2013-08-12T04:53:47.265Z,1376283227.265 [Supervisor](DEBUG): Initializing supervisor.
2013-08-12T04:53:47.268Z,1376283227.268 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-12T04:53:47.268Z,1376283227.268 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-12T04:53:47.269Z,1376283227.269 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-12T04:53:47.273Z,1376283227.273 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-12T04:53:47.284Z,1376283227.284 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-12T04:53:47.285Z,1376283227.285 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-12T04:53:47.286Z,1376283227.286 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-12T04:53:47.287Z,1376283227.287 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-12T04:53:47.288Z,1376283227.288 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-12T04:53:47.289Z,1376283227.289 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-12T04:53:47.757Z,1376283227.757 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-12T04:53:47.757Z,1376283227.757 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-12T04:53:47.964Z,1376283227.964 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-12T04:53:47.964Z,1376283227.964 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-12T04:53:48.049Z,1376283228.049 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-12T04:53:48.049Z,1376283228.049 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-12T04:53:48.181Z,1376283228.181 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-12T04:53:48.182Z,1376283228.182 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-12T04:53:48.321Z,1376283228.321 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-12T04:53:48.322Z,1376283228.322 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-12T04:53:48.576Z,1376283228.576 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-12T04:53:48.577Z,1376283228.577 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-12T04:53:48.752Z,1376283228.752 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-12T04:53:48.752Z,1376283228.752 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-12T04:53:49.031Z,1376283229.031 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-12T04:53:49.032Z,1376283229.032 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-12T04:53:49.131Z,1376283229.131 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-12T04:53:49.132Z,1376283229.132 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-12T04:53:49.560Z,1376283229.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-12T04:53:49.560Z,1376283229.560 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-12T04:53:49.676Z,1376283229.676 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-12T04:53:49.676Z,1376283229.676 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-12T04:53:49.762Z,1376283229.762 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-12T04:53:49.763Z,1376283229.763 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-12T04:53:49.893Z,1376283229.893 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-12T04:53:50.029Z,1376283230.029 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-12T04:53:50.122Z,1376283230.122 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-12T04:53:50.226Z,1376283230.226 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-12T04:53:50.326Z,1376283230.326 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-12T04:53:50.446Z,1376283230.446 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-12T04:53:50.540Z,1376283230.540 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-12T04:53:50.628Z,1376283230.628 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-08-12T04:53:50.628Z,1376283230.628 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-08-12T04:53:50.631Z,1376283230.631 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-12T04:53:50.820Z,1376283230.820 [InternalSim] Loaded
2013-08-12T04:53:50.820Z,1376283230.820 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-12T04:53:50.821Z,1376283230.821 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-12T04:53:50.822Z,1376283230.822 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-12T04:53:50.906Z,1376283230.906 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-12T04:53:50.935Z,1376283230.935 [SBIT] Loaded
2013-08-12T04:53:50.935Z,1376283230.935 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-12T04:53:50.936Z,1376283230.936 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-12T04:53:50.965Z,1376283230.965 [IBIT] Loaded
2013-08-12T04:53:50.965Z,1376283230.965 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-12T04:53:50.968Z,1376283230.968 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-12T04:53:51.086Z,1376283231.086 [CBIT] Loaded
2013-08-12T04:53:51.086Z,1376283231.086 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-12T04:53:51.087Z,1376283231.087 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-12T04:53:51.088Z,1376283231.088 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-12T04:53:51.259Z,1376283231.259 [BuoyancyServo] Loaded
2013-08-12T04:53:51.259Z,1376283231.259 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-12T04:53:51.272Z,1376283231.272 [ElevatorServo] Loaded
2013-08-12T04:53:51.272Z,1376283231.272 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-12T04:53:51.283Z,1376283231.283 [MassServo] Loaded
2013-08-12T04:53:51.284Z,1376283231.284 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-12T04:53:51.296Z,1376283231.296 [RudderServo] Loaded
2013-08-12T04:53:51.296Z,1376283231.296 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-12T04:53:51.308Z,1376283231.308 [ThrusterServo] Loaded
