2013-08-21T19:31:09.169Z,1377113469.169 [Supervisor](DEBUG): Initializing supervisor.
2013-08-21T19:31:09.171Z,1377113469.171 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-21T19:31:09.172Z,1377113469.172 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-21T19:31:09.173Z,1377113469.173 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-21T19:31:09.176Z,1377113469.176 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-21T19:31:09.187Z,1377113469.187 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-21T19:31:09.188Z,1377113469.188 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-21T19:31:09.189Z,1377113469.189 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-21T19:31:09.190Z,1377113469.190 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-21T19:31:09.191Z,1377113469.191 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-21T19:31:09.192Z,1377113469.192 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-21T19:31:09.631Z,1377113469.631 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-21T19:31:09.632Z,1377113469.632 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-21T19:31:09.822Z,1377113469.822 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-21T19:31:09.823Z,1377113469.823 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-21T19:31:09.908Z,1377113469.908 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-21T19:31:09.909Z,1377113469.909 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-21T19:31:10.020Z,1377113470.020 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-21T19:31:10.021Z,1377113470.021 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-21T19:31:10.158Z,1377113470.158 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-21T19:31:10.159Z,1377113470.159 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-21T19:31:10.395Z,1377113470.395 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-21T19:31:10.395Z,1377113470.395 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-21T19:31:10.560Z,1377113470.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-21T19:31:10.560Z,1377113470.560 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-21T19:31:10.820Z,1377113470.820 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-21T19:31:10.820Z,1377113470.820 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-21T19:31:10.921Z,1377113470.921 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-21T19:31:10.922Z,1377113470.922 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-21T19:31:11.331Z,1377113471.331 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-21T19:31:11.332Z,1377113471.332 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-21T19:31:11.441Z,1377113471.441 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-21T19:31:11.442Z,1377113471.442 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-21T19:31:11.528Z,1377113471.528 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-21T19:31:11.529Z,1377113471.529 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-21T19:31:11.627Z,1377113471.627 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-21T19:31:11.753Z,1377113471.753 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-21T19:31:11.846Z,1377113471.846 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-21T19:31:11.949Z,1377113471.949 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-21T19:31:12.045Z,1377113472.045 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-21T19:31:12.159Z,1377113472.159 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-21T19:31:12.255Z,1377113472.255 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-21T19:31:12.341Z,1377113472.341 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-08-21T19:31:12.341Z,1377113472.341 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-08-21T19:31:12.343Z,1377113472.343 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-21T19:31:12.542Z,1377113472.542 [InternalSim] Loaded
2013-08-21T19:31:12.542Z,1377113472.542 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-21T19:31:12.542Z,1377113472.542 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-21T19:31:12.543Z,1377113472.543 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-21T19:31:12.651Z,1377113472.651 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-21T19:31:12.680Z,1377113472.680 [SBIT] Loaded
2013-08-21T19:31:12.680Z,1377113472.680 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-21T19:31:12.681Z,1377113472.681 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-21T19:31:12.710Z,1377113472.710 [IBIT] Loaded
2013-08-21T19:31:12.710Z,1377113472.710 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-21T19:31:12.712Z,1377113472.712 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-21T19:31:12.826Z,1377113472.826 [CBIT] Loaded
2013-08-21T19:31:12.827Z,1377113472.827 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-21T19:31:12.827Z,1377113472.827 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-21T19:31:12.828Z,1377113472.828 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-21T19:31:13.018Z,1377113473.018 [BuoyancyServo] Loaded
2013-08-21T19:31:13.018Z,1377113473.018 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-21T19:31:13.030Z,1377113473.030 [ElevatorServo] Loaded
2013-08-21T19:31:13.030Z,1377113473.030 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-21T19:31:13.041Z,1377113473.041 [MassServo] Loaded
2013-08-21T19:31:13.042Z,1377113473.042 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-21T19:31:13.053Z,1377113473.053 [RudderServo] Loaded
2013-08-21T19:31:13.053Z,1377113473.053 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-21T19:31:13.064Z,1377113473.064 [ThrusterServo] Loaded
