2013-08-13T04:50:56.457Z,1376369456.457 [Supervisor](DEBUG): Initializing supervisor.
2013-08-13T04:50:56.460Z,1376369456.460 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-13T04:50:56.461Z,1376369456.461 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-13T04:50:56.462Z,1376369456.462 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-13T04:50:56.466Z,1376369456.466 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-13T04:50:56.477Z,1376369456.477 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-13T04:50:56.479Z,1376369456.479 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-13T04:50:56.479Z,1376369456.479 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-13T04:50:56.480Z,1376369456.480 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-13T04:50:56.481Z,1376369456.481 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-13T04:50:56.483Z,1376369456.483 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-13T04:50:56.762Z,1376369456.762 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-13T04:50:56.762Z,1376369456.762 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-13T04:50:56.951Z,1376369456.951 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-13T04:50:56.951Z,1376369456.951 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-13T04:50:57.036Z,1376369457.036 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-13T04:50:57.036Z,1376369457.036 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-13T04:50:57.147Z,1376369457.147 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-13T04:50:57.147Z,1376369457.147 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-13T04:50:57.283Z,1376369457.283 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-13T04:50:57.284Z,1376369457.284 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-13T04:50:57.518Z,1376369457.518 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-13T04:50:57.519Z,1376369457.519 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-13T04:50:57.682Z,1376369457.682 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-13T04:50:57.683Z,1376369457.683 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-13T04:50:57.940Z,1376369457.940 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-13T04:50:57.941Z,1376369457.941 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-13T04:50:58.041Z,1376369458.041 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-13T04:50:58.042Z,1376369458.042 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-13T04:50:58.462Z,1376369458.462 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-13T04:50:58.463Z,1376369458.463 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-13T04:50:58.573Z,1376369458.573 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-13T04:50:58.573Z,1376369458.573 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-13T04:50:58.659Z,1376369458.659 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-13T04:50:58.660Z,1376369458.660 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-13T04:50:58.758Z,1376369458.758 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-13T04:50:58.882Z,1376369458.882 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-13T04:50:58.975Z,1376369458.975 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-13T04:50:59.078Z,1376369459.078 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-13T04:50:59.173Z,1376369459.173 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-13T04:50:59.287Z,1376369459.287 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-13T04:50:59.382Z,1376369459.382 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-13T04:50:59.468Z,1376369459.468 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-08-13T04:50:59.468Z,1376369459.468 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-08-13T04:50:59.470Z,1376369459.470 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-13T04:50:59.631Z,1376369459.631 [InternalSim] Loaded
2013-08-13T04:50:59.632Z,1376369459.632 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-13T04:50:59.632Z,1376369459.632 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-13T04:50:59.633Z,1376369459.633 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-13T04:50:59.718Z,1376369459.718 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-13T04:50:59.746Z,1376369459.746 [SBIT] Loaded
2013-08-13T04:50:59.746Z,1376369459.746 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-13T04:50:59.747Z,1376369459.747 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-13T04:50:59.776Z,1376369459.776 [IBIT] Loaded
2013-08-13T04:50:59.776Z,1376369459.776 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-13T04:50:59.778Z,1376369459.778 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-13T04:50:59.891Z,1376369459.891 [CBIT] Loaded
2013-08-13T04:50:59.891Z,1376369459.891 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-13T04:50:59.891Z,1376369459.891 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-13T04:50:59.892Z,1376369459.892 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-13T04:51:00.059Z,1376369460.059 [BuoyancyServo] Loaded
2013-08-13T04:51:00.059Z,1376369460.059 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-13T04:51:00.071Z,1376369460.071 [ElevatorServo] Loaded
2013-08-13T04:51:00.071Z,1376369460.071 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-13T04:51:00.083Z,1376369460.083 [MassServo] Loaded
2013-08-13T04:51:00.083Z,1376369460.083 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-13T04:51:00.094Z,1376369460.094 [RudderServo] Loaded
2013-08-13T04:51:00.095Z,1376369460.095 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-13T04:51:00.105Z,1376369460.105 [ThrusterServo] Loaded
