2012-10-09T16:18:38.334Z,1349799518.334 [Supervisor](DEBUG): Initializing supervisor.
2012-10-09T16:18:38.347Z,1349799518.347 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-09T16:18:38.347Z,1349799518.347 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-09T16:18:38.359Z,1349799518.359 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-09T16:18:38.362Z,1349799518.362 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-09T16:18:38.384Z,1349799518.384 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-09T16:18:38.394Z,1349799518.395 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-09T16:18:38.395Z,1349799518.395 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-09T16:18:38.396Z,1349799518.396 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-09T16:18:38.397Z,1349799518.397 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-09T16:18:38.951Z,1349799518.951 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-09T16:18:38.952Z,1349799518.952 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-09T16:18:39.288Z,1349799519.288 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-09T16:18:39.289Z,1349799519.289 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-09T16:18:39.408Z,1349799519.408 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-09T16:18:39.409Z,1349799519.409 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-09T16:18:39.776Z,1349799519.776 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-09T16:18:39.777Z,1349799519.777 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-09T16:18:40.032Z,1349799520.032 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-09T16:18:40.033Z,1349799520.033 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-09T16:18:40.421Z,1349799520.421 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-09T16:18:40.421Z,1349799520.421 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-09T16:18:40.739Z,1349799520.739 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-09T16:18:40.740Z,1349799520.740 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-09T16:18:41.219Z,1349799521.219 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-09T16:18:41.220Z,1349799521.220 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-09T16:18:41.407Z,1349799521.407 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-09T16:18:41.407Z,1349799521.407 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-09T16:18:42.222Z,1349799522.222 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-09T16:18:42.223Z,1349799522.223 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-09T16:18:42.419Z,1349799522.419 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-09T16:18:42.419Z,1349799522.420 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-09T16:18:42.556Z,1349799522.556 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-09T16:18:42.557Z,1349799522.557 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-09T16:18:42.724Z,1349799522.724 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-09T16:18:42.955Z,1349799522.955 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-09T16:18:43.104Z,1349799523.104 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-09T16:18:43.296Z,1349799523.296 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-09T16:18:43.433Z,1349799523.433 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-09T16:18:43.640Z,1349799523.640 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-09T16:18:43.781Z,1349799523.782 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-09T16:18:43.928Z,1349799523.928 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-09T16:18:43.958Z,1349799523.958 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-09T16:18:44.169Z,1349799524.169 [InternalSim] Loaded
2012-10-09T16:18:44.169Z,1349799524.169 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-09T16:18:44.170Z,1349799524.170 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-09T16:18:44.171Z,1349799524.171 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-09T16:18:44.225Z,1349799524.225 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-09T16:18:44.239Z,1349799524.239 [SBIT] Loaded
2012-10-09T16:18:44.239Z,1349799524.239 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-09T16:18:44.240Z,1349799524.240 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-09T16:18:44.267Z,1349799524.267 [IBIT] Loaded
2012-10-09T16:18:44.267Z,1349799524.267 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-09T16:18:44.270Z,1349799524.270 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-09T16:18:44.383Z,1349799524.383 [CBIT] Loaded
2012-10-09T16:18:44.383Z,1349799524.383 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-09T16:18:44.384Z,1349799524.384 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-09T16:18:44.384Z,1349799524.384 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-09T16:18:44.524Z,1349799524.524 [BuoyancyServo] Loaded
2012-10-09T16:18:44.524Z,1349799524.524 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-09T16:18:44.533Z,1349799524.533 [ElevatorServo] Loaded
2012-10-09T16:18:44.533Z,1349799524.533 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-09T16:18:44.545Z,1349799524.545 [MassServo] Loaded
2012-10-09T16:18:44.545Z,1349799524.545 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-09T16:18:44.557Z,1349799524.556 [RudderServo] Loaded
2012-10-09T16:18:44.557Z,1349799524.557 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-09T16:18:44.568Z,1349799524.568 [ThrusterServo] Loaded
2012-10-09T16:18:44.568Z,1349799524.568 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-09T16:18:44.568Z,1349799524.569 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-09T16:18:44.569Z,1349799524.569 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-09T16:18:44.586Z,1349799524.586 [DepthRateCalculator] Loaded
2012-10-09T16:18:44.586Z,1349799524.586 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-09T16:18:48.385Z,1349799528.385 [HFRadarModelCalc] Loaded
2012-10-09T16:18:48.385Z,1349799528.385 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-09T16:18:48.401Z,1349799528.401 [NavChart] Loaded
2012-10-09T16:18:48.401Z,1349799528.401 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-09T16:18:48.407Z,1349799528.407 [PitchRateCalculator] Loaded
2012-10-09T16:18:48.407Z,1349799528.407 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-09T16:18:48.413Z,1349799528.413 [SpeedCalculator] Loaded
2012-10-09T16:18:48.414Z,1349799528.414 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-09T16:18:48.428Z,1349799528.428 [TempGradientCalculator] Loaded
2012-10-09T16:18:48.428Z,1349799528.428 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-09T16:18:48.433Z,1349799528.433 [YawRateCalculator] Loaded
2012-10-09T16:18:48.434Z,1349799528.434 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-09T16:18:48.452Z,1349799528.452 [Navigation] Loaded
2012-10-09T16:18:48.452Z,1349799528.453 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-09T16:18:48.453Z,1349799528.453 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-09T16:18:48.454Z,1349799528.454 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-09T16:18:48.668Z,1349799528.668 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-09T16:18:48.668Z,1349799528.668 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-09T16:18:48.690Z,1349799528.690 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-09T16:18:48.691Z,1349799528.691 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-09T16:18:48.730Z,1349799528.730 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-09T16:18:48.772Z,1349799528.773 [VerticalControl] Loaded
2012-10-09T16:18:48.773Z,1349799528.773 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-09T16:18:48.774Z,1349799528.774 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-09T16:18:48.793Z,1349799528.793 [HorizontalControl] Loaded
2012-10-09T16:18:48.794Z,1349799528.793 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-09T16:18:48.794Z,1349799528.795 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-09T16:18:48.796Z,1349799528.796 [SpeedControl] Loaded
2012-10-09T16:18:48.796Z,1349799528.796 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-09T16:18:48.797Z,1349799528.797 [LoopControl](DEBUG): Construct LoopControl.
2012-10-09T16:18:48.798Z,1349799528.798 [LoopControl] Loaded
2012-10-09T16:18:48.798Z,1349799528.798 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-09T16:18:48.798Z,1349799528.798 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-09T16:18:48.799Z,1349799528.799 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-09T16:18:48.804Z,1349799528.804 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-09T16:18:48.809Z,1349799528.809 [AsyncPiEstimator] Loaded
2012-10-09T16:18:48.809Z,1349799528.809 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-09T16:18:48.810Z,1349799528.810 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-09T16:18:48.811Z,1349799528.811 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-09T16:18:48.811Z,1349799528.811 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-09T16:18:48.933Z,1349799528.933 [AHRS_sp3003D] Loaded