2013-08-21T19:31:13.064Z,1377113473.064 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-21T19:31:13.065Z,1377113473.065 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-21T19:31:13.066Z,1377113473.066 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-21T19:31:13.122Z,1377113473.122 [DepthRateCalculator] Loaded
2013-08-21T19:31:13.122Z,1377113473.122 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-21T19:31:16.243Z,1377113476.243 [HFRadarModelCalc] Loaded
2013-08-21T19:31:16.243Z,1377113476.243 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-21T19:31:16.259Z,1377113476.259 [NavChart] Loaded
2013-08-21T19:31:16.259Z,1377113476.259 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-21T19:31:16.265Z,1377113476.265 [PitchRateCalculator] Loaded
2013-08-21T19:31:16.265Z,1377113476.265 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-21T19:31:16.275Z,1377113476.275 [SpeedCalculator] Loaded
2013-08-21T19:31:16.276Z,1377113476.276 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-21T19:31:16.292Z,1377113476.292 [TempGradientCalculator] Loaded
2013-08-21T19:31:16.292Z,1377113476.292 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-21T19:31:16.297Z,1377113476.297 [YawRateCalculator] Loaded
2013-08-21T19:31:16.298Z,1377113476.298 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-21T19:31:16.344Z,1377113476.344 [Navigation] Loaded
2013-08-21T19:31:16.344Z,1377113476.344 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-21T19:31:16.345Z,1377113476.345 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-21T19:31:16.345Z,1377113476.345 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-21T19:31:16.625Z,1377113476.625 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-21T19:31:16.626Z,1377113476.626 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-21T19:31:16.664Z,1377113476.664 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-21T19:31:16.665Z,1377113476.665 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-21T19:31:16.732Z,1377113476.732 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-21T19:31:16.824Z,1377113476.824 [VerticalControl] Loaded
2013-08-21T19:31:16.825Z,1377113476.825 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-21T19:31:16.825Z,1377113476.825 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-21T19:31:16.882Z,1377113476.882 [HorizontalControl] Loaded
2013-08-21T19:31:16.883Z,1377113476.883 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-21T19:31:16.883Z,1377113476.883 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-21T19:31:16.885Z,1377113476.885 [SpeedControl] Loaded
2013-08-21T19:31:16.885Z,1377113476.885 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-21T19:31:16.886Z,1377113476.886 [LoopControl](DEBUG): Construct LoopControl.
2013-08-21T19:31:16.887Z,1377113476.887 [LoopControl] Loaded
2013-08-21T19:31:16.887Z,1377113476.887 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-21T19:31:16.887Z,1377113476.887 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-21T19:31:16.888Z,1377113476.888 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-21T19:31:16.896Z,1377113476.896 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-21T19:31:16.901Z,1377113476.901 [AsyncPiEstimator] Loaded
2013-08-21T19:31:16.902Z,1377113476.902 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-21T19:31:16.903Z,1377113476.903 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4064F4E0
2013-08-21T19:31:16.903Z,1377113476.903 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-21T19:31:16.904Z,1377113476.904 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-21T19:31:17.145Z,1377113477.145 [AHRS_sp3003D] Loaded
2013-08-21T19:31:17.145Z,1377113477.145 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-21T19:31:17.393Z,1377113477.393 [Batt_Ocean_Server] Loaded
2013-08-21T19:31:17.393Z,1377113477.393 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-21T19:31:17.407Z,1377113477.407 [Depth_Keller] Loaded
2013-08-21T19:31:17.407Z,1377113477.407 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-21T19:31:17.412Z,1377113477.412 [DropWeight] Loaded
2013-08-21T19:31:17.412Z,1377113477.412 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-21T19:31:17.594Z,1377113477.594 [DVL_micro] Loaded
2013-08-21T19:31:17.594Z,1377113477.594 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-21T19:31:17.596Z,1377113477.596 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406DE4E0
2013-08-21T19:31:17.682Z,1377113477.682 [NAL9602] Loaded
2013-08-21T19:31:17.683Z,1377113477.683 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-21T19:31:17.725Z,1377113477.725 [Onboard] Loaded
2013-08-21T19:31:17.725Z,1377113477.725 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-21T19:31:17.732Z,1377113477.732 [Radio_Freewave] Loaded
2013-08-21T19:31:17.732Z,1377113477.732 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-21T19:31:17.883Z,1377113477.883 [DAT] Loaded
2013-08-21T19:31:17.883Z,1377113477.883 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-21T19:31:17.890Z,1377113477.890 [SCPI] Loaded
2013-08-21T19:31:17.890Z,1377113477.890 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2013-08-21T19:31:17.891Z,1377113477.891 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-21T19:31:17.891Z,1377113477.891 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-21T19:31:17.980Z,1377113477.980 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-21T19:31:17.982Z,1377113477.982 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-21T19:31:17.983Z,1377113477.983 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-21T19:31:17.995Z,1377113477.995 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-21T19:31:17.996Z,1377113477.996 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4073B4E0
2013-08-21T19:31:18.000Z,1377113478.000 [Supervisor](DEBUG): Running supervisor.
