2012-10-09T01:17:07.553Z,1349745427.553 [Supervisor](DEBUG): Initializing supervisor.
2012-10-09T01:17:07.567Z,1349745427.566 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-09T01:17:07.567Z,1349745427.567 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-09T01:17:07.578Z,1349745427.579 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-09T01:17:07.582Z,1349745427.582 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-09T01:17:07.604Z,1349745427.604 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-09T01:17:07.631Z,1349745427.631 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-09T01:17:07.632Z,1349745427.632 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-09T01:17:07.632Z,1349745427.632 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-09T01:17:07.633Z,1349745427.634 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-09T01:17:08.224Z,1349745428.224 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-09T01:17:08.224Z,1349745428.224 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-09T01:17:08.563Z,1349745428.563 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-09T01:17:08.564Z,1349745428.564 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-09T01:17:08.709Z,1349745428.709 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-09T01:17:08.710Z,1349745428.710 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-09T01:17:09.107Z,1349745429.107 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-09T01:17:09.107Z,1349745429.107 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-09T01:17:09.350Z,1349745429.350 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-09T01:17:09.350Z,1349745429.350 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-09T01:17:09.791Z,1349745429.791 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-09T01:17:09.792Z,1349745429.792 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-09T01:17:10.123Z,1349745430.123 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-09T01:17:10.123Z,1349745430.123 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-09T01:17:10.615Z,1349745430.615 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-09T01:17:10.615Z,1349745430.615 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-09T01:17:10.789Z,1349745430.789 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-09T01:17:10.789Z,1349745430.789 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-09T01:17:11.572Z,1349745431.572 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-09T01:17:11.573Z,1349745431.573 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-09T01:17:11.771Z,1349745431.771 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-09T01:17:11.772Z,1349745431.772 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-09T01:17:11.889Z,1349745431.889 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-09T01:17:11.890Z,1349745431.890 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-09T01:17:12.036Z,1349745432.036 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-09T01:17:12.268Z,1349745432.267 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-09T01:17:12.391Z,1349745432.391 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-09T01:17:12.540Z,1349745432.540 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-09T01:17:12.697Z,1349745432.697 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-09T01:17:12.909Z,1349745432.908 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-09T01:17:13.069Z,1349745433.069 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-09T01:17:13.195Z,1349745433.195 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-09T01:17:13.260Z,1349745433.260 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-09T01:17:13.563Z,1349745433.563 [InternalSim] Loaded
2012-10-09T01:17:13.563Z,1349745433.563 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-09T01:17:13.564Z,1349745433.564 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-09T01:17:13.565Z,1349745433.565 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-09T01:17:13.684Z,1349745433.684 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-09T01:17:13.709Z,1349745433.709 [SBIT] Loaded
2012-10-09T01:17:13.709Z,1349745433.709 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-09T01:17:13.710Z,1349745433.710 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-09T01:17:13.762Z,1349745433.762 [IBIT] Loaded
2012-10-09T01:17:13.762Z,1349745433.762 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-09T01:17:13.765Z,1349745433.765 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-09T01:17:14.044Z,1349745434.044 [CBIT] Loaded
2012-10-09T01:17:14.044Z,1349745434.044 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-09T01:17:14.044Z,1349745434.044 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-09T01:17:14.045Z,1349745434.045 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-09T01:17:14.260Z,1349745434.260 [BuoyancyServo] Loaded
2012-10-09T01:17:14.261Z,1349745434.261 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-09T01:17:14.269Z,1349745434.270 [ElevatorServo] Loaded
2012-10-09T01:17:14.270Z,1349745434.270 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-09T01:17:14.281Z,1349745434.281 [MassServo] Loaded
2012-10-09T01:17:14.281Z,1349745434.281 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-09T01:17:14.318Z,1349745434.318 [RudderServo] Loaded
2012-10-09T01:17:14.319Z,1349745434.319 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-09T01:17:14.346Z,1349745434.346 [ThrusterServo] Loaded
2012-10-09T01:17:14.346Z,1349745434.346 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-09T01:17:14.347Z,1349745434.347 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-09T01:17:14.347Z,1349745434.347 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-09T01:17:14.388Z,1349745434.388 [DepthRateCalculator] Loaded
2012-10-09T01:17:14.388Z,1349745434.388 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-09T01:17:22.240Z,1349745442.240 [HFRadarModelCalc] Loaded
2012-10-09T01:17:22.240Z,1349745442.240 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-09T01:17:22.280Z,1349745442.280 [NavChart] Loaded
2012-10-09T01:17:22.280Z,1349745442.280 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-09T01:17:22.286Z,1349745442.286 [PitchRateCalculator] Loaded
2012-10-09T01:17:22.286Z,1349745442.286 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-09T01:17:22.305Z,1349745442.305 [SpeedCalculator] Loaded
2012-10-09T01:17:22.305Z,1349745442.305 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-09T01:17:22.334Z,1349745442.334 [TempGradientCalculator] Loaded
2012-10-09T01:17:22.334Z,1349745442.334 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-09T01:17:22.352Z,1349745442.352 [YawRateCalculator] Loaded
2012-10-09T01:17:22.352Z,1349745442.352 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-09T01:17:22.384Z,1349745442.384 [Navigation] Loaded
2012-10-09T01:17:22.384Z,1349745442.384 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-09T01:17:22.384Z,1349745442.384 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-09T01:17:22.385Z,1349745442.385 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-09T01:17:22.857Z,1349745442.857 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-09T01:17:22.858Z,1349745442.858 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-09T01:17:22.904Z,1349745442.904 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-09T01:17:22.904Z,1349745442.904 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-09T01:17:23.012Z,1349745443.012 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-09T01:17:23.093Z,1349745443.093 [VerticalControl] Loaded
2012-10-09T01:17:23.093Z,1349745443.093 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-09T01:17:23.094Z,1349745443.094 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-09T01:17:23.126Z,1349745443.126 [HorizontalControl] Loaded
2012-10-09T01:17:23.126Z,1349745443.126 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-09T01:17:23.165Z,1349745443.165 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-09T01:17:23.167Z,1349745443.167 [SpeedControl] Loaded
2012-10-09T01:17:23.167Z,1349745443.167 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-09T01:17:23.168Z,1349745443.168 [LoopControl](DEBUG): Construct LoopControl.
2012-10-09T01:17:23.168Z,1349745443.168 [LoopControl] Loaded
2012-10-09T01:17:23.169Z,1349745443.169 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-09T01:17:23.169Z,1349745443.169 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-09T01:17:23.170Z,1349745443.170 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-09T01:17:23.187Z,1349745443.187 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-09T01:17:23.192Z,1349745443.192 [AsyncPiEstimator] Loaded
2012-10-09T01:17:23.192Z,1349745443.192 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-09T01:17:23.207Z,1349745443.207 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-09T01:17:23.207Z,1349745443.207 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-09T01:17:23.208Z,1349745443.208 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-09T01:17:23.478Z,1349745443.478 [AHRS_sp3003D] Loaded
2012-10-09T01:17:23.478Z,1349745443.478 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-09T01:17:23.504Z,1349745443.504 [Depth_Keller] Loaded
2012-10-09T01:17:23.504Z,1349745443.504 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-09T01:17:23.509Z,1349745443.509 [DropWeight] Loaded
2012-10-09T01:17:23.510Z,1349745443.510 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-09T01:17:23.752Z,1349745443.752 [DVL_micro] Loaded
2012-10-09T01:17:23.753Z,1349745443.753 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-09T01:17:23.779Z,1349745443.779 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-09T01:17:23.952Z,1349745443.952 [NAL9602] Loaded
2012-10-09T01:17:23.952Z,1349745443.952 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-09T01:17:24.063Z,1349745444.063 [Onboard] Loaded
2012-10-09T01:17:24.063Z,1349745444.063 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-09T01:17:24.070Z,1349745444.070 [Radio_Freewave] Loaded
2012-10-09T01:17:24.070Z,1349745444.070 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-09T01:17:24.083Z,1349745444.083 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-09T01:17:24.084Z,1349745444.084 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-09T01:17:24.213Z,1349745444.213 [CTD_NeilBrown] Loaded
2012-10-09T01:17:24.214Z,1349745444.214 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-09T01:17:24.251Z,1349745444.251 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-09T01:17:24.262Z,1349745444.261 [PAR_Licor] Loaded
2012-10-09T01:17:24.262Z,1349745444.262 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-09T01:17:24.311Z,1349745444.311 [Turbulence_NPS] Loaded
2012-10-09T01:17:24.311Z,1349745444.311 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-09T01:17:24.322Z,1349745444.322 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-09T01:17:24.376Z,1349745444.376 [WetLabsBB2FL] Loaded
2012-10-09T01:17:24.376Z,1349745444.376 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-09T01:17:24.387Z,1349745444.386 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-09T01:17:24.387Z,1349745444.387 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-09T01:17:24.389Z,1349745444.389 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-09T01:17:24.390Z,1349745444.390 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-09T01:17:24.396Z,1349745444.396 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-09T01:17:24.403Z,1349745444.403 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-09T01:17:24.419Z,1349745444.419 [Supervisor](DEBUG): Running supervisor.
2012-10-09T01:17:24.420Z,1349745444.420 [CommandLine](INFO): Thread ID is 1117
2012-10-09T01:17:24.439Z,1349745444.439 [controlThread](INFO): Thread ID is 1116
2012-10-09T01:17:24.439Z,1349745444.439 [controlThread](DEBUG): Initializing ControlThread
2012-10-09T01:17:24.440Z,1349745444.440 [CycleStarter](INFO): Thread ID is 1115
2012-10-09T01:17:24.441Z,1349745444.441 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-09T01:17:24.484Z,1349745444.484 [AsyncPiEstimator](INFO): Thread ID is 1178
2012-10-09T01:17:24.484Z,1349745444.484 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-09T01:17:24.499Z,1349745444.499 [SBIT](INFO): Initialize SBIT Component.
2012-10-09T01:17:24.499Z,1349745444.499 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9939
2012-10-09T01:17:24.500Z,1349745444.500 [IBIT](INFO): Initialize IBIT Component.
2012-10-09T01:17:24.501Z,1349745444.501 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-09T01:17:24.501Z,1349745444.501 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-09T01:17:24.502Z,1349745444.502 [DVL_micro](INFO): Thread ID is 1179
2012-10-09T01:17:24.511Z,1349745444.511 [DVL_micro](INFO): Initializing
2012-10-09T01:17:24.511Z,1349745444.511 [DVL_micro](INFO): start:Powering up
2012-10-09T01:17:24.512Z,1349745444.512 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T01:17:24.513Z,1349745444.513 [DVL_micro](INFO): Cycling power to configure device.
2012-10-09T01:17:24.528Z,1349745444.528 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-09T01:17:24.529Z,1349745444.529 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-09T01:17:24.529Z,1349745444.529 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-09T01:17:24.529Z,1349745444.529 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-09T01:17:24.530Z,1349745444.530 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-09T01:17:24.531Z,1349745444.531 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-09T01:17:24.531Z,1349745444.532 [Navigation](DEBUG): Initializing Navigation.
2012-10-09T01:17:24.532Z,1349745444.532 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-09T01:17:24.534Z,1349745444.534 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-09T01:17:24.534Z,1349745444.534 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-09T01:17:24.535Z,1349745444.535 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-09T01:17:24.540Z,1349745444.540 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-09T01:17:24.555Z,1349745444.555 [CTD_NeilBrown](INFO): Thread ID is 1180
2012-10-09T01:17:24.556Z,1349745444.556 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-09T01:17:24.568Z,1349745444.568 [Turbulence_NPS](INFO): Thread ID is 1181
2012-10-09T01:17:24.568Z,1349745444.568 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-09T01:17:24.569Z,1349745444.569 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-09T01:17:24.575Z,1349745444.575 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-09T01:17:24.587Z,1349745444.587 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T01:17:24.591Z,1349745444.592 [WetLabsBB2FL](INFO): Thread ID is 1182
2012-10-09T01:17:24.592Z,1349745444.592 [WetLabsBB2FL](INFO): Powering down
2012-10-09T01:17:24.627Z,1349745444.627 [NavChartDb](INFO): Thread ID is 1183
2012-10-09T01:17:24.629Z,1349745444.629 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-09T01:17:24.630Z,1349745444.630 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-09T01:17:24.640Z,1349745444.640 [Turbulence_NPS](INFO): Pause powering down
2012-10-09T01:17:24.680Z,1349745444.680 [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>


2012-10-09T01:17:24.681Z,1349745444.681 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-09T01:17:24.749Z,1349745444.749 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-09T01:17:24.752Z,1349745444.752 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-09T01:17:24.763Z,1349745444.763 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T01:17:24.780Z,1349745444.780 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-09T01:17:24.783Z,1349745444.783 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T01:17:24.798Z,1349745444.798 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-09T01:17:24.815Z,1349745444.815 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-09T01:17:24.828Z,1349745444.828 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T01:17:24.832Z,1349745444.832 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-09T01:17:24.836Z,1349745444.836 [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>


2012-10-09T01:17:24.850Z,1349745444.851 [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,
2012-10-09T01:17:24.883Z,1349745444.883 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-09T01:17:25.174Z,1349745445.174 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-09T01:17:25.175Z,1349745445.175 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-09T01:17:25.175Z,1349745445.175 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-09T01:17:25.259Z,1349745445.260 [Radio_Freewave](INFO): Powering up
2012-10-09T01:17:25.684Z,1349745445.684 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:17:25.691Z,1349745445.691 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-09T01:17:25.697Z,1349745445.697 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:17:25.703Z,1349745445.703 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-09T01:17:25.709Z,1349745445.709 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:17:25.715Z,1349745445.715 [MassServo](DEBUG): Initializing MassServo.
