2013-06-04T19:13:19.895Z,1370373199.895 [Supervisor](DEBUG): Initializing supervisor.
2013-06-04T19:13:19.898Z,1370373199.898 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-06-04T19:13:19.899Z,1370373199.899 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-06-04T19:13:19.900Z,1370373199.900 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-06-04T19:13:19.905Z,1370373199.905 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-06-04T19:13:19.916Z,1370373199.916 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-06-04T19:13:19.917Z,1370373199.917 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-06-04T19:13:19.918Z,1370373199.918 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-06-04T19:13:19.919Z,1370373199.919 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-06-04T19:13:19.920Z,1370373199.920 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-06-04T19:13:19.921Z,1370373199.921 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-06-04T19:13:20.212Z,1370373200.212 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-06-04T19:13:20.212Z,1370373200.212 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-06-04T19:13:20.408Z,1370373200.408 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-06-04T19:13:20.408Z,1370373200.408 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-06-04T19:13:20.492Z,1370373200.492 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-06-04T19:13:20.493Z,1370373200.493 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-06-04T19:13:20.624Z,1370373200.624 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-06-04T19:13:20.624Z,1370373200.624 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-06-04T19:13:20.761Z,1370373200.761 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-06-04T19:13:20.762Z,1370373200.762 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-06-04T19:13:21.010Z,1370373201.010 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-06-04T19:13:21.010Z,1370373201.010 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-06-04T19:13:21.180Z,1370373201.180 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-06-04T19:13:21.181Z,1370373201.181 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-06-04T19:13:21.454Z,1370373201.454 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-06-04T19:13:21.454Z,1370373201.454 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-06-04T19:13:21.552Z,1370373201.552 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-06-04T19:13:21.552Z,1370373201.552 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-06-04T19:13:21.953Z,1370373201.953 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-06-04T19:13:21.953Z,1370373201.953 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-06-04T19:13:22.067Z,1370373202.067 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-06-04T19:13:22.068Z,1370373202.068 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-06-04T19:13:22.153Z,1370373202.153 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-06-04T19:13:22.154Z,1370373202.154 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-06-04T19:13:22.258Z,1370373202.258 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-06-04T19:13:22.391Z,1370373202.391 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-06-04T19:13:22.482Z,1370373202.483 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-06-04T19:13:22.586Z,1370373202.586 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-06-04T19:13:22.685Z,1370373202.685 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-06-04T19:13:22.803Z,1370373202.803 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-06-04T19:13:22.897Z,1370373202.897 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-06-04T19:13:22.984Z,1370373202.984 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-06-04T19:13:22.984Z,1370373202.984 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-06-04T19:13:22.987Z,1370373202.987 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-06-04T19:13:23.135Z,1370373203.135 [InternalSim] Loaded
2013-06-04T19:13:23.136Z,1370373203.136 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-06-04T19:13:23.137Z,1370373203.136 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-06-04T19:13:23.137Z,1370373203.137 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-06-04T19:13:23.197Z,1370373203.197 [SBIT](DEBUG): Construct Startup Built In Test.