2013-08-12T04:53:51.308Z,1376283231.308 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-12T04:53:51.308Z,1376283231.308 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-12T04:53:51.309Z,1376283231.309 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-12T04:53:51.347Z,1376283231.347 [DepthRateCalculator] Loaded
2013-08-12T04:53:51.348Z,1376283231.348 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-12T04:53:54.269Z,1376283234.269 [HFRadarModelCalc] Loaded
2013-08-12T04:53:54.269Z,1376283234.269 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-12T04:53:54.285Z,1376283234.285 [NavChart] Loaded
2013-08-12T04:53:54.285Z,1376283234.285 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-12T04:53:54.291Z,1376283234.291 [PitchRateCalculator] Loaded
2013-08-12T04:53:54.291Z,1376283234.291 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-12T04:53:54.302Z,1376283234.302 [SpeedCalculator] Loaded
2013-08-12T04:53:54.302Z,1376283234.302 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-12T04:53:54.317Z,1376283234.317 [TempGradientCalculator] Loaded
2013-08-12T04:53:54.317Z,1376283234.317 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-12T04:53:54.323Z,1376283234.323 [YawRateCalculator] Loaded
2013-08-12T04:53:54.323Z,1376283234.323 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-12T04:53:54.368Z,1376283234.368 [Navigation] Loaded
2013-08-12T04:53:54.368Z,1376283234.368 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-12T04:53:54.369Z,1376283234.369 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-12T04:53:54.369Z,1376283234.369 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-12T04:53:54.632Z,1376283234.632 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-12T04:53:54.632Z,1376283234.632 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-12T04:53:54.675Z,1376283234.675 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-12T04:53:54.676Z,1376283234.676 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-12T04:53:54.736Z,1376283234.736 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-12T04:53:54.832Z,1376283234.832 [VerticalControl] Loaded
2013-08-12T04:53:54.832Z,1376283234.832 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-12T04:53:54.833Z,1376283234.833 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-12T04:53:54.893Z,1376283234.893 [HorizontalControl] Loaded
2013-08-12T04:53:54.893Z,1376283234.893 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-12T04:53:54.895Z,1376283234.895 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-12T04:53:54.896Z,1376283234.896 [SpeedControl] Loaded
2013-08-12T04:53:54.897Z,1376283234.897 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-12T04:53:54.898Z,1376283234.898 [LoopControl](DEBUG): Construct LoopControl.
2013-08-12T04:53:54.898Z,1376283234.898 [LoopControl] Loaded
2013-08-12T04:53:54.898Z,1376283234.898 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-12T04:53:54.899Z,1376283234.899 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-12T04:53:54.900Z,1376283234.900 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-12T04:53:54.908Z,1376283234.908 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-12T04:53:54.913Z,1376283234.913 [AsyncPiEstimator] Loaded
2013-08-12T04:53:54.914Z,1376283234.914 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-12T04:53:54.917Z,1376283234.917 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-08-12T04:53:54.918Z,1376283234.918 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-12T04:53:54.920Z,1376283234.920 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-12T04:53:55.138Z,1376283235.138 [AHRS_sp3003D] Loaded
2013-08-12T04:53:55.138Z,1376283235.138 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-12T04:53:55.395Z,1376283235.395 [Batt_Ocean_Server] Loaded
2013-08-12T04:53:55.396Z,1376283235.396 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-12T04:53:55.409Z,1376283235.409 [Depth_Keller] Loaded
2013-08-12T04:53:55.410Z,1376283235.410 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-12T04:53:55.415Z,1376283235.415 [DropWeight] Loaded
2013-08-12T04:53:55.415Z,1376283235.415 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-12T04:53:55.584Z,1376283235.584 [DVL_micro] Loaded
2013-08-12T04:53:55.585Z,1376283235.585 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-12T04:53:55.586Z,1376283235.586 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406C34E0
2013-08-12T04:53:55.667Z,1376283235.667 [NAL9602] Loaded
2013-08-12T04:53:55.668Z,1376283235.668 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-12T04:53:55.717Z,1376283235.717 [Onboard] Loaded
2013-08-12T04:53:55.718Z,1376283235.718 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-12T04:53:55.724Z,1376283235.724 [Radio_Freewave] Loaded
2013-08-12T04:53:55.725Z,1376283235.725 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-12T04:53:55.883Z,1376283235.883 [DAT] Loaded
2013-08-12T04:53:55.884Z,1376283235.884 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-12T04:53:55.885Z,1376283235.885 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-12T04:53:55.885Z,1376283235.885 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-12T04:53:55.967Z,1376283235.967 [Aanderaa_O2] Loaded
2013-08-12T04:53:55.967Z,1376283235.967 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-08-12T04:53:55.969Z,1376283235.969 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-12T04:53:55.981Z,1376283235.981 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-12T04:53:55.996Z,1376283235.996 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-12T04:53:56.004Z,1376283236.004 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-12T04:53:56.005Z,1376283236.005 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407154E0
2013-08-12T04:53:56.013Z,1376283236.013 [Supervisor](DEBUG): Running supervisor.