2012-10-09T16:18:48.933Z,1349799528.933 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-09T16:18:48.946Z,1349799528.946 [Depth_Keller] Loaded
2012-10-09T16:18:48.947Z,1349799528.947 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-09T16:18:48.952Z,1349799528.952 [DropWeight] Loaded
2012-10-09T16:18:48.952Z,1349799528.952 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-09T16:18:49.064Z,1349799529.064 [DVL_micro] Loaded
2012-10-09T16:18:49.065Z,1349799529.065 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-09T16:18:49.066Z,1349799529.066 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-09T16:18:49.145Z,1349799529.145 [NAL9602] Loaded
2012-10-09T16:18:49.145Z,1349799529.145 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-09T16:18:49.194Z,1349799529.194 [Onboard] Loaded
2012-10-09T16:18:49.194Z,1349799529.194 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-09T16:18:49.201Z,1349799529.201 [Radio_Freewave] Loaded
2012-10-09T16:18:49.201Z,1349799529.201 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-09T16:18:49.202Z,1349799529.202 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-09T16:18:49.203Z,1349799529.203 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-09T16:18:49.271Z,1349799529.271 [CTD_NeilBrown] Loaded
2012-10-09T16:18:49.271Z,1349799529.271 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-09T16:18:49.272Z,1349799529.272 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-09T16:18:49.282Z,1349799529.282 [PAR_Licor] Loaded
2012-10-09T16:18:49.283Z,1349799529.283 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-09T16:18:49.298Z,1349799529.298 [Turbulence_NPS] Loaded
2012-10-09T16:18:49.299Z,1349799529.299 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-09T16:18:49.300Z,1349799529.300 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-09T16:18:49.329Z,1349799529.329 [WetLabsBB2FL] Loaded
2012-10-09T16:18:49.329Z,1349799529.329 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-09T16:18:49.330Z,1349799529.330 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-09T16:18:49.331Z,1349799529.330 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-09T16:18:49.333Z,1349799529.333 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-09T16:18:49.333Z,1349799529.333 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-09T16:18:49.340Z,1349799529.339 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-09T16:18:49.341Z,1349799529.341 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-09T16:18:49.345Z,1349799529.345 [Supervisor](DEBUG): Running supervisor.
2012-10-09T16:18:49.346Z,1349799529.346 [CommandLine](INFO): Thread ID is 7664
2012-10-09T16:18:49.349Z,1349799529.349 [controlThread](INFO): Thread ID is 7663
2012-10-09T16:18:49.349Z,1349799529.349 [controlThread](DEBUG): Initializing ControlThread
2012-10-09T16:18:49.349Z,1349799529.349 [CycleStarter](INFO): Thread ID is 7662
2012-10-09T16:18:49.350Z,1349799529.350 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-09T16:18:49.383Z,1349799529.383 [AsyncPiEstimator](INFO): Thread ID is 7725
2012-10-09T16:18:49.383Z,1349799529.383 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-09T16:18:49.394Z,1349799529.394 [SBIT](INFO): Initialize SBIT Component.
2012-10-09T16:18:49.395Z,1349799529.395 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9939
2012-10-09T16:18:49.395Z,1349799529.395 [IBIT](INFO): Initialize IBIT Component.
2012-10-09T16:18:49.396Z,1349799529.396 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-09T16:18:49.396Z,1349799529.396 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-09T16:18:49.398Z,1349799529.398 [DVL_micro](INFO): Thread ID is 7726
2012-10-09T16:18:49.406Z,1349799529.406 [DVL_micro](INFO): Initializing
2012-10-09T16:18:49.407Z,1349799529.407 [DVL_micro](INFO): start:Powering up
2012-10-09T16:18:49.408Z,1349799529.408 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T16:18:49.408Z,1349799529.408 [DVL_micro](INFO): Cycling power to configure device.
2012-10-09T16:18:49.424Z,1349799529.424 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-09T16:18:49.424Z,1349799529.424 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-09T16:18:49.425Z,1349799529.425 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-09T16:18:49.425Z,1349799529.425 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-09T16:18:49.425Z,1349799529.425 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-09T16:18:49.427Z,1349799529.427 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-09T16:18:49.427Z,1349799529.427 [Navigation](DEBUG): Initializing Navigation.