2013-06-04T19:13:23.225Z,1370373203.225 [SBIT] Loaded
2013-06-04T19:13:23.225Z,1370373203.225 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-06-04T19:13:23.226Z,1370373203.226 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-06-04T19:13:23.254Z,1370373203.254 [IBIT] Loaded
2013-06-04T19:13:23.254Z,1370373203.254 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-06-04T19:13:23.258Z,1370373203.258 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-06-04T19:13:23.372Z,1370373203.372 [CBIT] Loaded
2013-06-04T19:13:23.372Z,1370373203.372 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-06-04T19:13:23.373Z,1370373203.373 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-06-04T19:13:23.373Z,1370373203.373 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-06-04T19:13:23.523Z,1370373203.523 [BuoyancyServo] Loaded
2013-06-04T19:13:23.523Z,1370373203.523 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-06-04T19:13:23.535Z,1370373203.535 [ElevatorServo] Loaded
2013-06-04T19:13:23.535Z,1370373203.536 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-06-04T19:13:23.547Z,1370373203.547 [MassServo] Loaded
2013-06-04T19:13:23.547Z,1370373203.547 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-06-04T19:13:23.559Z,1370373203.559 [RudderServo] Loaded
2013-06-04T19:13:23.560Z,1370373203.560 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-06-04T19:13:23.571Z,1370373203.571 [ThrusterServo] Loaded
2013-06-04T19:13:23.571Z,1370373203.571 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-06-04T19:13:23.572Z,1370373203.572 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-06-04T19:13:23.572Z,1370373203.572 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-06-04T19:13:23.590Z,1370373203.590 [DepthRateCalculator] Loaded
2013-06-04T19:13:23.591Z,1370373203.591 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-06-04T19:13:26.429Z,1370373206.429 [HFRadarModelCalc] Loaded
2013-06-04T19:13:26.429Z,1370373206.429 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-06-04T19:13:26.444Z,1370373206.444 [NavChart] Loaded
2013-06-04T19:13:26.445Z,1370373206.445 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-06-04T19:13:26.450Z,1370373206.450 [PitchRateCalculator] Loaded
2013-06-04T19:13:26.451Z,1370373206.451 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-06-04T19:13:26.461Z,1370373206.461 [SpeedCalculator] Loaded
2013-06-04T19:13:26.461Z,1370373206.461 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-06-04T19:13:26.476Z,1370373206.476 [TempGradientCalculator] Loaded
2013-06-04T19:13:26.476Z,1370373206.476 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-06-04T19:13:26.482Z,1370373206.482 [YawRateCalculator] Loaded
2013-06-04T19:13:26.482Z,1370373206.482 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-06-04T19:13:26.526Z,1370373206.526 [Navigation] Loaded
2013-06-04T19:13:26.527Z,1370373206.527 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-06-04T19:13:26.527Z,1370373206.527 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-06-04T19:13:26.528Z,1370373206.528 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-06-04T19:13:26.740Z,1370373206.740 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-06-04T19:13:26.740Z,1370373206.740 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-06-04T19:13:26.763Z,1370373206.763 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-06-04T19:13:26.764Z,1370373206.764 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-06-04T19:13:26.804Z,1370373206.804 [VerticalControl](DEBUG): Construct VerticalControl.
2013-06-04T19:13:26.895Z,1370373206.895 [VerticalControl] Loaded
2013-06-04T19:13:26.896Z,1370373206.895 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-06-04T19:13:26.896Z,1370373206.897 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-06-04T19:13:26.951Z,1370373206.951 [HorizontalControl] Loaded
2013-06-04T19:13:26.952Z,1370373206.952 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-06-04T19:13:26.953Z,1370373206.953 [SpeedControl](DEBUG): Construct SpeedControl.
2013-06-04T19:13:26.954Z,1370373206.954 [SpeedControl] Loaded
2013-06-04T19:13:26.955Z,1370373206.955 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-06-04T19:13:26.956Z,1370373206.955 [LoopControl](DEBUG): Construct LoopControl.
2013-06-04T19:13:26.956Z,1370373206.956 [LoopControl] Loaded
2013-06-04T19:13:26.956Z,1370373206.956 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-06-04T19:13:26.957Z,1370373206.957 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-06-04T19:13:26.957Z,1370373206.957 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-06-04T19:13:26.963Z,1370373206.963 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-06-04T19:13:26.967Z,1370373206.967 [AsyncPiEstimator] Loaded
