2013-06-04T19:07:32.366Z,1370372852.366 [Supervisor](DEBUG): Initializing supervisor.
2013-06-04T19:07:32.369Z,1370372852.369 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-06-04T19:07:32.369Z,1370372852.369 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-06-04T19:07:32.370Z,1370372852.370 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-06-04T19:07:32.388Z,1370372852.388 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-06-04T19:07:32.399Z,1370372852.399 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-06-04T19:07:32.400Z,1370372852.400 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-06-04T19:07:32.401Z,1370372852.401 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-06-04T19:07:32.402Z,1370372852.402 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-06-04T19:07:32.403Z,1370372852.403 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-06-04T19:07:32.404Z,1370372852.404 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-06-04T19:07:32.766Z,1370372852.766 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-06-04T19:07:32.766Z,1370372852.766 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-06-04T19:07:32.976Z,1370372852.976 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-06-04T19:07:32.976Z,1370372852.976 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-06-04T19:07:33.062Z,1370372853.062 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-06-04T19:07:33.062Z,1370372853.062 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-06-04T19:07:33.194Z,1370372853.194 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-06-04T19:07:33.195Z,1370372853.195 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-06-04T19:07:33.333Z,1370372853.333 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-06-04T19:07:33.334Z,1370372853.334 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-06-04T19:07:33.583Z,1370372853.583 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-06-04T19:07:33.583Z,1370372853.583 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-06-04T19:07:33.754Z,1370372853.754 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-06-04T19:07:33.755Z,1370372853.755 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-06-04T19:07:34.031Z,1370372854.031 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-06-04T19:07:34.032Z,1370372854.032 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-06-04T19:07:34.131Z,1370372854.131 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-06-04T19:07:34.132Z,1370372854.132 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-06-04T19:07:34.534Z,1370372854.534 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-06-04T19:07:34.535Z,1370372854.535 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-06-04T19:07:34.649Z,1370372854.649 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-06-04T19:07:34.650Z,1370372854.650 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-06-04T19:07:34.735Z,1370372854.735 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-06-04T19:07:34.736Z,1370372854.736 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-06-04T19:07:34.842Z,1370372854.842 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-06-04T19:07:34.977Z,1370372854.977 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-06-04T19:07:35.070Z,1370372855.070 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-06-04T19:07:35.175Z,1370372855.175 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-06-04T19:07:35.276Z,1370372855.276 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-06-04T19:07:35.394Z,1370372855.394 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-06-04T19:07:35.488Z,1370372855.489 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-06-04T19:07:35.584Z,1370372855.584 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-06-04T19:07:35.584Z,1370372855.584 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-06-04T19:07:35.587Z,1370372855.587 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-06-04T19:07:35.756Z,1370372855.756 [InternalSim] Loaded
2013-06-04T19:07:35.757Z,1370372855.757 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-06-04T19:07:35.757Z,1370372855.757 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-06-04T19:07:35.758Z,1370372855.758 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-06-04T19:07:35.819Z,1370372855.819 [SBIT](DEBUG): Construct Startup Built In Test.