2013-08-13T04:51:00.106Z,1376369460.106 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-13T04:51:00.106Z,1376369460.106 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-13T04:51:00.107Z,1376369460.107 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-13T04:51:00.129Z,1376369460.129 [DepthRateCalculator] Loaded
2013-08-13T04:51:00.129Z,1376369460.129 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-13T04:51:03.156Z,1376369463.156 [HFRadarModelCalc] Loaded
2013-08-13T04:51:03.156Z,1376369463.156 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-13T04:51:03.172Z,1376369463.172 [NavChart] Loaded
2013-08-13T04:51:03.172Z,1376369463.172 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-13T04:51:03.178Z,1376369463.178 [PitchRateCalculator] Loaded
2013-08-13T04:51:03.178Z,1376369463.178 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-13T04:51:03.188Z,1376369463.188 [SpeedCalculator] Loaded
2013-08-13T04:51:03.189Z,1376369463.189 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-13T04:51:03.205Z,1376369463.205 [TempGradientCalculator] Loaded
2013-08-13T04:51:03.205Z,1376369463.205 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-13T04:51:03.210Z,1376369463.210 [YawRateCalculator] Loaded
2013-08-13T04:51:03.211Z,1376369463.211 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-13T04:51:03.256Z,1376369463.256 [Navigation] Loaded
2013-08-13T04:51:03.256Z,1376369463.256 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-13T04:51:03.257Z,1376369463.257 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-13T04:51:03.257Z,1376369463.257 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-13T04:51:03.489Z,1376369463.489 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-13T04:51:03.490Z,1376369463.490 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-13T04:51:03.513Z,1376369463.513 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-13T04:51:03.513Z,1376369463.513 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-13T04:51:03.560Z,1376369463.560 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-13T04:51:03.651Z,1376369463.651 [VerticalControl] Loaded
2013-08-13T04:51:03.651Z,1376369463.651 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-13T04:51:03.652Z,1376369463.652 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-13T04:51:03.708Z,1376369463.708 [HorizontalControl] Loaded
2013-08-13T04:51:03.708Z,1376369463.708 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-13T04:51:03.709Z,1376369463.709 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-13T04:51:03.711Z,1376369463.711 [SpeedControl] Loaded
2013-08-13T04:51:03.711Z,1376369463.711 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-13T04:51:03.712Z,1376369463.712 [LoopControl](DEBUG): Construct LoopControl.
2013-08-13T04:51:03.712Z,1376369463.712 [LoopControl] Loaded
2013-08-13T04:51:03.713Z,1376369463.713 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-13T04:51:03.713Z,1376369463.713 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-13T04:51:03.713Z,1376369463.713 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-13T04:51:03.719Z,1376369463.719 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-13T04:51:03.724Z,1376369463.724 [AsyncPiEstimator] Loaded
2013-08-13T04:51:03.724Z,1376369463.724 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-13T04:51:03.726Z,1376369463.726 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-08-13T04:51:03.726Z,1376369463.726 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-13T04:51:03.727Z,1376369463.727 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-13T04:51:03.921Z,1376369463.921 [AHRS_sp3003D] Loaded
2013-08-13T04:51:03.921Z,1376369463.921 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-13T04:51:04.169Z,1376369464.169 [Batt_Ocean_Server] Loaded
2013-08-13T04:51:04.170Z,1376369464.170 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-13T04:51:04.183Z,1376369464.183 [Depth_Keller] Loaded
2013-08-13T04:51:04.183Z,1376369464.183 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-13T04:51:04.188Z,1376369464.188 [DropWeight] Loaded
2013-08-13T04:51:04.189Z,1376369464.189 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-13T04:51:04.368Z,1376369464.368 [DVL_micro] Loaded
2013-08-13T04:51:04.369Z,1376369464.369 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-13T04:51:04.370Z,1376369464.370 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D74E0
2013-08-13T04:51:04.455Z,1376369464.455 [NAL9602] Loaded
2013-08-13T04:51:04.456Z,1376369464.456 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-13T04:51:04.497Z,1376369464.497 [Onboard] Loaded
2013-08-13T04:51:04.497Z,1376369464.497 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-13T04:51:04.504Z,1376369464.504 [Radio_Freewave] Loaded
2013-08-13T04:51:04.504Z,1376369464.504 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-13T04:51:04.663Z,1376369464.663 [DAT] Loaded
2013-08-13T04:51:04.663Z,1376369464.663 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-13T04:51:04.664Z,1376369464.664 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-13T04:51:04.664Z,1376369464.664 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-13T04:51:04.747Z,1376369464.747 [Aanderaa_O2] Loaded
2013-08-13T04:51:04.747Z,1376369464.747 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-08-13T04:51:04.748Z,1376369464.748 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-13T04:51:04.751Z,1376369464.751 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-13T04:51:04.751Z,1376369464.751 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-13T04:51:04.758Z,1376369464.758 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-13T04:51:04.759Z,1376369464.759 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407344E0
2013-08-13T04:51:04.764Z,1376369464.764 [Supervisor](DEBUG): Running supervisor.
