2013-08-13T04:31:07.443Z,1376368267.443 [Supervisor](DEBUG): Initializing supervisor.
2013-08-13T04:31:07.445Z,1376368267.445 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-13T04:31:07.446Z,1376368267.446 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-13T04:31:07.447Z,1376368267.447 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-13T04:31:07.451Z,1376368267.451 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-13T04:31:07.461Z,1376368267.461 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-13T04:31:07.462Z,1376368267.462 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-13T04:31:07.463Z,1376368267.463 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-13T04:31:07.464Z,1376368267.464 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-13T04:31:07.465Z,1376368267.465 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-13T04:31:07.466Z,1376368267.466 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-13T04:31:07.757Z,1376368267.757 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-13T04:31:07.757Z,1376368267.757 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-13T04:31:07.954Z,1376368267.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-13T04:31:07.955Z,1376368267.955 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-13T04:31:08.039Z,1376368268.039 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-13T04:31:08.040Z,1376368268.040 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-13T04:31:08.171Z,1376368268.171 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-13T04:31:08.172Z,1376368268.172 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-13T04:31:08.310Z,1376368268.310 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-13T04:31:08.311Z,1376368268.311 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-13T04:31:08.560Z,1376368268.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-13T04:31:08.560Z,1376368268.560 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-13T04:31:08.732Z,1376368268.732 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-13T04:31:08.733Z,1376368268.733 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-13T04:31:09.008Z,1376368269.008 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-13T04:31:09.008Z,1376368269.008 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-13T04:31:09.107Z,1376368269.107 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-13T04:31:09.108Z,1376368269.108 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-13T04:31:09.512Z,1376368269.512 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-13T04:31:09.512Z,1376368269.512 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-13T04:31:09.630Z,1376368269.630 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-13T04:31:09.630Z,1376368269.630 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-13T04:31:09.718Z,1376368269.718 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-13T04:31:09.719Z,1376368269.719 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-13T04:31:09.824Z,1376368269.824 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-13T04:31:09.958Z,1376368269.958 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-13T04:31:10.050Z,1376368270.050 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-13T04:31:10.154Z,1376368270.154 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-13T04:31:10.255Z,1376368270.255 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-13T04:31:10.374Z,1376368270.374 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-13T04:31:10.468Z,1376368270.468 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-13T04:31:10.555Z,1376368270.555 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-08-13T04:31:10.555Z,1376368270.555 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-08-13T04:31:10.558Z,1376368270.558 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-13T04:31:10.707Z,1376368270.707 [InternalSim] Loaded
2013-08-13T04:31:10.707Z,1376368270.707 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-13T04:31:10.708Z,1376368270.708 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-13T04:31:10.708Z,1376368270.708 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-13T04:31:10.768Z,1376368270.768 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-13T04:31:10.796Z,1376368270.796 [SBIT] Loaded
2013-08-13T04:31:10.797Z,1376368270.797 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-13T04:31:10.798Z,1376368270.798 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-13T04:31:10.826Z,1376368270.826 [IBIT] Loaded
2013-08-13T04:31:10.827Z,1376368270.827 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-13T04:31:10.830Z,1376368270.830 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-13T04:31:10.945Z,1376368270.945 [CBIT] Loaded
2013-08-13T04:31:10.946Z,1376368270.946 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-13T04:31:10.946Z,1376368270.946 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-13T04:31:10.947Z,1376368270.947 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-13T04:31:11.096Z,1376368271.096 [BuoyancyServo] Loaded
2013-08-13T04:31:11.096Z,1376368271.096 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-13T04:31:11.109Z,1376368271.109 [ElevatorServo] Loaded
2013-08-13T04:31:11.109Z,1376368271.109 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-13T04:31:11.121Z,1376368271.121 [MassServo] Loaded
2013-08-13T04:31:11.121Z,1376368271.121 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-13T04:31:11.133Z,1376368271.133 [RudderServo] Loaded
2013-08-13T04:31:11.133Z,1376368271.133 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-13T04:31:11.145Z,1376368271.145 [ThrusterServo] Loaded
2013-08-13T04:31:11.145Z,1376368271.145 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-13T04:31:11.146Z,1376368271.146 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-13T04:31:11.146Z,1376368271.146 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-13T04:31:11.163Z,1376368271.163 [DepthRateCalculator] Loaded