2013-08-12T04:53:56.014Z,1376283236.014 [CommandLine](INFO): Thread ID is 6466
2013-08-12T04:53:56.020Z,1376283236.020 [controlThread](INFO): Thread ID is 6465
2013-08-12T04:53:56.020Z,1376283236.020 [controlThread](DEBUG): Initializing ControlThread
2013-08-12T04:53:56.020Z,1376283236.020 [CycleStarter](INFO): Thread ID is 6464
2013-08-12T04:53:56.021Z,1376283236.021 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-12T04:53:56.057Z,1376283236.057 [logger](INFO): Thread ID is 6467
2013-08-12T04:53:56.136Z,1376283236.136 [AsyncPiEstimator](INFO): Thread ID is 6528
2013-08-12T04:53:56.136Z,1376283236.136 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-12T04:53:56.150Z,1376283236.150 [DVL_micro](INFO): Thread ID is 6529
2013-08-12T04:53:56.237Z,1376283236.237 [NavChartDb](INFO): Thread ID is 6530
2013-08-12T04:53:56.365Z,1376283236.365 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-12T04:53:56.365Z,1376283236.365 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-12T04:53:56.366Z,1376283236.366 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-12T04:53:56.366Z,1376283236.366 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-12T04:53:56.366Z,1376283236.366 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-12T04:53:56.366Z,1376283236.366 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-12T04:53:56.367Z,1376283236.367 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-12T04:53:56.367Z,1376283236.367 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-12T04:53:56.367Z,1376283236.367 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-12T04:53:56.569Z,1376283236.569 [DVL_micro](INFO): Initializing
2013-08-12T04:53:56.569Z,1376283236.569 [DVL_micro](INFO): start:Powering up
2013-08-12T04:53:56.570Z,1376283236.570 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-12T04:53:56.571Z,1376283236.571 [DVL_micro](INFO): Cycling power to configure device.
2013-08-12T04:53:56.677Z,1376283236.677 [SBIT](INFO): Initialize SBIT Component.
2013-08-12T04:53:56.677Z,1376283236.677 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10421
2013-08-12T04:53:56.712Z,1376283236.712 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-12T04:53:56.712Z,1376283236.712 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-12T04:53:56.714Z,1376283236.714 [IBIT](INFO): Initialize IBIT Component.
2013-08-12T04:53:56.715Z,1376283236.715 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-12T04:53:56.715Z,1376283236.715 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-08-12T04:53:56.716Z,1376283236.716 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-12T04:53:56.743Z,1376283236.743 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-12T04:53:56.743Z,1376283236.743 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-12T04:53:56.744Z,1376283236.744 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-12T04:53:56.744Z,1376283236.744 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-12T04:53:56.744Z,1376283236.744 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-12T04:53:56.746Z,1376283236.746 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-12T04:53:56.746Z,1376283236.746 [Navigation](DEBUG): Initializing Navigation.