2013-08-13T04:51:04.765Z,1376369464.765 [CommandLine](INFO): Thread ID is 4001
2013-08-13T04:51:04.768Z,1376369464.768 [controlThread](INFO): Thread ID is 4000
2013-08-13T04:51:04.768Z,1376369464.768 [controlThread](DEBUG): Initializing ControlThread
2013-08-13T04:51:04.768Z,1376369464.768 [CycleStarter](INFO): Thread ID is 3999
2013-08-13T04:51:04.769Z,1376369464.769 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-13T04:51:04.800Z,1376369464.800 [logger](INFO): Thread ID is 4002
2013-08-13T04:51:04.829Z,1376369464.829 [SBIT](INFO): Initialize SBIT Component.
2013-08-13T04:51:04.829Z,1376369464.829 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10508
2013-08-13T04:51:04.830Z,1376369464.830 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-13T04:51:04.830Z,1376369464.830 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-13T04:51:04.838Z,1376369464.838 [AsyncPiEstimator](INFO): Thread ID is 4063
2013-08-13T04:51:04.838Z,1376369464.838 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-13T04:51:04.846Z,1376369464.846 [IBIT](INFO): Initialize IBIT Component.
2013-08-13T04:51:04.847Z,1376369464.847 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-13T04:51:04.848Z,1376369464.848 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-13T04:51:04.853Z,1376369464.853 [DVL_micro](INFO): Thread ID is 4064
2013-08-13T04:51:04.862Z,1376369464.862 [DVL_micro](INFO): Initializing
2013-08-13T04:51:04.862Z,1376369464.862 [DVL_micro](INFO): start:Powering up
2013-08-13T04:51:04.863Z,1376369464.863 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-13T04:51:04.864Z,1376369464.864 [DVL_micro](INFO): Cycling power to configure device.
2013-08-13T04:51:04.879Z,1376369464.879 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-13T04:51:04.879Z,1376369464.879 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-13T04:51:04.880Z,1376369464.880 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-13T04:51:04.880Z,1376369464.880 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-13T04:51:04.880Z,1376369464.880 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-13T04:51:04.881Z,1376369464.881 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-13T04:51:04.881Z,1376369464.881 [Navigation](DEBUG): Initializing Navigation.