2013-08-13T04:31:11.163Z,1376368271.163 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-13T04:31:14.121Z,1376368274.121 [HFRadarModelCalc] Loaded
2013-08-13T04:31:14.121Z,1376368274.121 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-13T04:31:14.137Z,1376368274.137 [NavChart] Loaded
2013-08-13T04:31:14.137Z,1376368274.137 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-13T04:31:14.143Z,1376368274.143 [PitchRateCalculator] Loaded
2013-08-13T04:31:14.143Z,1376368274.143 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-13T04:31:14.154Z,1376368274.154 [SpeedCalculator] Loaded
2013-08-13T04:31:14.154Z,1376368274.154 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-13T04:31:14.169Z,1376368274.169 [TempGradientCalculator] Loaded
2013-08-13T04:31:14.169Z,1376368274.169 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-13T04:31:14.175Z,1376368274.175 [YawRateCalculator] Loaded
2013-08-13T04:31:14.175Z,1376368274.175 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-13T04:31:14.222Z,1376368274.222 [Navigation] Loaded
2013-08-13T04:31:14.222Z,1376368274.222 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-13T04:31:14.222Z,1376368274.222 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-13T04:31:14.223Z,1376368274.223 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-13T04:31:14.479Z,1376368274.479 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-13T04:31:14.479Z,1376368274.479 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-13T04:31:14.515Z,1376368274.515 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-13T04:31:14.516Z,1376368274.516 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-13T04:31:14.574Z,1376368274.574 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-13T04:31:14.667Z,1376368274.667 [VerticalControl] Loaded
2013-08-13T04:31:14.667Z,1376368274.667 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-13T04:31:14.668Z,1376368274.668 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-13T04:31:14.725Z,1376368274.725 [HorizontalControl] Loaded
2013-08-13T04:31:14.725Z,1376368274.725 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-13T04:31:14.728Z,1376368274.728 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-13T04:31:14.730Z,1376368274.730 [SpeedControl] Loaded
2013-08-13T04:31:14.730Z,1376368274.730 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-13T04:31:14.731Z,1376368274.731 [LoopControl](DEBUG): Construct LoopControl.
2013-08-13T04:31:14.731Z,1376368274.731 [LoopControl] Loaded
2013-08-13T04:31:14.732Z,1376368274.732 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-13T04:31:14.732Z,1376368274.732 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-13T04:31:14.733Z,1376368274.733 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-13T04:31:14.745Z,1376368274.745 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-13T04:31:14.750Z,1376368274.750 [AsyncPiEstimator] Loaded
2013-08-13T04:31:14.750Z,1376368274.750 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-13T04:31:14.752Z,1376368274.752 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-08-13T04:31:14.753Z,1376368274.753 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-13T04:31:14.753Z,1376368274.753 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-13T04:31:14.941Z,1376368274.941 [AHRS_sp3003D] Loaded
2013-08-13T04:31:14.942Z,1376368274.942 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-13T04:31:15.193Z,1376368275.193 [Batt_Ocean_Server] Loaded
2013-08-13T04:31:15.194Z,1376368275.194 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-13T04:31:15.207Z,1376368275.207 [Depth_Keller] Loaded
2013-08-13T04:31:15.207Z,1376368275.207 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-13T04:31:15.213Z,1376368275.213 [DropWeight] Loaded
2013-08-13T04:31:15.213Z,1376368275.213 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-13T04:31:15.383Z,1376368275.383 [DVL_micro] Loaded
2013-08-13T04:31:15.384Z,1376368275.384 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-13T04:31:15.385Z,1376368275.385 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406C34E0
2013-08-13T04:31:15.467Z,1376368275.467 [NAL9602] Loaded
2013-08-13T04:31:15.467Z,1376368275.467 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-13T04:31:15.517Z,1376368275.517 [Onboard] Loaded
2013-08-13T04:31:15.517Z,1376368275.517 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-13T04:31:15.524Z,1376368275.524 [Radio_Freewave] Loaded
2013-08-13T04:31:15.524Z,1376368275.524 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-13T04:31:15.681Z,1376368275.681 [DAT] Loaded
2013-08-13T04:31:15.681Z,1376368275.681 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-13T04:31:15.682Z,1376368275.682 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-13T04:31:15.683Z,1376368275.683 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-13T04:31:15.762Z,1376368275.762 [Aanderaa_O2] Loaded
2013-08-13T04:31:15.762Z,1376368275.762 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-08-13T04:31:15.764Z,1376368275.764 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-13T04:31:15.776Z,1376368275.776 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-13T04:31:15.776Z,1376368275.776 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-13T04:31:15.783Z,1376368275.783 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-13T04:31:15.784Z,1376368275.784 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407154E0
2013-08-13T04:31:15.788Z,1376368275.788 [Supervisor](DEBUG): Running supervisor.
2013-08-13T04:31:15.789Z,1376368275.789 [CommandLine](INFO): Thread ID is 3464
2013-08-13T04:31:15.792Z,1376368275.792 [controlThread](INFO): Thread ID is 3463
2013-08-13T04:31:15.792Z,1376368275.792 [controlThread](DEBUG): Initializing ControlThread
2013-08-13T04:31:15.793Z,1376368275.793 [CycleStarter](INFO): Thread ID is 3462
2013-08-13T04:31:15.793Z,1376368275.793 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-13T04:31:15.830Z,1376368275.830 [logger](INFO): Thread ID is 3465
2013-08-13T04:31:15.855Z,1376368275.855 [SBIT](INFO): Initialize SBIT Component.
2013-08-13T04:31:15.855Z,1376368275.855 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10421
2013-08-13T04:31:15.855Z,1376368275.855 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-13T04:31:15.856Z,1376368275.856 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-13T04:31:15.856Z,1376368275.856 [IBIT](INFO): Initialize IBIT Component.
2013-08-13T04:31:15.857Z,1376368275.857 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-13T04:31:15.857Z,1376368275.857 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-13T04:31:15.871Z,1376368275.871 [AsyncPiEstimator](INFO): Thread ID is 3526
2013-08-13T04:31:15.871Z,1376368275.871 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-13T04:31:15.883Z,1376368275.883 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-13T04:31:15.884Z,1376368275.884 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-13T04:31:15.884Z,1376368275.884 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-13T04:31:15.884Z,1376368275.884 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-13T04:31:15.885Z,1376368275.885 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-13T04:31:15.886Z,1376368275.886 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-13T04:31:15.887Z,1376368275.887 [Navigation](DEBUG): Initializing Navigation.
2013-08-13T04:31:15.887Z,1376368275.887 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-13T04:31:15.889Z,1376368275.889 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-13T04:31:15.890Z,1376368275.890 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-13T04:31:15.890Z,1376368275.890 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-13T04:31:15.895Z,1376368275.895 [DVL_micro](INFO): Thread ID is 3527
2013-08-13T04:31:15.904Z,1376368275.904 [DVL_micro](INFO): Initializing
2013-08-13T04:31:15.905Z,1376368275.905 [DVL_micro](INFO): start:Powering up
2013-08-13T04:31:15.905Z,1376368275.905 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-13T04:31:15.907Z,1376368275.907 [DVL_micro](INFO): Cycling power to configure device.
2013-08-13T04:31:15.919Z,1376368275.919 [NavChartDb](INFO): Thread ID is 3528
2013-08-13T04:31:15.924Z,1376368275.924 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-13T04:31:15.924Z,1376368275.924 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-13T04:31:15.925Z,1376368275.925 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-13T04:31:15.925Z,1376368275.925 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-13T04:31:15.925Z,1376368275.925 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-13T04:31:15.925Z,1376368275.925 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-13T04:31:15.926Z,1376368275.926 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-13T04:31:15.926Z,1376368275.926 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-13T04:31:15.926Z,1376368275.926 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-13T04:31:17.544Z,1376368277.544 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-13T04:31:17.575Z,1376368277.575 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-13T04:31:17.600Z,1376368277.600 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-13T04:31:17.622Z,1376368277.622 [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>


2013-08-13T04:31:17.623Z,1376368277.623 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-13T04:31:17.714Z,1376368277.714 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-13T04:31:17.716Z,1376368277.716 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-13T04:31:17.719Z,1376368277.719 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-13T04:31:17.764Z,1376368277.764 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-13T04:31:17.783Z,1376368277.783 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-13T04:31:17.803Z,1376368277.803 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-13T04:31:17.812Z,1376368277.812 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-13T04:31:17.827Z,1376368277.827 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-13T04:31:17.832Z,1376368277.832 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-13T04:31:17.852Z,1376368277.852 [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>


2013-08-13T04:31:17.876Z,1376368277.876 [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,
2013-08-13T04:31:17.912Z,1376368277.912 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-13T04:31:17.973Z,1376368277.973 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-13T04:31:17.974Z,1376368277.974 [DVL_micro](INFO): Querying output modes
2013-08-13T04:31:17.974Z,1376368277.974 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-13T04:31:17.985Z,1376368277.985 [DVL_micro](DEBUG): cmdResponse: 01
2013-08-13T04:31:17.985Z,1376368277.985 [DVL_micro](INFO): NQ1 output enabled
2013-08-13T04:31:17.986Z,1376368277.986 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-13T04:31:17.997Z,1376368277.997 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-13T04:31:18.002Z,1376368278.002 [DVL_micro](INFO): pause:Powering down
2013-08-13T04:31:18.130Z,1376368278.130 [Radio_Freewave](INFO): Powering up
2013-08-13T04:31:18.151Z,1376368278.151 [DAT](INFO): Powering up
2013-08-13T04:31:18.151Z,1376368278.151 [DAT](DEBUG): Initializing DAT.
2013-08-13T04:31:18.396Z,1376368278.396 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-13T04:31:18.402Z,1376368278.402 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-13T04:31:18.411Z,1376368278.411 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-13T04:31:18.418Z,1376368278.418 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-13T04:31:18.424Z,1376368278.424 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-13T04:31:18.458Z,1376368278.458 [MassServo](DEBUG): Initializing MassServo.
2013-08-13T04:31:18.485Z,1376368278.485 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-13T04:31:18.490Z,1376368278.490 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-13T04:31:18.496Z,1376368278.496 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-13T04:31:18.502Z,1376368278.502 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-13T04:31:20.560Z,1376368280.560 [NAL9602](INFO): Powering up NAL9602
2013-08-13T04:31:20.734Z,1376368280.734 [Aanderaa_O2](INFO): Powering down
2013-08-13T04:31:31.342Z,1376368291.342 [NAL9602](INFO): NAL9602 initialized
2013-08-13T04:31:31.384Z,1376368291.384 [SBIT](IMPORTANT): Beginning Startup BIT
2013-08-13T04:31:31.387Z,1376368291.387 [CBIT](IMPORTANT): Beginning GF scan
2013-08-13T04:31:37.567Z,1376368297.567 [DAT](INFO): Init failed - response: 
2013-08-13T04:31:37.568Z,1376368297.568 [DAT](FAULT): DAT failed to initialize
2013-08-13T04:31:37.568Z,1376368297.568 [DAT] Communications Fault, FailCount= 1
2013-08-13T04:31:37.568Z,1376368297.568 [DAT](ERROR): Communications Fault
2013-08-13T04:31:37.684Z,1376368297.684 [CBIT](ERROR): Communications Fault in component: DAT
2013-08-13T04:31:37.904Z,1376368297.904 [DAT](INFO): Powering down
2013-08-13T04:31:39.049Z,1376368299.049 [CBIT](INFO): Clearing failed state for component DAT
2013-08-13T04:31:39.049Z,1376368299.049 [DAT] No Fault, FailCount= 1
2013-08-13T04:31:41.316Z,1376368301.316 [DAT](INFO): Powering up
2013-08-13T04:31:41.317Z,1376368301.317 [DAT](DEBUG): Initializing DAT.
2013-08-13T04:31:57.963Z,1376368317.963 [CommandLine](IMPORTANT): got command restart application
2013-08-13T04:31:58.152Z,1376368318.152 [CBIT](IMPORTANT): No ground fault detected
2013-08-13T04:31:59.029Z,1376368319.029 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-08-13T04:31:59.029Z,1376368319.029 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-08-13T04:31:59.429Z,1376368319.429 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-08-13T04:31:59.550Z,1376368319.550 [DVL_micro](INFO): uninitialize:Powering down
2013-08-13T04:31:59.569Z,1376368319.569 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-08-13T04:31:59.874Z,1376368319.874 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-08-13T04:31:59.890Z,1376368319.890 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-08-13T04:31:59.950Z,1376368319.950 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-08-13T04:31:59.952Z,1376368319.952 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-08-13T04:32:00.192Z,1376368320.192 [controlThread](DEBUG): Uninitializing ControlThread
2013-08-13T04:32:00.192Z,1376368320.192 [AHRS_sp3003D](INFO): Powering down
2013-08-13T04:32:00.280Z,1376368320.280 [NAL9602](INFO): Powering down
2013-08-13T04:32:00.281Z,1376368320.281 [DAT](INFO): Powering down
2013-08-13T04:32:00.399Z,1376368320.399 [Aanderaa_O2](INFO): Powering down
2013-08-13T04:32:00.400Z,1376368320.400 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-13T04:32:00.401Z,1376368320.401 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-08-13T04:32:00.406Z,1376368320.406 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-08-13T04:32:00.406Z,1376368320.406 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-08-13T04:32:00.407Z,1376368320.407 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-08-13T04:32:00.407Z,1376368320.407 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-08-13T04:32:00.407Z,1376368320.407 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-08-13T04:32:00.408Z,1376368320.408 [BuoyancyServo](INFO): Powering down
2013-08-13T04:32:00.419Z,1376368320.419 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-08-13T04:32:00.419Z,1376368320.419 [ElevatorServo](INFO): Powering down
2013-08-13T04:32:00.420Z,1376368320.420 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-08-13T04:32:00.420Z,1376368320.420 [MassServo](INFO): Powering down
2013-08-13T04:32:00.421Z,1376368320.421 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-08-13T04:32:00.421Z,1376368320.421 [RudderServo](INFO): Powering down
2013-08-13T04:32:00.422Z,1376368320.422 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-08-13T04:32:00.422Z,1376368320.422 [ThrusterServo](INFO): Powering down
2013-08-13T04:32:00.423Z,1376368320.423 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-08-13T04:32:00.423Z,1376368320.423 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-08-13T04:32:00.424Z,1376368320.424 [CBIT](DEBUG): Uninitialize CBIT Component.