2013-08-12T04:53:56.747Z,1376283236.747 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-12T04:53:56.748Z,1376283236.748 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-12T04:53:56.749Z,1376283236.749 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-12T04:53:56.750Z,1376283236.750 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-12T04:53:58.455Z,1376283238.455 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-12T04:53:58.516Z,1376283238.516 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-12T04:53:58.551Z,1376283238.551 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-12T04:53:58.570Z,1376283238.570 [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>


2013-08-12T04:53:58.571Z,1376283238.571 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-12T04:53:58.662Z,1376283238.662 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-12T04:53:58.662Z,1376283238.662 [DVL_micro](INFO): Querying output modes
2013-08-12T04:53:58.663Z,1376283238.663 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-12T04:53:58.665Z,1376283238.665 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-12T04:53:58.667Z,1376283238.667 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-12T04:53:58.670Z,1376283238.670 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-12T04:53:58.677Z,1376283238.677 [DVL_micro](DEBUG): cmdResponse: 01
2013-08-12T04:53:58.677Z,1376283238.677 [DVL_micro](INFO): NQ1 output enabled
2013-08-12T04:53:58.678Z,1376283238.678 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-12T04:53:58.689Z,1376283238.689 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-12T04:53:58.694Z,1376283238.694 [DVL_micro](INFO): pause:Powering down
2013-08-12T04:53:58.722Z,1376283238.722 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-12T04:53:58.726Z,1376283238.726 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-12T04:53:58.744Z,1376283238.744 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-12T04:53:58.762Z,1376283238.762 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-12T04:53:58.766Z,1376283238.766 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-12T04:53:58.770Z,1376283238.770 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-12T04:53:58.809Z,1376283238.809 [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>


2013-08-12T04:53:58.821Z,1376283238.821 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,Aanderaa_O2,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-08-12T04:53:58.862Z,1376283238.862 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-12T04:53:59.125Z,1376283239.125 [Radio_Freewave](INFO): Powering up
2013-08-12T04:53:59.137Z,1376283239.137 [DAT](INFO): Powering up
2013-08-12T04:53:59.137Z,1376283239.137 [DAT](DEBUG): Initializing DAT.
2013-08-12T04:53:59.455Z,1376283239.455 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-12T04:53:59.462Z,1376283239.462 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-12T04:53:59.469Z,1376283239.469 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-12T04:53:59.475Z,1376283239.475 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-12T04:53:59.493Z,1376283239.493 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-12T04:53:59.499Z,1376283239.499 [MassServo](DEBUG): Initializing MassServo.
2013-08-12T04:53:59.523Z,1376283239.523 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-12T04:53:59.531Z,1376283239.531 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-12T04:53:59.549Z,1376283239.549 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-12T04:53:59.557Z,1376283239.557 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-12T04:54:00.743Z,1376283240.743 [NAL9602](INFO): Powering up NAL9602