2013-06-04T19:13:26.968Z,1370373206.968 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-06-04T19:13:26.969Z,1370373206.969 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-06-04T19:13:26.970Z,1370373206.970 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-06-04T19:13:26.970Z,1370373206.970 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-06-04T19:13:27.111Z,1370373207.111 [AHRS_sp3003D] Loaded
2013-06-04T19:13:27.111Z,1370373207.111 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-06-04T19:13:27.359Z,1370373207.359 [Batt_Ocean_Server] Loaded
2013-06-04T19:13:27.359Z,1370373207.359 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-06-04T19:13:27.372Z,1370373207.372 [Depth_Keller] Loaded
2013-06-04T19:13:27.373Z,1370373207.373 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-06-04T19:13:27.378Z,1370373207.378 [DropWeight] Loaded
2013-06-04T19:13:27.378Z,1370373207.378 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-06-04T19:13:27.545Z,1370373207.545 [DVL_micro] Loaded
2013-06-04T19:13:27.546Z,1370373207.546 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-06-04T19:13:27.547Z,1370373207.547 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406C34E0
2013-06-04T19:13:27.627Z,1370373207.627 [NAL9602] Loaded
2013-06-04T19:13:27.627Z,1370373207.627 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-06-04T19:13:27.676Z,1370373207.676 [Onboard] Loaded
2013-06-04T19:13:27.677Z,1370373207.677 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-06-04T19:13:27.683Z,1370373207.683 [Radio_Freewave] Loaded
2013-06-04T19:13:27.683Z,1370373207.683 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-06-04T19:13:27.838Z,1370373207.838 [DAT] Loaded
2013-06-04T19:13:27.838Z,1370373207.838 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-06-04T19:13:27.845Z,1370373207.845 [SCPI] Loaded
2013-06-04T19:13:27.845Z,1370373207.845 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2013-06-04T19:13:27.845Z,1370373207.845 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-06-04T19:13:27.846Z,1370373207.846 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-06-04T19:13:27.887Z,1370373207.887 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-06-04T19:13:27.890Z,1370373207.890 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-06-04T19:13:27.891Z,1370373207.891 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-06-04T19:13:27.897Z,1370373207.897 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-06-04T19:13:27.898Z,1370373207.898 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407154E0
2013-06-04T19:13:27.903Z,1370373207.903 [Supervisor](DEBUG): Running supervisor.
2013-06-04T19:13:27.904Z,1370373207.904 [CommandLine](INFO): Thread ID is 7347
2013-06-04T19:13:27.907Z,1370373207.907 [controlThread](INFO): Thread ID is 7346
2013-06-04T19:13:27.907Z,1370373207.907 [controlThread](DEBUG): Initializing ControlThread
2013-06-04T19:13:27.908Z,1370373207.908 [CycleStarter](INFO): Thread ID is 7345
2013-06-04T19:13:27.908Z,1370373207.908 [InternalSim](DEBUG):  InternalSim initializing...
2013-06-04T19:13:27.944Z,1370373207.944 [logger](INFO): Thread ID is 7348
2013-06-04T19:13:27.966Z,1370373207.966 [SBIT](INFO): Initialize SBIT Component.
2013-06-04T19:13:27.966Z,1370373207.966 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10421
2013-06-04T19:13:27.967Z,1370373207.967 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-06-04T19:13:27.967Z,1370373207.967 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-06-04T19:13:27.967Z,1370373207.967 [IBIT](INFO): Initialize IBIT Component.
2013-06-04T19:13:27.968Z,1370373207.968 [CBIT](DEBUG): Initialize CBIT Component.
2013-06-04T19:13:27.969Z,1370373207.969 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-06-04T19:13:27.978Z,1370373207.978 [AsyncPiEstimator](INFO): Thread ID is 7409
2013-06-04T19:13:27.979Z,1370373207.978 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-06-04T19:13:27.999Z,1370373207.999 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-04T19:13:27.000Z,1370373208.000 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-06-04T19:13:28.000Z,1370373208.000 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-06-04T19:13:28.000Z,1370373208.000 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-06-04T19:13:28.001Z,1370373208.001 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-06-04T19:13:28.002Z,1370373208.002 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-06-04T19:13:28.003Z,1370373208.003 [Navigation](DEBUG): Initializing Navigation.
2013-06-04T19:13:28.003Z,1370373208.003 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-06-04T19:13:28.005Z,1370373208.005 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-06-04T19:13:28.006Z,1370373208.006 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-06-04T19:13:28.006Z,1370373208.006 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-06-04T19:13:28.009Z,1370373208.009 [DVL_micro](INFO): Thread ID is 7410
2013-06-04T19:13:28.019Z,1370373208.019 [DVL_micro](INFO): Initializing
2013-06-04T19:13:28.020Z,1370373208.020 [DVL_micro](INFO): start:Powering up
2013-06-04T19:13:28.021Z,1370373208.020 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T19:13:28.021Z,1370373208.021 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T19:13:28.035Z,1370373208.035 [NavChartDb](INFO): Thread ID is 7411
2013-06-04T19:13:28.037Z,1370373208.037 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-06-04T19:13:28.038Z,1370373208.038 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-06-04T19:13:28.038Z,1370373208.038 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-06-04T19:13:28.039Z,1370373208.039 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-06-04T19:13:28.039Z,1370373208.039 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-06-04T19:13:28.039Z,1370373208.039 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-06-04T19:13:28.039Z,1370373208.039 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-06-04T19:13:28.040Z,1370373208.040 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-06-04T19:13:28.040Z,1370373208.040 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-06-04T19:13:29.685Z,1370373209.685 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-06-04T19:13:29.717Z,1370373209.717 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-06-04T19:13:29.740Z,1370373209.740 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T19:13:29.784Z,1370373209.784 [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>


2013-06-04T19:13:29.785Z,1370373209.785 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-06-04T19:13:29.839Z,1370373209.839 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-06-04T19:13:29.841Z,1370373209.841 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-06-04T19:13:29.884Z,1370373209.884 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T19:13:29.904Z,1370373209.904 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-06-04T19:13:29.910Z,1370373209.910 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T19:13:29.916Z,1370373209.916 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-06-04T19:13:29.941Z,1370373209.941 [Default:D.SetSpeed](DEBUG): Construct.
2013-06-04T19:13:29.944Z,1370373209.944 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T19:13:29.993Z,1370373209.993 [Default:F.Wait](DEBUG): Construct Wait.
2013-06-04T19:13:29.998Z,1370373209.997 [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>


2013-06-04T19:13:30.003Z,1370373210.003 [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,
2013-06-04T19:13:30.070Z,1370373210.070 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-06-04T19:13:30.082Z,1370373210.082 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T19:13:30.082Z,1370373210.082 [DVL_micro](INFO): Querying output modes
2013-06-04T19:13:30.083Z,1370373210.083 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T19:13:30.094Z,1370373210.094 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-06-04T19:13:30.094Z,1370373210.094 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T19:13:30.094Z,1370373210.094 [DVL_micro](INFO): RSSI output enabled
2013-06-04T19:13:30.094Z,1370373210.094 [DVL_micro](INFO): ADCP output enabled
2013-06-04T19:13:30.094Z,1370373210.095 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T19:13:30.106Z,1370373210.106 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T19:13:30.122Z,1370373210.122 [DVL_micro](INFO): pause:Powering down
2013-06-04T19:13:30.227Z,1370373210.227 [DAT](INFO): Powering up
2013-06-04T19:13:30.227Z,1370373210.227 [DAT](DEBUG): Initializing DAT.
2013-06-04T19:13:30.440Z,1370373210.440 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:13:30.462Z,1370373210.462 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-06-04T19:13:30.468Z,1370373210.468 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:13:30.474Z,1370373210.474 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-06-04T19:13:30.507Z,1370373210.507 [MassServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:13:30.508Z,1370373210.509 [MassServo](DEBUG): Initializing MassServo.
2013-06-04T19:13:30.527Z,1370373210.527 [RudderServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:13:30.534Z,1370373210.534 [RudderServo](DEBUG): Initializing RudderServo.