2013-08-13T04:51:04.882Z,1376369464.882 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-13T04:51:04.883Z,1376369464.883 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-13T04:51:04.884Z,1376369464.884 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-13T04:51:04.885Z,1376369464.885 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-13T04:51:04.894Z,1376369464.894 [NavChartDb](INFO): Thread ID is 4065
2013-08-13T04:51:04.896Z,1376369464.896 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-13T04:51:04.899Z,1376369464.899 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-13T04:51:04.900Z,1376369464.900 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-13T04:51:04.900Z,1376369464.900 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-13T04:51:04.900Z,1376369464.900 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-13T04:51:04.900Z,1376369464.900 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-13T04:51:04.901Z,1376369464.901 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-13T04:51:04.901Z,1376369464.901 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-13T04:51:04.905Z,1376369464.905 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-13T04:51:06.605Z,1376369466.605 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-13T04:51:06.644Z,1376369466.644 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-13T04:51:06.671Z,1376369466.671 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-13T04:51:06.701Z,1376369466.701 [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>


2013-08-13T04:51:06.702Z,1376369466.702 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-13T04:51:06.773Z,1376369466.773 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-13T04:51:06.774Z,1376369466.774 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-13T04:51:06.777Z,1376369466.777 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-13T04:51:06.797Z,1376369466.797 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-13T04:51:06.833Z,1376369466.833 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-13T04:51:06.839Z,1376369466.839 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-13T04:51:06.864Z,1376369466.864 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-13T04:51:06.883Z,1376369466.883 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-13T04:51:06.888Z,1376369466.888 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-13T04:51:06.891Z,1376369466.891 [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>


2013-08-13T04:51:06.896Z,1376369466.896 [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,
2013-08-13T04:51:06.897Z,1376369466.897 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-13T04:51:06.897Z,1376369466.897 [DVL_micro](INFO): Querying output modes
2013-08-13T04:51:06.898Z,1376369466.898 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-13T04:51:06.909Z,1376369466.909 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-08-13T04:51:06.909Z,1376369466.909 [DVL_micro](INFO): NQ1 output enabled
2013-08-13T04:51:06.909Z,1376369466.909 [DVL_micro](INFO): RSSI output enabled
2013-08-13T04:51:06.909Z,1376369466.909 [DVL_micro](INFO): ADCP output enabled
2013-08-13T04:51:06.909Z,1376369466.909 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-13T04:51:06.921Z,1376369466.921 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-13T04:51:06.942Z,1376369466.942 [DVL_micro](INFO): pause:Powering down
2013-08-13T04:51:06.985Z,1376369466.985 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-13T04:51:07.229Z,1376369467.229 [Radio_Freewave](INFO): Powering up
2013-08-13T04:51:07.239Z,1376369467.239 [DAT](INFO): Powering up
2013-08-13T04:51:07.239Z,1376369467.239 [DAT](DEBUG): Initializing DAT.
2013-08-13T04:51:07.470Z,1376369467.470 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-13T04:51:07.478Z,1376369467.478 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-13T04:51:07.484Z,1376369467.484 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-13T04:51:07.490Z,1376369467.490 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-13T04:51:07.528Z,1376369467.528 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-13T04:51:07.534Z,1376369467.534 [MassServo](DEBUG): Initializing MassServo.
2013-08-13T04:51:07.554Z,1376369467.554 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-13T04:51:07.562Z,1376369467.562 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-13T04:51:07.567Z,1376369467.567 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-13T04:51:07.574Z,1376369467.574 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-13T04:51:09.623Z,1376369469.623 [NAL9602](INFO): Powering up NAL9602
2013-08-13T04:51:09.781Z,1376369469.781 [Aanderaa_O2](INFO): Powering down
2013-08-13T04:51:20.334Z,1376369480.334 [NAL9602](INFO): NAL9602 initialized