2013-08-12T04:54:09.502Z,1376283249.502 [Aanderaa_O2](FAULT): Timed out starting
2013-08-12T04:54:09.502Z,1376283249.502 [Aanderaa_O2] Communications Fault, FailCount= 1
2013-08-12T04:54:09.502Z,1376283249.502 [Aanderaa_O2](ERROR): Communications Fault
2013-08-12T04:54:09.545Z,1376283249.545 [CBIT](ERROR): Communications Fault in component: Aanderaa_O2
2013-08-12T04:54:10.071Z,1376283250.071 [Aanderaa_O2](INFO): Powering down
2013-08-12T04:54:10.251Z,1376283250.251 [CommandLine](IMPORTANT): got command show variable aandera
2013-08-12T04:54:10.458Z,1376283250.458 [CommandLine](INFO): Config/vehicle.Aanderaa_O2_card (none)
2013-08-12T04:54:10.459Z,1376283250.459 [CommandLine](INFO): Config/vehicle.Aanderaa_O2_uart (none)
2013-08-12T04:54:10.459Z,1376283250.459 [CommandLine](INFO): Config/vehicle.Aanderaa_O2_baud (bit_per_second)
2013-08-12T04:54:10.504Z,1376283250.504 [CommandLine](INFO): Config/Science.Aanderaa_O2_enable (bool)
2013-08-12T04:54:10.505Z,1376283250.505 [CommandLine](INFO): Config/Science.Aanderaa_O2_useHardware (bool)
2013-08-12T04:54:10.505Z,1376283250.505 [CommandLine](INFO): Config/Science.Aanderaa_O2_power (watt)
2013-08-12T04:54:10.506Z,1376283250.506 [CommandLine](INFO): Config/Science.Aanderaa_O2_model (none)
2013-08-12T04:54:10.644Z,1376283250.644 [CommandLine](INFO): Aanderaa_O2.temperature (celsius)
2013-08-12T04:54:10.645Z,1376283250.645 [CommandLine](INFO): Aanderaa_O2.airSaturation (percent)
2013-08-12T04:54:10.645Z,1376283250.645 [CommandLine](INFO): Aanderaa_O2.mass_concentration_of_oxygen_in_sea_water (microgram_per_liter)
2013-08-12T04:54:10.647Z,1376283250.647 [CommandLine](INFO): Aanderaa_O2.durationOfLastRun (second)
2013-08-12T04:54:10.660Z,1376283250.660 [CommandLine](INFO): Aanderaa_O2.component_voltage (volt)
2013-08-12T04:54:10.660Z,1376283250.660 [CommandLine](INFO): Aanderaa_O2.component_avgVoltage (volt)
2013-08-12T04:54:10.661Z,1376283250.661 [CommandLine](INFO): Aanderaa_O2.component_current (milliampere)
2013-08-12T04:54:10.661Z,1376283250.661 [CommandLine](INFO): Aanderaa_O2.component_avgCurrent (milliampere)
2013-08-12T04:54:10.834Z,1376283250.834 [CBIT](INFO): Clearing failed state for component Aanderaa_O2
2013-08-12T04:54:10.834Z,1376283250.834 [Aanderaa_O2] No Fault, FailCount= 1
2013-08-12T04:54:11.629Z,1376283251.629 [NAL9602](INFO): NAL9602 initialized
2013-08-12T04:54:12.467Z,1376283252.467 [SBIT](IMPORTANT): Beginning Startup BIT
2013-08-12T04:54:12.498Z,1376283252.498 [CBIT](IMPORTANT): Beginning GF scan
2013-08-12T04:54:13.688Z,1376283253.688 [Aanderaa_O2](INFO): Powering down
2013-08-12T04:54:18.668Z,1376283258.668 [DAT](INFO): Init failed - response: 
2013-08-12T04:54:18.668Z,1376283258.668 [DAT](FAULT): DAT failed to initialize
2013-08-12T04:54:18.668Z,1376283258.668 [DAT] Communications Fault, FailCount= 1
2013-08-12T04:54:18.668Z,1376283258.668 [DAT](ERROR): Communications Fault
2013-08-12T04:54:18.812Z,1376283258.812 [CBIT](ERROR): Communications Fault in component: DAT
2013-08-12T04:54:19.119Z,1376283259.119 [DAT](INFO): Powering down
2013-08-12T04:54:20.126Z,1376283260.126 [CBIT](INFO): Clearing failed state for component DAT
2013-08-12T04:54:20.126Z,1376283260.126 [DAT] No Fault, FailCount= 1
2013-08-12T04:54:22.409Z,1376283262.409 [DAT](INFO): Powering up
2013-08-12T04:54:22.409Z,1376283262.409 [DAT](DEBUG): Initializing DAT.
2013-08-12T04:54:27.350Z,1376283267.350 [CommandLine](IMPORTANT): got command failComponent
2013-08-12T04:54:27.350Z,1376283267.350 [CommandLine](IMPORTANT): Failed components:
2013-08-12T04:54:27.350Z,1376283267.350 [CommandLine](IMPORTANT): No failed Components.
2013-08-12T04:54:38.964Z,1376283278.964 [CBIT](IMPORTANT): No ground fault detected
2013-08-12T04:54:42.524Z,1376283282.524 [DAT](INFO): Powering down
2013-08-12T04:55:06.059Z,1376283306.059 [SBIT](IMPORTANT): SBIT PASSED
2013-08-12T04:55:06.469Z,1376283306.469 [MissionManager](IMPORTANT): Started mission Startup
2013-08-12T04:55:06.469Z,1376283306.469 [Startup] Running Loop=1
2013-08-12T04:55:06.469Z,1376283306.469 [Startup](INFO): Aggregate::initialize Startup
2013-08-12T04:55:06.469Z,1376283306.469 [Startup:A.GoToSurface] Running Loop=1
2013-08-12T04:55:06.469Z,1376283306.469 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-12T04:55:06.506Z,1376283306.506 [Startup:StartupSatComms] Running Loop=1
2013-08-12T04:55:06.506Z,1376283306.506 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-08-12T04:55:06.507Z,1376283306.507 [Startup:StartupSatComms:A] Running Loop=1
2013-08-12T04:55:06.851Z,1376283306.851 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-08-12T04:55:11.866Z,1376283311.866 [CommandLine](IMPORTANT): got command quit
2013-08-12T04:55:13.028Z,1376283313.028 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-08-12T04:55:13.028Z,1376283313.028 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-08-12T04:55:13.249Z,1376283313.249 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-08-12T04:55:13.505Z,1376283313.505 [DVL_micro](INFO): uninitialize:Powering down
2013-08-12T04:55:13.507Z,1376283313.507 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-08-12T04:55:13.806Z,1376283313.806 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-08-12T04:55:13.810Z,1376283313.810 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-08-12T04:55:13.890Z,1376283313.890 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-08-12T04:55:13.891Z,1376283313.891 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-08-12T04:55:14.119Z,1376283314.119 [controlThread](DEBUG): Uninitializing ControlThread
2013-08-12T04:55:14.120Z,1376283314.120 [AHRS_sp3003D](INFO): Powering down
2013-08-12T04:55:14.207Z,1376283314.207 [NAL9602](INFO): Powering down
2013-08-12T04:55:14.209Z,1376283314.209 [DAT](INFO): Powering down
2013-08-12T04:55:14.210Z,1376283314.210 [Aanderaa_O2](INFO): Powering down
2013-08-12T04:55:14.211Z,1376283314.211 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-12T04:55:14.211Z,1376283314.211 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-08-12T04:55:14.216Z,1376283314.216 [Startup] Stopped
2013-08-12T04:55:14.216Z,1376283314.216 [Startup](INFO): Aggregate::uninitialize Startup
2013-08-12T04:55:14.216Z,1376283314.216 [Startup:A.GoToSurface] Stopped
2013-08-12T04:55:14.216Z,1376283314.216 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-12T04:55:14.216Z,1376283314.216 [Startup:StartupSatComms] Stopped
2013-08-12T04:55:14.216Z,1376283314.216 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-08-12T04:55:14.216Z,1376283314.216 [Startup:StartupSatComms:A] Stopped
2013-08-12T04:55:14.218Z,1376283314.218 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-08-12T04:55:14.218Z,1376283314.218 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-08-12T04:55:14.218Z,1376283314.218 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-08-12T04:55:14.219Z,1376283314.219 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-08-12T04:55:14.219Z,1376283314.219 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-08-12T04:55:14.219Z,1376283314.219 [BuoyancyServo](INFO): Powering down
2013-08-12T04:55:14.234Z,1376283314.234 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-08-12T04:55:14.235Z,1376283314.235 [ElevatorServo](INFO): Powering down
2013-08-12T04:55:14.235Z,1376283314.235 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-08-12T04:55:14.236Z,1376283314.236 [MassServo](INFO): Powering down
2013-08-12T04:55:14.236Z,1376283314.236 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-08-12T04:55:14.236Z,1376283314.236 [RudderServo](INFO): Powering down
2013-08-12T04:55:14.237Z,1376283314.237 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-08-12T04:55:14.237Z,1376283314.237 [ThrusterServo](INFO): Powering down
2013-08-12T04:55:14.238Z,1376283314.238 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-08-12T04:55:14.239Z,1376283314.239 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-08-12T04:55:14.239Z,1376283314.239 [CBIT](DEBUG): Uninitialize CBIT Component.