Communications Fault, FailCount= 1
2012-10-09T01:15:47.183Z,1349745347.183 [NAL9602](ERROR): Communications Fault
2012-10-09T01:15:47.435Z,1349745347.435 [NAL9602](INFO): Powering down
2012-10-09T01:15:49.164Z,1349745349.164 [DVL_micro](DEBUG): cmdResponse: 
2012-10-09T01:15:49.164Z,1349745349.164 [DVL_micro](INFO): Output Modes: No Response
2012-10-09T01:15:49.164Z,1349745349.164 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-09T01:15:51.255Z,1349745351.254 [DVL_micro](DEBUG): cmdResponse: 
2012-10-09T01:15:51.495Z,1349745351.495 [DVL_micro](INFO): NQ1 requested
2012-10-09T01:15:51.495Z,1349745351.495 [DVL_micro](INFO): Cycling power to configure device.
2012-10-09T01:15:53.503Z,1349745353.503 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T01:15:53.503Z,1349745353.503 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-10-09T01:15:55.515Z,1349745355.515 [DVL_micro](DEBUG): cmdResponse: 
2012-10-09T01:15:55.515Z,1349745355.515 [DVL_micro](INFO): Enabling NQ1 output
2012-10-09T01:15:55.515Z,1349745355.515 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-10-09T01:15:57.519Z,1349745357.519 [DVL_micro](DEBUG): cmdResponse: 
2012-10-09T01:15:57.519Z,1349745357.519 [DVL_micro](INFO): Querying output modes
2012-10-09T01:15:57.519Z,1349745357.519 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-09T01:15:59.523Z,1349745359.523 [DVL_micro](DEBUG): cmdResponse: 
2012-10-09T01:15:59.523Z,1349745359.523 [DVL_micro](INFO): Output Modes: No Response
2012-10-09T01:15:59.523Z,1349745359.523 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-09T01:16:01.691Z,1349745361.691 [DVL_micro](DEBUG): cmdResponse: 
2012-10-09T01:16:02.095Z,1349745362.095 [DVL_micro](INFO): NQ1 requested
2012-10-09T01:16:02.095Z,1349745362.095 [DVL_micro](INFO): Cycling power to configure device.
2012-10-09T01:16:04.103Z,1349745364.103 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T01:16:04.104Z,1349745364.104 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-10-09T01:16:04.403Z,1349745364.403 [DVL_micro](DEBUG): cmdResponse: 00
2012-10-09T01:16:04.403Z,1349745364.403 [DVL_micro](INFO): Enabling NQ1 output
2012-10-09T01:16:04.403Z,1349745364.403 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-10-09T01:16:04.728Z,1349745364.728 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-09T01:16:04.728Z,1349745364.728 [DVL_micro](INFO): Querying output modes
2012-10-09T01:16:04.728Z,1349745364.728 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-09T01:16:04.731Z,1349745364.731 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-09T01:16:04.731Z,1349745364.731 [DVL_micro](INFO): NQ1 output enabled
2012-10-09T01:16:04.731Z,1349745364.731 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-09T01:16:04.735Z,1349745364.735 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-09T01:16:07.375Z,1349745367.375 [DVL_micro](DEBUG): NQ1
2012-10-09T01:16:09.908Z,1349745369.908 [DVL_micro](DEBUG): NQ1
2012-10-09T01:16:12.319Z,1349745372.319 [DVL_micro](DEBUG): NQ1
2012-10-09T01:16:12.468Z,1349745372.468 [DVL_micro](ERROR): DVL NQ1 uart error: serial timeout
2012-10-09T01:16:12.468Z,1349745372.468 [DVL_micro] Communications Fault, FailCount= 1
2012-10-09T01:16:12.468Z,1349745372.468 [DVL_micro](ERROR): Communications Fault
2012-10-09T01:16:12.470Z,1349745372.470 [DVL_micro](INFO): uninitialize:Powering down
2012-10-09T01:16:22.355Z,1349745382.355 [CommandLine](IMPORTANT): got command failComponent
2012-10-09T01:16:22.355Z,1349745382.355 [CommandLine](IMPORTANT): Failed components:
2012-10-09T01:16:22.356Z,1349745382.356 [CommandLine](IMPORTANT): CBIT: Hardware Fault
2012-10-09T01:16:22.356Z,1349745382.356 [CommandLine](IMPORTANT): BuoyancyServo: Communications Fault
2012-10-09T01:16:22.356Z,1349745382.356 [CommandLine](IMPORTANT): ElevatorServo: Communications Fault
2012-10-09T01:16:22.357Z,1349745382.357 [CommandLine](IMPORTANT): MassServo: Communications Fault
2012-10-09T01:16:22.357Z,1349745382.357 [CommandLine](IMPORTANT): RudderServo: Communications Fault
2012-10-09T01:16:22.357Z,1349745382.357 [CommandLine](IMPORTANT): ThrusterServo: Communications Fault
2012-10-09T01:16:22.357Z,1349745382.357 [CommandLine](IMPORTANT): AHRS_sp3003D: Hardware Fault
2012-10-09T01:16:22.358Z,1349745382.358 [CommandLine](IMPORTANT): DVL_micro: Communications Fault
2012-10-09T01:16:22.358Z,1349745382.358 [CommandLine](IMPORTANT): NAL9602: Communications Fault
2012-10-09T01:16:26.403Z,1349745386.403 [CommandLine](IMPORTANT): got command restart application
2012-10-09T01:16:27.478Z,1349745387.478 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-09T01:16:27.479Z,1349745387.479 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-09T01:16:36.366Z,1349745396.366 [SBIT](IMPORTANT): SBIT PASSED
2012-10-09T01:16:36.734Z,1349745396.734 [MissionManager](IMPORTANT): Started mission Startup
2012-10-09T01:16:36.734Z,1349745396.734 [Startup] Running Loop=1
2012-10-09T01:16:36.734Z,1349745396.734 [Startup](INFO): Aggregate::initialize Startup
2012-10-09T01:16:36.734Z,1349745396.734 [Startup:A.GoToSurface] Running Loop=1
2012-10-09T01:16:36.734Z,1349745396.734 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-09T01:16:36.769Z,1349745396.769 [Startup:StartupSatComms] Running Loop=1
2012-10-09T01:16:36.769Z,1349745396.769 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-09T01:16:36.769Z,1349745396.769 [Startup:StartupSatComms:A] Running Loop=1
2012-10-09T01:16:37.206Z,1349745397.206 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix