2013-06-04T19:11:04.993Z,1370373064.993 [Supervisor](DEBUG): Initializing supervisor.
2013-06-04T19:11:04.996Z,1370373064.996 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-06-04T19:11:04.997Z,1370373064.997 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-06-04T19:11:04.998Z,1370373064.998 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-06-04T19:11:05.003Z,1370373065.003 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-06-04T19:11:05.015Z,1370373065.015 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-06-04T19:11:05.016Z,1370373065.016 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-06-04T19:11:05.018Z,1370373065.017 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-06-04T19:11:05.019Z,1370373065.019 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-06-04T19:11:05.019Z,1370373065.019 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-06-04T19:11:05.021Z,1370373065.021 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-06-04T19:11:05.329Z,1370373065.329 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-06-04T19:11:05.330Z,1370373065.330 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-06-04T19:11:05.536Z,1370373065.536 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-06-04T19:11:05.537Z,1370373065.537 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-06-04T19:11:05.628Z,1370373065.628 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-06-04T19:11:05.629Z,1370373065.629 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-06-04T19:11:05.773Z,1370373065.773 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-06-04T19:11:05.774Z,1370373065.774 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-06-04T19:11:05.918Z,1370373065.918 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-06-04T19:11:05.919Z,1370373065.919 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-06-04T19:11:06.180Z,1370373066.180 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-06-04T19:11:06.180Z,1370373066.180 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-06-04T19:11:06.359Z,1370373066.359 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-06-04T19:11:06.359Z,1370373066.359 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-06-04T19:11:06.648Z,1370373066.648 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-06-04T19:11:06.649Z,1370373066.649 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-06-04T19:11:06.749Z,1370373066.749 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-06-04T19:11:06.750Z,1370373066.750 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-06-04T19:11:07.178Z,1370373067.178 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-06-04T19:11:07.179Z,1370373067.179 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-06-04T19:11:07.295Z,1370373067.295 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-06-04T19:11:07.296Z,1370373067.296 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-06-04T19:11:07.381Z,1370373067.381 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-06-04T19:11:07.382Z,1370373067.382 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-06-04T19:11:07.489Z,1370373067.489 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-06-04T19:11:07.629Z,1370373067.629 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-06-04T19:11:07.722Z,1370373067.722 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-06-04T19:11:07.829Z,1370373067.829 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-06-04T19:11:07.931Z,1370373067.931 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-06-04T19:11:08.054Z,1370373068.054 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-06-04T19:11:08.150Z,1370373068.150 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-06-04T19:11:08.238Z,1370373068.238 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-06-04T19:11:08.238Z,1370373068.238 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-06-04T19:11:08.241Z,1370373068.241 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-06-04T19:11:08.407Z,1370373068.408 [InternalSim] Loaded
2013-06-04T19:11:08.408Z,1370373068.408 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-06-04T19:11:08.409Z,1370373068.409 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-06-04T19:11:08.410Z,1370373068.409 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-06-04T19:11:08.476Z,1370373068.476 [SBIT](DEBUG): Construct Startup Built In Test.
2013-06-04T19:11:08.507Z,1370373068.507 [SBIT] Loaded
2013-06-04T19:11:08.507Z,1370373068.507 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-06-04T19:11:08.508Z,1370373068.508 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-06-04T19:11:08.539Z,1370373068.539 [IBIT] Loaded
2013-06-04T19:11:08.540Z,1370373068.540 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-06-04T19:11:08.544Z,1370373068.543 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-06-04T19:11:08.670Z,1370373068.670 [CBIT] Loaded
2013-06-04T19:11:08.671Z,1370373068.671 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-06-04T19:11:08.671Z,1370373068.671 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-06-04T19:11:08.672Z,1370373068.672 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-06-04T19:11:08.829Z,1370373068.829 [BuoyancyServo] Loaded
2013-06-04T19:11:08.829Z,1370373068.829 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-06-04T19:11:08.843Z,1370373068.843 [ElevatorServo] Loaded
2013-06-04T19:11:08.843Z,1370373068.843 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-06-04T19:11:08.856Z,1370373068.856 [MassServo] Loaded
2013-06-04T19:11:08.856Z,1370373068.856 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-06-04T19:11:08.869Z,1370373068.869 [RudderServo] Loaded
2013-06-04T19:11:08.869Z,1370373068.869 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-06-04T19:11:08.882Z,1370373068.882 [ThrusterServo] Loaded
2013-06-04T19:11:08.882Z,1370373068.882 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-06-04T19:11:08.883Z,1370373068.883 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-06-04T19:11:08.883Z,1370373068.883 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-06-04T19:11:08.902Z,1370373068.902 [DepthRateCalculator] Loaded
2013-06-04T19:11:08.902Z,1370373068.902 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-06-04T19:11:12.074Z,1370373072.074 [HFRadarModelCalc] Loaded
2013-06-04T19:11:12.075Z,1370373072.075 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-06-04T19:11:12.092Z,1370373072.092 [NavChart] Loaded
2013-06-04T19:11:12.092Z,1370373072.092 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-06-04T19:11:12.098Z,1370373072.099 [PitchRateCalculator] Loaded
2013-06-04T19:11:12.099Z,1370373072.099 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-06-04T19:11:12.111Z,1370373072.111 [SpeedCalculator] Loaded
2013-06-04T19:11:12.111Z,1370373072.111 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-06-04T19:11:12.127Z,1370373072.127 [TempGradientCalculator] Loaded
2013-06-04T19:11:12.127Z,1370373072.127 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-06-04T19:11:12.134Z,1370373072.134 [YawRateCalculator] Loaded
2013-06-04T19:11:12.134Z,1370373072.134 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-06-04T19:11:12.183Z,1370373072.183 [Navigation] Loaded
2013-06-04T19:11:12.184Z,1370373072.184 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-06-04T19:11:12.184Z,1370373072.184 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-06-04T19:11:12.185Z,1370373072.185 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-06-04T19:11:12.422Z,1370373072.422 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-06-04T19:11:12.423Z,1370373072.423 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-06-04T19:11:12.448Z,1370373072.448 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-06-04T19:11:12.448Z,1370373072.448 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-06-04T19:11:12.493Z,1370373072.493 [VerticalControl](DEBUG): Construct VerticalControl.
2013-06-04T19:11:12.594Z,1370373072.594 [VerticalControl] Loaded
2013-06-04T19:11:12.594Z,1370373072.594 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-06-04T19:11:12.595Z,1370373072.595 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-06-04T19:11:12.656Z,1370373072.656 [HorizontalControl] Loaded
2013-06-04T19:11:12.656Z,1370373072.656 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-06-04T19:11:12.657Z,1370373072.657 [SpeedControl](DEBUG): Construct SpeedControl.
2013-06-04T19:11:12.659Z,1370373072.659 [SpeedControl] Loaded
2013-06-04T19:11:12.660Z,1370373072.659 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-06-04T19:11:12.660Z,1370373072.660 [LoopControl](DEBUG): Construct LoopControl.
2013-06-04T19:11:12.661Z,1370373072.661 [LoopControl] Loaded
2013-06-04T19:11:12.661Z,1370373072.661 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-06-04T19:11:12.662Z,1370373072.662 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-06-04T19:11:12.662Z,1370373072.662 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-06-04T19:11:12.668Z,1370373072.668 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-06-04T19:11:12.673Z,1370373072.673 [AsyncPiEstimator] Loaded
2013-06-04T19:11:12.674Z,1370373072.674 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-06-04T19:11:12.675Z,1370373072.675 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-06-04T19:11:12.675Z,1370373072.675 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-06-04T19:11:12.676Z,1370373072.676 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-06-04T19:11:12.831Z,1370373072.831 [AHRS_sp3003D] Loaded
2013-06-04T19:11:12.831Z,1370373072.832 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-06-04T19:11:13.106Z,1370373073.106 [Batt_Ocean_Server] Loaded
2013-06-04T19:11:13.106Z,1370373073.106 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-06-04T19:11:13.121Z,1370373073.121 [Depth_Keller] Loaded
2013-06-04T19:11:13.121Z,1370373073.121 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-06-04T19:11:13.127Z,1370373073.127 [DropWeight] Loaded
2013-06-04T19:11:13.127Z,1370373073.127 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-06-04T19:11:13.314Z,1370373073.314 [DVL_micro] Loaded
2013-06-04T19:11:13.315Z,1370373073.315 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-06-04T19:11:13.316Z,1370373073.316 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406C34E0
2013-06-04T19:11:13.405Z,1370373073.405 [NAL9602] Loaded
2013-06-04T19:11:13.406Z,1370373073.406 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-06-04T19:11:13.460Z,1370373073.460 [Onboard] Loaded
2013-06-04T19:11:13.461Z,1370373073.461 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-06-04T19:11:13.468Z,1370373073.468 [Radio_Freewave] Loaded
2013-06-04T19:11:13.468Z,1370373073.468 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-06-04T19:11:13.640Z,1370373073.640 [DAT] Loaded
2013-06-04T19:11:13.641Z,1370373073.641 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-06-04T19:11:13.648Z,1370373073.648 [SCPI] Loaded
2013-06-04T19:11:13.648Z,1370373073.648 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2013-06-04T19:11:13.649Z,1370373073.649 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-06-04T19:11:13.650Z,1370373073.649 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-06-04T19:11:13.695Z,1370373073.695 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-06-04T19:11:13.697Z,1370373073.697 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-06-04T19:11:13.698Z,1370373073.698 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-06-04T19:11:13.705Z,1370373073.705 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-06-04T19:11:13.707Z,1370373073.707 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407154E0
2013-06-04T19:11:13.712Z,1370373073.712 [Supervisor](DEBUG): Running supervisor.
2013-06-04T19:11:13.713Z,1370373073.713 [CommandLine](INFO): Thread ID is 7192
2013-06-04T19:11:13.715Z,1370373073.716 [controlThread](INFO): Thread ID is 7191
2013-06-04T19:11:13.716Z,1370373073.716 [controlThread](DEBUG): Initializing ControlThread
2013-06-04T19:11:13.716Z,1370373073.716 [CycleStarter](INFO): Thread ID is 7190
2013-06-04T19:11:13.717Z,1370373073.717 [InternalSim](DEBUG):  InternalSim initializing...
2013-06-04T19:11:13.750Z,1370373073.750 [logger](INFO): Thread ID is 7193
2013-06-04T19:11:13.776Z,1370373073.776 [SBIT](INFO): Initialize SBIT Component.
2013-06-04T19:11:13.776Z,1370373073.776 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10418
2013-06-04T19:11:13.777Z,1370373073.777 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-06-04T19:11:13.777Z,1370373073.777 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-06-04T19:11:13.777Z,1370373073.777 [IBIT](INFO): Initialize IBIT Component.
2013-06-04T19:11:13.778Z,1370373073.778 [CBIT](DEBUG): Initialize CBIT Component.
2013-06-04T19:11:13.779Z,1370373073.779 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-06-04T19:11:13.790Z,1370373073.790 [AsyncPiEstimator](INFO): Thread ID is 7254
2013-06-04T19:11:13.791Z,1370373073.791 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-06-04T19:11:13.803Z,1370373073.803 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-04T19:11:13.804Z,1370373073.804 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-06-04T19:11:13.804Z,1370373073.804 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-06-04T19:11:13.804Z,1370373073.804 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-06-04T19:11:13.805Z,1370373073.805 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-06-04T19:11:13.806Z,1370373073.806 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-06-04T19:11:13.807Z,1370373073.807 [Navigation](DEBUG): Initializing Navigation.
2013-06-04T19:11:13.807Z,1370373073.807 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-06-04T19:11:13.809Z,1370373073.809 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-06-04T19:11:13.809Z,1370373073.809 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-06-04T19:11:13.810Z,1370373073.810 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-06-04T19:11:13.815Z,1370373073.815 [DVL_micro](INFO): Thread ID is 7255
2013-06-04T19:11:13.824Z,1370373073.824 [DVL_micro](INFO): Initializing
2013-06-04T19:11:13.825Z,1370373073.825 [DVL_micro](INFO): start:Powering up
2013-06-04T19:11:13.826Z,1370373073.826 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T19:11:13.826Z,1370373073.826 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T19:11:13.839Z,1370373073.839 [NavChartDb](INFO): Thread ID is 7256
2013-06-04T19:11:13.842Z,1370373073.842 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-06-04T19:11:13.842Z,1370373073.842 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-06-04T19:11:13.843Z,1370373073.843 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-06-04T19:11:13.843Z,1370373073.843 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-06-04T19:11:13.843Z,1370373073.843 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-06-04T19:11:13.844Z,1370373073.843 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-06-04T19:11:13.844Z,1370373073.844 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-06-04T19:11:13.844Z,1370373073.844 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-06-04T19:11:13.844Z,1370373073.844 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-06-04T19:11:15.711Z,1370373075.711 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-06-04T19:11:15.740Z,1370373075.740 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-06-04T19:11:15.753Z,1370373075.753 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T19:11:15.792Z,1370373075.792 [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>


2013-06-04T19:11:15.793Z,1370373075.793 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-06-04T19:11:15.852Z,1370373075.852 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-06-04T19:11:15.878Z,1370373075.878 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T19:11:15.878Z,1370373075.878 [DVL_micro](INFO): Querying output modes
2013-06-04T19:11:15.879Z,1370373075.879 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T19:11:15.883Z,1370373075.883 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-06-04T19:11:15.886Z,1370373075.886 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T19:11:15.890Z,1370373075.890 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-06-04T19:11:15.890Z,1370373075.890 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T19:11:15.890Z,1370373075.890 [DVL_micro](INFO): RSSI output enabled
2013-06-04T19:11:15.890Z,1370373075.890 [DVL_micro](INFO): ADCP output enabled
2013-06-04T19:11:15.891Z,1370373075.891 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T19:11:15.902Z,1370373075.902 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T19:11:15.906Z,1370373075.907 [DVL_micro](INFO): pause:Powering down
2013-06-04T19:11:15.926Z,1370373075.926 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-06-04T19:11:15.929Z,1370373075.929 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T19:11:15.936Z,1370373075.936 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-06-04T19:11:15.972Z,1370373075.972 [Default:D.SetSpeed](DEBUG): Construct.
2013-06-04T19:11:15.975Z,1370373075.976 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T19:11:15.997Z,1370373075.997 [Default:F.Wait](DEBUG): Construct Wait.
2013-06-04T19:11:16.000Z,1370373076.000 [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>


2013-06-04T19:11:16.005Z,1370373076.005 [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,
2013-06-04T19:11:16.076Z,1370373076.076 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-06-04T19:11:16.286Z,1370373076.286 [Radio_Freewave](INFO): Powering up
2013-06-04T19:11:16.295Z,1370373076.295 [DAT](INFO): Powering up
2013-06-04T19:11:16.295Z,1370373076.295 [DAT](DEBUG): Initializing DAT.
2013-06-04T19:11:16.539Z,1370373076.539 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:11:16.546Z,1370373076.546 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-06-04T19:11:16.585Z,1370373076.585 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:11:16.590Z,1370373076.590 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-06-04T19:11:16.608Z,1370373076.608 [MassServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:11:16.612Z,1370373076.612 [MassServo](DEBUG): Initializing MassServo.
2013-06-04T19:11:16.634Z,1370373076.634 [RudderServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:11:16.642Z,1370373076.642 [RudderServo](DEBUG): Initializing RudderServo.
2013-06-04T19:11:16.648Z,1370373076.648 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:11:16.674Z,1370373076.674 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-04T19:11:18.642Z,1370373078.642 [NAL9602](INFO): Powering up NAL9602
2013-06-04T19:11:29.286Z,1370373089.286 [NAL9602](INFO): NAL9602 initialized
2013-06-04T19:11:29.353Z,1370373089.353 [SBIT](IMPORTANT): Beginning Startup BIT
2013-06-04T19:11:29.377Z,1370373089.378 [CBIT](IMPORTANT): Beginning GF scan
2013-06-04T19:11:36.473Z,1370373096.473 [DAT](INFO): Powering down
2013-06-04T19:11:47.890Z,1370373107.890 [CommandLine](IMPORTANT): got command quit
2013-06-04T19:11:49.031Z,1370373109.031 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-06-04T19:11:49.032Z,1370373109.032 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-06-04T19:11:49.122Z,1370373109.122 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-06-04T19:11:49.490Z,1370373109.490 [DVL_micro](INFO): uninitialize:Powering down
2013-06-04T19:11:49.510Z,1370373109.510 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-06-04T19:11:49.794Z,1370373109.794 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-06-04T19:11:49.810Z,1370373109.810 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-06-04T19:11:49.870Z,1370373109.870 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-06-04T19:11:49.871Z,1370373109.871 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-06-04T19:11:50.235Z,1370373110.235 [controlThread](DEBUG): Uninitializing ControlThread
2013-06-04T19:11:50.235Z,1370373110.235 [AHRS_sp3003D](INFO): Powering down
2013-06-04T19:11:50.323Z,1370373110.323 [NAL9602](INFO): Powering down
2013-06-04T19:11:50.324Z,1370373110.324 [DAT](INFO): Powering down
2013-06-04T19:11:50.326Z,1370373110.326 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-04T19:11:50.326Z,1370373110.326 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-06-04T19:11:50.331Z,1370373110.332 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-06-04T19:11:50.332Z,1370373110.332 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-06-04T19:11:50.332Z,1370373110.332 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-06-04T19:11:50.333Z,1370373110.332 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-06-04T19:11:50.333Z,1370373110.333 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-06-04T19:11:50.333Z,1370373110.333 [BuoyancyServo](INFO): Powering down
2013-06-04T19:11:50.346Z,1370373110.346 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-06-04T19:11:50.346Z,1370373110.346 [ElevatorServo](INFO): Powering down
2013-06-04T19:11:50.347Z,1370373110.347 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-06-04T19:11:50.347Z,1370373110.347 [MassServo](INFO): Powering down
2013-06-04T19:11:50.348Z,1370373110.348 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-06-04T19:11:50.348Z,1370373110.348 [RudderServo](INFO): Powering down
2013-06-04T19:11:50.349Z,1370373110.349 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-04T19:11:50.349Z,1370373110.349 [ThrusterServo](INFO): Powering down
2013-06-04T19:11:50.350Z,1370373110.350 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-06-04T19:11:50.350Z,1370373110.350 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-06-04T19:11:50.350Z,1370373110.350 [CBIT](DEBUG): Uninitialize CBIT Component.