2013-06-04T19:13:30.540Z,1370373210.540 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-04T19:13:30.566Z,1370373210.566 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-04T19:13:30.854Z,1370373210.854 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-06-04T19:13:30.854Z,1370373210.854 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0x42360D0A
2013-06-04T19:13:30.854Z,1370373210.854 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-06-04T19:13:30.854Z,1370373210.854 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-06-04T19:13:30.854Z,1370373210.854 [AHRS_sp3003D](ERROR): Hardware Fault
2013-06-04T19:13:30.930Z,1370373210.930 [DVL_micro](INFO): RSSI unrequested
2013-06-04T19:13:30.930Z,1370373210.930 [DVL_micro](INFO): ADCP unrequested
2013-06-04T19:13:30.931Z,1370373210.931 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T19:13:30.931Z,1370373210.931 [DVL_micro](INFO): resume:Powering up
2013-06-04T19:13:30.931Z,1370373210.931 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T19:13:31.029Z,1370373211.029 [Radio_Freewave](INFO): Powering up
2013-06-04T19:13:31.516Z,1370373211.516 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-06-04T19:13:31.542Z,1370373211.542 [AHRS_sp3003D](INFO): Powering down
2013-06-04T19:13:32.733Z,1370373212.733 [NAL9602](INFO): Powering up NAL9602
2013-06-04T19:13:32.928Z,1370373212.928 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-06-04T19:13:32.928Z,1370373212.928 [AHRS_sp3003D] No Fault, FailCount= 1
2013-06-04T19:13:32.938Z,1370373212.938 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T19:13:32.938Z,1370373212.938 [DVL_micro](INFO): Querying output modes
2013-06-04T19:13:32.938Z,1370373212.938 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T19:13:32.954Z,1370373212.954 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-06-04T19:13:32.954Z,1370373212.954 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T19:13:32.954Z,1370373212.954 [DVL_micro](INFO): RSSI output enabled
2013-06-04T19:13:32.954Z,1370373212.954 [DVL_micro](INFO): ADCP output enabled
2013-06-04T19:13:32.954Z,1370373212.954 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T19:13:32.966Z,1370373212.966 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T19:13:32.969Z,1370373212.969 [DVL_micro](INFO): pause:Powering down
2013-06-04T19:13:33.128Z,1370373213.128 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-06-04T19:13:43.330Z,1370373223.330 [NAL9602](INFO): NAL9602 initialized
2013-06-04T19:13:43.392Z,1370373223.392 [SBIT](IMPORTANT): Beginning Startup BIT
2013-06-04T19:13:43.399Z,1370373223.399 [CBIT](IMPORTANT): Beginning GF scan
2013-06-04T19:13:45.310Z,1370373225.310 [CommandLine](IMPORTANT): got command quit
2013-06-04T19:13:46.486Z,1370373226.486 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-06-04T19:13:46.486Z,1370373226.486 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-06-04T19:13:47.302Z,1370373227.302 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-06-04T19:13:47.530Z,1370373227.530 [DVL_micro](INFO): uninitialize:Powering down
2013-06-04T19:13:47.542Z,1370373227.542 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-06-04T19:13:47.646Z,1370373227.646 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-06-04T19:13:47.662Z,1370373227.662 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-06-04T19:13:47.682Z,1370373227.682 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-06-04T19:13:47.683Z,1370373227.683 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-06-04T19:13:47.735Z,1370373227.735 [controlThread](DEBUG): Uninitializing ControlThread
2013-06-04T19:13:47.735Z,1370373227.735 [AHRS_sp3003D](INFO): Powering down
2013-06-04T19:13:47.823Z,1370373227.823 [NAL9602](INFO): Powering down
2013-06-04T19:13:47.824Z,1370373227.824 [DAT](INFO): Powering down
2013-06-04T19:13:47.987Z,1370373227.987 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-04T19:13:47.987Z,1370373227.987 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-06-04T19:13:47.993Z,1370373227.993 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-06-04T19:13:47.994Z,1370373227.994 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-06-04T19:13:47.994Z,1370373227.994 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-06-04T19:13:47.994Z,1370373227.994 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-06-04T19:13:47.995Z,1370373227.995 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-06-04T19:13:47.995Z,1370373227.995 [BuoyancyServo](INFO): Powering down
2013-06-04T19:13:48.010Z,1370373228.010 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-06-04T19:13:48.010Z,1370373228.010 [ElevatorServo](INFO): Powering down
2013-06-04T19:13:48.012Z,1370373228.011 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-06-04T19:13:48.012Z,1370373228.012 [MassServo](INFO): Powering down
2013-06-04T19:13:48.013Z,1370373228.013 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-06-04T19:13:48.013Z,1370373228.013 [RudderServo](INFO): Powering down
2013-06-04T19:13:48.014Z,1370373228.014 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-04T19:13:48.014Z,1370373228.014 [ThrusterServo](INFO): Powering down
2013-06-04T19:13:48.014Z,1370373228.014 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-06-04T19:13:48.015Z,1370373228.015 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-06-04T19:13:48.015Z,1370373228.015 [CBIT](DEBUG): Uninitialize CBIT Component.