2013-08-13T04:51:20.396Z,1376369480.396 [SBIT](IMPORTANT): Beginning Startup BIT
2013-08-13T04:51:20.399Z,1376369480.399 [CBIT](IMPORTANT): Beginning GF scan
2013-08-13T04:51:27.296Z,1376369487.296 [DAT](INFO): Powering down
2013-08-13T04:51:47.020Z,1376369507.020 [CBIT](IMPORTANT): No ground fault detected
2013-08-13T04:52:03.845Z,1376369523.845 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-08-13T04:52:12.387Z,1376369532.387 [CommandLine](IMPORTANT): got command set NAL9602.latitude_fix 36.799999 degree
2013-08-13T04:52:14.737Z,1376369534.737 [SBIT](IMPORTANT): SBIT PASSED
2013-08-13T04:52:15.067Z,1376369535.067 [MissionManager](IMPORTANT): Started mission Startup
2013-08-13T04:52:15.068Z,1376369535.068 [Startup] Running Loop=1
2013-08-13T04:52:15.068Z,1376369535.068 [Startup](INFO): Aggregate::initialize Startup
2013-08-13T04:52:15.068Z,1376369535.068 [Startup:A.GoToSurface] Running Loop=1
2013-08-13T04:52:15.068Z,1376369535.068 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-13T04:52:15.087Z,1376369535.087 [Startup:StartupSatComms] Running Loop=1
2013-08-13T04:52:15.087Z,1376369535.087 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-08-13T04:52:15.087Z,1376369535.087 [Startup:StartupSatComms:A] Running Loop=1
2013-08-13T04:52:15.523Z,1376369535.523 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-08-13T04:52:25.098Z,1376369545.098 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2013-08-13T04:52:35.506Z,1376369555.506 [CommandLine](IMPORTANT): got command quit
2013-08-13T04:52:36.523Z,1376369556.523 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-08-13T04:52:36.524Z,1376369556.524 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-08-13T04:52:36.836Z,1376369556.836 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-08-13T04:52:37.177Z,1376369557.177 [DVL_micro](INFO): uninitialize:Powering down
2013-08-13T04:52:37.180Z,1376369557.180 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-08-13T04:52:37.509Z,1376369557.509 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-08-13T04:52:37.513Z,1376369557.513 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-08-13T04:52:37.613Z,1376369557.613 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-08-13T04:52:37.617Z,1376369557.617 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-08-13T04:52:37.758Z,1376369557.758 [controlThread](DEBUG): Uninitializing ControlThread
2013-08-13T04:52:37.758Z,1376369557.758 [AHRS_sp3003D](INFO): Powering down
2013-08-13T04:52:37.843Z,1376369557.843 [NAL9602](INFO): Powering down
2013-08-13T04:52:37.844Z,1376369557.844 [DAT](INFO): Powering down
2013-08-13T04:52:37.845Z,1376369557.845 [Aanderaa_O2](INFO): Powering down
2013-08-13T04:52:37.846Z,1376369557.846 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-13T04:52:37.846Z,1376369557.846 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-08-13T04:52:37.850Z,1376369557.850 [Startup] Stopped
2013-08-13T04:52:37.851Z,1376369557.851 [Startup](INFO): Aggregate::uninitialize Startup
2013-08-13T04:52:37.851Z,1376369557.851 [Startup:A.GoToSurface] Stopped
2013-08-13T04:52:37.851Z,1376369557.851 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-13T04:52:37.851Z,1376369557.851 [Startup:StartupSatComms] Stopped
2013-08-13T04:52:37.851Z,1376369557.851 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-08-13T04:52:37.851Z,1376369557.851 [Startup:StartupSatComms:A] Stopped
2013-08-13T04:52:37.852Z,1376369557.852 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-08-13T04:52:37.853Z,1376369557.853 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-08-13T04:52:37.853Z,1376369557.853 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-08-13T04:52:37.853Z,1376369557.853 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-08-13T04:52:37.854Z,1376369557.854 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-08-13T04:52:37.854Z,1376369557.854 [BuoyancyServo](INFO): Powering down
2013-08-13T04:52:37.866Z,1376369557.866 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-08-13T04:52:37.866Z,1376369557.866 [ElevatorServo](INFO): Powering down
2013-08-13T04:52:37.867Z,1376369557.867 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-08-13T04:52:37.867Z,1376369557.867 [MassServo](INFO): Powering down
2013-08-13T04:52:37.868Z,1376369557.868 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-08-13T04:52:37.868Z,1376369557.868 [RudderServo](INFO): Powering down
2013-08-13T04:52:37.869Z,1376369557.869 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-08-13T04:52:37.869Z,1376369557.869 [ThrusterServo](INFO): Powering down
2013-08-13T04:52:37.870Z,1376369557.870 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-08-13T04:52:37.870Z,1376369557.870 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-08-13T04:52:37.871Z,1376369557.871 [CBIT](DEBUG): Uninitialize CBIT Component.