2012-10-09T01:17:25.721Z,1349745445.721 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:17:25.727Z,1349745445.727 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-09T01:17:25.733Z,1349745445.733 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:17:25.739Z,1349745445.739 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-09T01:17:26.595Z,1349745446.595 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T01:17:26.595Z,1349745446.595 [DVL_micro](INFO): Querying output modes
2012-10-09T01:17:26.596Z,1349745446.596 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-09T01:17:26.599Z,1349745446.599 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-09T01:17:26.599Z,1349745446.599 [DVL_micro](INFO): NQ1 output enabled
2012-10-09T01:17:26.599Z,1349745446.599 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-09T01:17:26.607Z,1349745446.607 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-09T01:17:26.612Z,1349745446.612 [DVL_micro](INFO): pause:Powering down
2012-10-09T01:17:29.491Z,1349745449.491 [Depth_Keller](ERROR): Pressure reading out of range: 1830.467896 decibar
2012-10-09T01:17:29.493Z,1349745449.493 [NAL9602](INFO): Powering up NAL9602
2012-10-09T01:17:34.167Z,1349745454.167 [BuoyancyServo](FAULT): Buoyancy uart error: serial timeout
2012-10-09T01:17:34.167Z,1349745454.167 [BuoyancyServo] Communications Fault, FailCount= 1
2012-10-09T01:17:34.167Z,1349745454.167 [BuoyancyServo](ERROR): Communications Fault
2012-10-09T01:17:34.179Z,1349745454.179 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2012-10-09T01:17:35.375Z,1349745455.375 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-09T01:17:35.376Z,1349745455.376 [BuoyancyServo](INFO): Powering down
2012-10-09T01:17:36.018Z,1349745456.018 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2012-10-09T01:17:36.018Z,1349745456.018 [BuoyancyServo] No Fault, FailCount= 1
2012-10-09T01:17:36.301Z,1349745456.301 [CommandLine](IMPORTANT): got command quit
2012-10-09T01:17:37.486Z,1349745457.486 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-09T01:17:37.487Z,1349745457.487 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-09T01:17:39.661Z,1349745459.661 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:17:39.932Z,1349745459.932 [BuoyancyServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-09T01:17:39.932Z,1349745459.932 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-09T01:17:40.695Z,1349745460.695 [AHRS_sp3003D](ERROR): readMagneticsBin UART error: serial timeout
2012-10-09T01:17:40.695Z,1349745460.695 [AHRS_sp3003D](FAULT): Read Magnetics Failure.
2012-10-09T01:17:40.695Z,1349745460.695 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-10-09T01:17:40.695Z,1349745460.695 [AHRS_sp3003D](ERROR): Communications Fault
2012-10-09T01:17:41.091Z,1349745461.091 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T01:17:41.091Z,1349745461.091 [DVL_micro](INFO): resume:Powering up
2012-10-09T01:17:41.091Z,1349745461.091 [DVL_micro](INFO): Cycling power to configure device.