2012-10-09T16:18:49.428Z,1349799529.428 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-09T16:18:49.429Z,1349799529.429 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-09T16:18:49.430Z,1349799529.430 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-09T16:18:49.431Z,1349799529.431 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-09T16:18:49.435Z,1349799529.435 [CTD_NeilBrown](INFO): Thread ID is 7727
2012-10-09T16:18:49.436Z,1349799529.436 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-09T16:18:49.442Z,1349799529.442 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-09T16:18:49.443Z,1349799529.443 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-09T16:18:49.452Z,1349799529.452 [Turbulence_NPS](INFO): Thread ID is 7728
2012-10-09T16:18:49.453Z,1349799529.453 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-09T16:18:49.453Z,1349799529.453 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-09T16:18:49.469Z,1349799529.469 [WetLabsBB2FL](INFO): Thread ID is 7729
2012-10-09T16:18:49.469Z,1349799529.469 [WetLabsBB2FL](INFO): Powering down
2012-10-09T16:18:49.496Z,1349799529.496 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T16:18:49.500Z,1349799529.500 [NavChartDb](INFO): Thread ID is 7730
2012-10-09T16:18:49.502Z,1349799529.502 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-09T16:18:49.512Z,1349799529.511 [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>


2012-10-09T16:18:49.512Z,1349799529.512 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-09T16:18:49.531Z,1349799529.531 [Turbulence_NPS](INFO): Pause powering down
2012-10-09T16:18:49.579Z,1349799529.579 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-09T16:18:49.579Z,1349799529.579 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-09T16:18:49.579Z,1349799529.579 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-09T16:18:49.579Z,1349799529.579 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-09T16:18:49.583Z,1349799529.583 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-09T16:18:49.585Z,1349799529.585 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-09T16:18:49.592Z,1349799529.592 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T16:18:49.600Z,1349799529.600 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-09T16:18:49.603Z,1349799529.603 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T16:18:49.609Z,1349799529.609 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-09T16:18:49.618Z,1349799529.618 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-09T16:18:49.621Z,1349799529.621 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T16:18:49.626Z,1349799529.626 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-09T16:18:49.629Z,1349799529.629 [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>


2012-10-09T16:18:49.634Z,1349799529.634 [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,
2012-10-09T16:18:49.654Z,1349799529.654 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-09T16:18:50.167Z,1349799530.167 [Radio_Freewave](INFO): Powering up
2012-10-09T16:18:50.276Z,1349799530.276 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-09T16:18:50.279Z,1349799530.279 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-09T16:18:50.285Z,1349799530.285 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-09T16:18:50.286Z,1349799530.286 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-09T16:18:50.292Z,1349799530.292 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-09T16:18:50.295Z,1349799530.295 [MassServo](DEBUG): Initializing MassServo.
2012-10-09T16:18:50.300Z,1349799530.300 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-09T16:18:50.301Z,1349799530.302 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-09T16:18:50.307Z,1349799530.307 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-09T16:18:50.311Z,1349799530.311 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-09T16:18:51.859Z,1349799531.859 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T16:18:51.860Z,1349799531.860 [DVL_micro](INFO): Querying output modes
2012-10-09T16:18:51.860Z,1349799531.860 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-09T16:18:51.867Z,1349799531.867 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-09T16:18:51.867Z,1349799531.867 [DVL_micro](INFO): NQ1 output enabled
2012-10-09T16:18:51.867Z,1349799531.867 [DVL_micro](INFO): RSSI output enabled
2012-10-09T16:18:51.867Z,1349799531.867 [DVL_micro](INFO): ADCP output enabled
2012-10-09T16:18:51.867Z,1349799531.867 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-09T16:18:51.875Z,1349799531.875 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-09T16:18:51.880Z,1349799531.880 [DVL_micro](INFO): pause:Powering down
2012-10-09T16:18:54.362Z,1349799534.362 [NAL9602](INFO): Powering up NAL9602
2012-10-09T16:19:04.988Z,1349799544.988 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-09T16:19:04.991Z,1349799544.991 [CBIT](IMPORTANT): Beginning GF scan
2012-10-09T16:19:05.299Z,1349799545.299 [NAL9602](INFO): NAL9602 initialized