2013-06-04T19:07:35.848Z,1370372855.848 [SBIT] Loaded
2013-06-04T19:07:35.848Z,1370372855.848 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-06-04T19:07:35.849Z,1370372855.849 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-06-04T19:07:35.877Z,1370372855.878 [IBIT] Loaded
2013-06-04T19:07:35.878Z,1370372855.878 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-06-04T19:07:35.881Z,1370372855.881 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-06-04T19:07:35.996Z,1370372855.996 [CBIT] Loaded
2013-06-04T19:07:35.996Z,1370372855.996 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-06-04T19:07:35.997Z,1370372855.997 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-06-04T19:07:35.997Z,1370372855.997 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-06-04T19:07:36.147Z,1370372856.147 [BuoyancyServo] Loaded
2013-06-04T19:07:36.147Z,1370372856.147 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-06-04T19:07:36.160Z,1370372856.159 [ElevatorServo] Loaded
2013-06-04T19:07:36.160Z,1370372856.160 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-06-04T19:07:36.171Z,1370372856.171 [MassServo] Loaded
2013-06-04T19:07:36.171Z,1370372856.171 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-06-04T19:07:36.184Z,1370372856.184 [RudderServo] Loaded
2013-06-04T19:07:36.184Z,1370372856.184 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-06-04T19:07:36.196Z,1370372856.196 [ThrusterServo] Loaded
2013-06-04T19:07:36.196Z,1370372856.196 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-06-04T19:07:36.196Z,1370372856.196 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-06-04T19:07:36.197Z,1370372856.197 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-06-04T19:07:36.229Z,1370372856.229 [DepthRateCalculator] Loaded
2013-06-04T19:07:36.229Z,1370372856.229 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-06-04T19:07:39.098Z,1370372859.098 [HFRadarModelCalc] Loaded
2013-06-04T19:07:39.098Z,1370372859.098 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-06-04T19:07:39.114Z,1370372859.114 [NavChart] Loaded
2013-06-04T19:07:39.114Z,1370372859.114 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-06-04T19:07:39.120Z,1370372859.120 [PitchRateCalculator] Loaded
2013-06-04T19:07:39.120Z,1370372859.120 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-06-04T19:07:39.131Z,1370372859.131 [SpeedCalculator] Loaded
2013-06-04T19:07:39.131Z,1370372859.131 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-06-04T19:07:39.146Z,1370372859.146 [TempGradientCalculator] Loaded
2013-06-04T19:07:39.146Z,1370372859.146 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-06-04T19:07:39.152Z,1370372859.152 [YawRateCalculator] Loaded
2013-06-04T19:07:39.152Z,1370372859.152 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-06-04T19:07:39.197Z,1370372859.197 [Navigation] Loaded
2013-06-04T19:07:39.197Z,1370372859.197 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-06-04T19:07:39.197Z,1370372859.197 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-06-04T19:07:39.198Z,1370372859.198 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-06-04T19:07:39.449Z,1370372859.449 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-06-04T19:07:39.450Z,1370372859.450 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-06-04T19:07:39.487Z,1370372859.487 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-06-04T19:07:39.488Z,1370372859.488 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-06-04T19:07:39.545Z,1370372859.546 [VerticalControl](DEBUG): Construct VerticalControl.
2013-06-04T19:07:39.637Z,1370372859.637 [VerticalControl] Loaded
2013-06-04T19:07:39.637Z,1370372859.637 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-06-04T19:07:39.638Z,1370372859.638 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-06-04T19:07:39.693Z,1370372859.693 [HorizontalControl] Loaded
2013-06-04T19:07:39.694Z,1370372859.694 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-06-04T19:07:39.695Z,1370372859.695 [SpeedControl](DEBUG): Construct SpeedControl.
2013-06-04T19:07:39.696Z,1370372859.696 [SpeedControl] Loaded
2013-06-04T19:07:39.697Z,1370372859.697 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-06-04T19:07:39.697Z,1370372859.697 [LoopControl](DEBUG): Construct LoopControl.
2013-06-04T19:07:39.698Z,1370372859.698 [LoopControl] Loaded
2013-06-04T19:07:39.698Z,1370372859.698 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-06-04T19:07:39.699Z,1370372859.699 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-06-04T19:07:39.699Z,1370372859.699 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-06-04T19:07:39.707Z,1370372859.707 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-06-04T19:07:39.712Z,1370372859.712 [AsyncPiEstimator] Loaded
2013-06-04T19:07:39.712Z,1370372859.712 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-06-04T19:07:39.714Z,1370372859.714 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-06-04T19:07:39.714Z,1370372859.714 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-06-04T19:07:39.715Z,1370372859.715 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-06-04T19:07:39.897Z,1370372859.897 [AHRS_sp3003D] Loaded
2013-06-04T19:07:39.898Z,1370372859.898 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-06-04T19:07:40.147Z,1370372860.147 [Batt_Ocean_Server] Loaded
2013-06-04T19:07:40.147Z,1370372860.147 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-06-04T19:07:40.160Z,1370372860.160 [Depth_Keller] Loaded
2013-06-04T19:07:40.161Z,1370372860.161 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-06-04T19:07:40.166Z,1370372860.166 [DropWeight] Loaded
2013-06-04T19:07:40.166Z,1370372860.166 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-06-04T19:07:40.335Z,1370372860.335 [DVL_micro] Loaded
2013-06-04T19:07:40.335Z,1370372860.335 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-06-04T19:07:40.336Z,1370372860.336 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406C34E0
2013-06-04T19:07:40.418Z,1370372860.418 [NAL9602] Loaded
2013-06-04T19:07:40.418Z,1370372860.418 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-06-04T19:07:40.468Z,1370372860.468 [Onboard] Loaded
2013-06-04T19:07:40.468Z,1370372860.468 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-06-04T19:07:40.475Z,1370372860.474 [Radio_Freewave] Loaded
2013-06-04T19:07:40.475Z,1370372860.475 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-06-04T19:07:40.631Z,1370372860.631 [DAT] Loaded
2013-06-04T19:07:40.631Z,1370372860.631 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-06-04T19:07:40.638Z,1370372860.638 [SCPI] Loaded
2013-06-04T19:07:40.638Z,1370372860.638 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2013-06-04T19:07:40.638Z,1370372860.638 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-06-04T19:07:40.639Z,1370372860.639 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-06-04T19:07:40.709Z,1370372860.709 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-06-04T19:07:40.711Z,1370372860.711 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-06-04T19:07:40.712Z,1370372860.712 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-06-04T19:07:40.718Z,1370372860.718 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-06-04T19:07:40.719Z,1370372860.719 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407154E0
2013-06-04T19:07:40.724Z,1370372860.724 [Supervisor](DEBUG): Running supervisor.
2013-06-04T19:07:40.725Z,1370372860.725 [CommandLine](INFO): Thread ID is 7033
2013-06-04T19:07:40.728Z,1370372860.727 [controlThread](INFO): Thread ID is 7032
2013-06-04T19:07:40.728Z,1370372860.728 [controlThread](DEBUG): Initializing ControlThread
2013-06-04T19:07:40.728Z,1370372860.728 [CycleStarter](INFO): Thread ID is 7031
2013-06-04T19:07:40.729Z,1370372860.729 [InternalSim](DEBUG):  InternalSim initializing...
2013-06-04T19:07:40.829Z,1370372860.829 [logger](INFO): Thread ID is 7034
2013-06-04T19:07:40.916Z,1370372860.916 [AsyncPiEstimator](INFO): Thread ID is 7095
2013-06-04T19:07:40.916Z,1370372860.916 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-06-04T19:07:40.925Z,1370372860.925 [DVL_micro](INFO): Thread ID is 7096
2013-06-04T19:07:41.074Z,1370372861.074 [NavChartDb](INFO): Thread ID is 7097
2013-06-04T19:07:41.085Z,1370372861.085 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-06-04T19:07:41.086Z,1370372861.086 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-06-04T19:07:41.087Z,1370372861.087 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-06-04T19:07:41.087Z,1370372861.087 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-06-04T19:07:41.087Z,1370372861.087 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-06-04T19:07:41.087Z,1370372861.087 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-06-04T19:07:41.088Z,1370372861.088 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-06-04T19:07:41.088Z,1370372861.088 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-06-04T19:07:41.088Z,1370372861.088 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-06-04T19:07:41.128Z,1370372861.128 [DVL_micro](INFO): Initializing
2013-06-04T19:07:41.128Z,1370372861.128 [DVL_micro](INFO): start:Powering up
2013-06-04T19:07:41.129Z,1370372861.129 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T19:07:41.149Z,1370372861.149 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T19:07:41.202Z,1370372861.202 [SBIT](INFO): Initialize SBIT Component.
2013-06-04T19:07:41.202Z,1370372861.202 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10418
2013-06-04T19:07:41.203Z,1370372861.203 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-06-04T19:07:41.203Z,1370372861.203 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-06-04T19:07:41.204Z,1370372861.204 [IBIT](INFO): Initialize IBIT Component.
2013-06-04T19:07:41.204Z,1370372861.204 [CBIT](DEBUG): Initialize CBIT Component.
2013-06-04T19:07:41.205Z,1370372861.205 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-06-04T19:07:41.235Z,1370372861.235 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-04T19:07:41.236Z,1370372861.236 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-06-04T19:07:41.236Z,1370372861.236 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-06-04T19:07:41.236Z,1370372861.236 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-06-04T19:07:41.237Z,1370372861.237 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-06-04T19:07:41.242Z,1370372861.242 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-06-04T19:07:41.243Z,1370372861.243 [Navigation](DEBUG): Initializing Navigation.
2013-06-04T19:07:41.243Z,1370372861.243 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-06-04T19:07:41.245Z,1370372861.245 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-06-04T19:07:41.246Z,1370372861.246 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-06-04T19:07:41.246Z,1370372861.246 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-06-04T19:07:42.863Z,1370372862.863 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-06-04T19:07:42.892Z,1370372862.892 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-06-04T19:07:42.929Z,1370372862.929 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T19:07:42.968Z,1370372862.968 [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>


2013-06-04T19:07:42.969Z,1370372862.969 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-06-04T19:07:43.049Z,1370372863.049 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-06-04T19:07:43.052Z,1370372863.052 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-06-04T19:07:43.071Z,1370372863.071 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T19:07:43.091Z,1370372863.091 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-06-04T19:07:43.094Z,1370372863.094 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T19:07:43.101Z,1370372863.101 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-06-04T19:07:43.121Z,1370372863.121 [Default:D.SetSpeed](DEBUG): Construct.
2013-06-04T19:07:43.124Z,1370372863.125 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T19:07:43.166Z,1370372863.165 [Default:F.Wait](DEBUG): Construct Wait.
2013-06-04T19:07:43.185Z,1370372863.185 [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>


2013-06-04T19:07:43.190Z,1370372863.190 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,SCPI,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-06-04T19:07:43.218Z,1370372863.218 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T19:07:43.219Z,1370372863.218 [DVL_micro](INFO): Querying output modes
2013-06-04T19:07:43.219Z,1370372863.219 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T19:07:43.238Z,1370372863.238 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-06-04T19:07:43.238Z,1370372863.238 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T19:07:43.238Z,1370372863.238 [DVL_micro](INFO): RSSI output enabled
2013-06-04T19:07:43.238Z,1370372863.238 [DVL_micro](INFO): ADCP output enabled
2013-06-04T19:07:43.239Z,1370372863.239 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T19:07:43.247Z,1370372863.247 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-06-04T19:07:43.250Z,1370372863.250 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T19:07:43.257Z,1370372863.257 [DVL_micro](INFO): pause:Powering down
2013-06-04T19:07:43.526Z,1370372863.526 [Radio_Freewave](INFO): Powering up
2013-06-04T19:07:43.551Z,1370372863.551 [DAT](INFO): Powering up
2013-06-04T19:07:43.552Z,1370372863.552 [DAT](DEBUG): Initializing DAT.
2013-06-04T19:07:43.866Z,1370372863.866 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:07:43.874Z,1370372863.874 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-06-04T19:07:43.885Z,1370372863.885 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:07:43.888Z,1370372863.888 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-06-04T19:07:43.914Z,1370372863.914 [MassServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:07:43.922Z,1370372863.922 [MassServo](DEBUG): Initializing MassServo.
2013-06-04T19:07:43.928Z,1370372863.928 [RudderServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:07:43.958Z,1370372863.958 [RudderServo](DEBUG): Initializing RudderServo.
2013-06-04T19:07:43.964Z,1370372863.964 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:07:43.970Z,1370372863.970 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-04T19:07:45.582Z,1370372865.582 [NAL9602](INFO): Powering up NAL9602
2013-06-04T19:07:56.322Z,1370372876.322 [NAL9602](INFO): NAL9602 initialized
2013-06-04T19:07:56.761Z,1370372876.761 [SBIT](IMPORTANT): Beginning Startup BIT
2013-06-04T19:07:56.763Z,1370372876.763 [CBIT](IMPORTANT): Beginning GF scan
2013-06-04T19:08:03.677Z,1370372883.677 [DAT](INFO): Powering down
2013-06-04T19:08:04.546Z,1370372884.546 [CommandLine](IMPORTANT): got command failComponent
2013-06-04T19:08:04.546Z,1370372884.546 [CommandLine](IMPORTANT): Failed components:
2013-06-04T19:08:04.546Z,1370372884.546 [CommandLine](IMPORTANT): No failed Components.
2013-06-04T19:08:23.090Z,1370372903.091 [CBIT](IMPORTANT): No ground fault detected
2013-06-04T19:08:37.742Z,1370372917.742 [CommandLine](IMPORTANT): got command burn 2.000000
2013-06-04T19:08:50.104Z,1370372930.104 [SBIT](IMPORTANT): SBIT PASSED
2013-06-04T19:08:50.456Z,1370372930.457 [MissionManager](IMPORTANT): Started mission Startup
2013-06-04T19:08:50.457Z,1370372930.457 [Startup] Running Loop=1
2013-06-04T19:08:50.457Z,1370372930.457 [Startup](INFO): Aggregate::initialize Startup
2013-06-04T19:08:50.457Z,1370372930.457 [Startup:A.GoToSurface] Running Loop=1
2013-06-04T19:08:50.457Z,1370372930.457 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T19:08:50.463Z,1370372930.463 [Startup:StartupSatComms] Running Loop=1
2013-06-04T19:08:50.463Z,1370372930.463 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-06-04T19:08:50.463Z,1370372930.463 [Startup:StartupSatComms:A] Running Loop=1
2013-06-04T19:08:50.847Z,1370372930.847 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-04T19:09:50.503Z,1370372990.503 [Startup:StartupSatComms:A](INFO): Timed out from 2013-06-04T19:08:50.5Z
2013-06-04T19:09:50.503Z,1370372990.503 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-06-04T19:09:50.503Z,1370372990.503 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-06-04T19:09:50.503Z,1370372990.503 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-06-04T19:09:50.504Z,1370372990.504 [Startup:StartupSatComms:A] Stopped
2013-06-04T19:09:50.504Z,1370372990.504 [Startup:StartupSatComms:B] Running Loop=1
2013-06-04T19:09:50.861Z,1370372990.861 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-06-04T19:10:04.182Z,1370373004.182 [CommandLine](IMPORTANT): got command quit
2013-06-04T19:10:05.306Z,1370373005.306 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-06-04T19:10:05.306Z,1370373005.306 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-06-04T19:10:05.494Z,1370373005.494 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-06-04T19:10:05.559Z,1370373005.559 [DVL_micro](INFO): uninitialize:Powering down
2013-06-04T19:10:05.574Z,1370373005.574 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-06-04T19:10:05.586Z,1370373005.586 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-06-04T19:10:05.590Z,1370373005.590 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-06-04T19:10:05.646Z,1370373005.646 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-06-04T19:10:05.669Z,1370373005.669 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-06-04T19:10:05.782Z,1370373005.782 [controlThread](DEBUG): Uninitializing ControlThread
2013-06-04T19:10:05.783Z,1370373005.783 [AHRS_sp3003D](INFO): Powering down
2013-06-04T19:10:05.871Z,1370373005.871 [NAL9602](INFO): Powering down
2013-06-04T19:10:05.873Z,1370373005.872 [DAT](INFO): Powering down
2013-06-04T19:10:05.874Z,1370373005.874 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-04T19:10:05.875Z,1370373005.875 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-06-04T19:10:05.879Z,1370373005.879 [Startup] Stopped
2013-06-04T19:10:05.879Z,1370373005.879 [Startup](INFO): Aggregate::uninitialize Startup
2013-06-04T19:10:05.879Z,1370373005.879 [Startup:A.GoToSurface] Stopped
2013-06-04T19:10:05.879Z,1370373005.879 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T19:10:05.879Z,1370373005.879 [Startup:StartupSatComms] Stopped
2013-06-04T19:10:05.880Z,1370373005.880 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-06-04T19:10:05.880Z,1370373005.880 [Startup:StartupSatComms:B] Stopped
2013-06-04T19:10:05.881Z,1370373005.881 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-06-04T19:10:05.882Z,1370373005.882 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-06-04T19:10:05.882Z,1370373005.882 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-06-04T19:10:05.882Z,1370373005.882 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-06-04T19:10:05.883Z,1370373005.883 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-06-04T19:10:05.883Z,1370373005.883 [BuoyancyServo](INFO): Powering down
2013-06-04T19:10:05.898Z,1370373005.898 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-06-04T19:10:05.898Z,1370373005.898 [ElevatorServo](INFO): Powering down
2013-06-04T19:10:05.899Z,1370373005.899 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-06-04T19:10:05.900Z,1370373005.900 [MassServo](INFO): Powering down
2013-06-04T19:10:05.901Z,1370373005.901 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-06-04T19:10:05.901Z,1370373005.901 [RudderServo](INFO): Powering down
2013-06-04T19:10:05.902Z,1370373005.902 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-04T19:10:05.902Z,1370373005.902 [ThrusterServo](INFO): Powering down
2013-06-04T19:10:05.903Z,1370373005.903 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-06-04T19:10:05.903Z,1370373005.903 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-06-04T19:10:05.904Z,1370373005.904 [CBIT](DEBUG): Uninitialize CBIT Component.