2012-10-09T01:17:41.399Z,1349745461.399 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2012-10-09T01:17:41.399Z,1349745461.399 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2012-10-09T01:17:41.399Z,1349745461.399 [BuoyancyServo] Communications Fault, FailCount= 2
2012-10-09T01:17:41.399Z,1349745461.399 [BuoyancyServo](ERROR): Communications Fault
2012-10-09T01:17:41.414Z,1349745461.414 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-09T01:17:41.417Z,1349745461.417 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2012-10-09T01:17:41.417Z,1349745461.417 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-10-09T01:17:41.417Z,1349745461.418 [CBIT](IMPORTANT): Beginning GF scan
2012-10-09T01:17:41.579Z,1349745461.579 [AHRS_sp3003D](INFO): Powering down
2012-10-09T01:17:42.227Z,1349745462.227 [NAL9602](INFO): NAL9602 initialized
2012-10-09T01:17:42.254Z,1349745462.254 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-09T01:17:42.254Z,1349745462.254 [BuoyancyServo](INFO): Powering down
2012-10-09T01:17:42.611Z,1349745462.611 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2012-10-09T01:17:42.611Z,1349745462.611 [BuoyancyServo] No Fault, FailCount= 2
2012-10-09T01:17:42.612Z,1349745462.612 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-10-09T01:17:42.612Z,1349745462.612 [AHRS_sp3003D] No Fault, FailCount= 1
2012-10-09T01:17:43.085Z,1349745463.085 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-09T01:17:43.099Z,1349745463.099 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T01:17:43.099Z,1349745463.099 [DVL_micro](INFO): Querying output modes
2012-10-09T01:17:43.100Z,1349745463.099 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-09T01:17:43.103Z,1349745463.103 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-09T01:17:43.103Z,1349745463.103 [DVL_micro](INFO): NQ1 output enabled
2012-10-09T01:17:43.103Z,1349745463.103 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-09T01:17:43.107Z,1349745463.107 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-09T01:17:43.109Z,1349745463.109 [DVL_micro](INFO): pause:Powering down
2012-10-09T01:17:43.136Z,1349745463.136 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:17:43.399Z,1349745463.399 [BuoyancyServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-09T01:17:43.399Z,1349745463.399 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-09T01:17:47.807Z,1349745467.807 [MassServo](ERROR): getPosition uart error serial timeout
2012-10-09T01:17:48.633Z,1349745468.633 [MassServo](FAULT): Invalid EZ Servo response:"83"
2012-10-09T01:17:48.634Z,1349745468.634 [MassServo] Communications Fault, FailCount= 1
2012-10-09T01:17:48.634Z,1349745468.634 [MassServo](ERROR): Communications Fault
2012-10-09T01:17:48.674Z,1349745468.674 [CBIT](ERROR): Communications Fault in component: MassServo
2012-10-09T01:17:50.171Z,1349745470.171 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-09T01:17:50.171Z,1349745470.171 [MassServo](INFO): Powering down
2012-10-09T01:17:50.434Z,1349745470.434 [CBIT](INFO): Clearing failed state for component MassServo
2012-10-09T01:17:50.434Z,1349745470.434 [MassServo] No Fault, FailCount= 1
2012-10-09T01:17:51.760Z,1349745471.760 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-09T01:17:51.767Z,1349745471.767 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-09T01:17:51.876Z,1349745471.876 [MassServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-09T01:17:51.876Z,1349745471.876 [MassServo](DEBUG): Initializing MassServo.
2012-10-09T01:17:52.119Z,1349745472.119 [WetLabsBB2FL](INFO): Powering down
2012-10-09T01:17:52.129Z,1349745472.129 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-09T01:17:52.475Z,1349745472.475 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-10-09T01:17:52.479Z,1349745472.479 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-09T01:17:52.519Z,1349745472.519 [CTD_NeilBrown](INFO): Powering down
2012-10-09T01:17:52.535Z,1349745472.535 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-09T01:17:52.539Z,1349745472.539 [DVL_micro](INFO): uninitialize:Powering down
2012-10-09T01:17:52.556Z,1349745472.556 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-09T01:17:52.819Z,1349745472.819 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-09T01:17:52.827Z,1349745472.827 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-09T01:17:52.839Z,1349745472.839 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-09T01:17:52.875Z,1349745472.875 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-09T01:17:52.876Z,1349745472.875 [AHRS_sp3003D](INFO): Powering down
2012-10-09T01:17:52.963Z,1349745472.963 [NAL9602](INFO): Powering down
2012-10-09T01:17:52.965Z,1349745472.965 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-09T01:17:52.966Z,1349745472.966 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-09T01:17:52.972Z,1349745472.972 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-09T01:17:52.972Z,1349745472.972 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-09T01:17:52.972Z,1349745472.972 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-09T01:17:52.972Z,1349745472.972 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-09T01:17:52.973Z,1349745472.973 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-09T01:17:52.973Z,1349745472.973 [BuoyancyServo](INFO): Powering down
2012-10-09T01:17:52.979Z,1349745472.979 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-09T01:17:52.979Z,1349745472.979 [ElevatorServo](INFO): Powering down
2012-10-09T01:17:52.980Z,1349745472.980 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-09T01:17:52.980Z,1349745472.980 [MassServo](INFO): Powering down
2012-10-09T01:17:52.981Z,1349745472.981 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-09T01:17:52.981Z,1349745472.981 [RudderServo](INFO): Powering down
2012-10-09T01:17:52.982Z,1349745472.981 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-09T01:17:52.982Z,1349745472.982 [ThrusterServo](INFO): Powering down
2012-10-09T01:17:52.983Z,1349745472.983 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-09T01:17:52.983Z,1349745472.983 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-09T01:17:52.983Z,1349745472.983 [CBIT](DEBUG): Uninitialize CBIT Component.