2013-08-21T19:31:18.001Z,1377113478.001 [CommandLine](INFO): Thread ID is 4013
2013-08-21T19:31:18.004Z,1377113478.004 [controlThread](INFO): Thread ID is 4012
2013-08-21T19:31:18.004Z,1377113478.004 [controlThread](DEBUG): Initializing ControlThread
2013-08-21T19:31:18.005Z,1377113478.005 [CycleStarter](INFO): Thread ID is 4011
2013-08-21T19:31:18.005Z,1377113478.005 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-21T19:31:18.103Z,1377113478.103 [logger](INFO): Thread ID is 4014
2013-08-21T19:31:18.189Z,1377113478.189 [AsyncPiEstimator](INFO): Thread ID is 4075
2013-08-21T19:31:18.189Z,1377113478.189 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-21T19:31:18.198Z,1377113478.198 [DVL_micro](INFO): Thread ID is 4076
2013-08-21T19:31:18.363Z,1377113478.363 [NavChartDb](INFO): Thread ID is 4077
2013-08-21T19:31:18.369Z,1377113478.369 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-21T19:31:18.370Z,1377113478.370 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-21T19:31:18.370Z,1377113478.370 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-21T19:31:18.370Z,1377113478.370 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-21T19:31:18.370Z,1377113478.370 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-21T19:31:18.371Z,1377113478.371 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-21T19:31:18.371Z,1377113478.371 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-21T19:31:18.371Z,1377113478.371 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-21T19:31:18.371Z,1377113478.371 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-21T19:31:18.430Z,1377113478.430 [DVL_micro](INFO): Initializing
2013-08-21T19:31:18.430Z,1377113478.430 [DVL_micro](INFO): start:Powering up
2013-08-21T19:31:18.431Z,1377113478.431 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-21T19:31:18.432Z,1377113478.432 [DVL_micro](INFO): Cycling power to configure device.
2013-08-21T19:31:18.449Z,1377113478.449 [SBIT](INFO): Initialize SBIT Component.
2013-08-21T19:31:18.449Z,1377113478.449 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10560
2013-08-21T19:31:18.450Z,1377113478.450 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-21T19:31:18.450Z,1377113478.450 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-21T19:31:18.454Z,1377113478.454 [IBIT](INFO): Initialize IBIT Component.
2013-08-21T19:31:18.455Z,1377113478.455 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-21T19:31:18.455Z,1377113478.455 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-21T19:31:18.483Z,1377113478.483 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-21T19:31:18.483Z,1377113478.483 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-21T19:31:18.484Z,1377113478.484 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-21T19:31:18.484Z,1377113478.484 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-21T19:31:18.484Z,1377113478.484 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-21T19:31:18.485Z,1377113478.485 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-21T19:31:18.485Z,1377113478.485 [Navigation](DEBUG): Initializing Navigation.
2013-08-21T19:31:18.486Z,1377113478.486 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-21T19:31:18.488Z,1377113478.488 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-21T19:31:18.489Z,1377113478.489 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-21T19:31:18.489Z,1377113478.489 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-21T19:31:20.281Z,1377113480.281 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-21T19:31:20.328Z,1377113480.328 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-21T19:31:20.362Z,1377113480.362 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-21T19:31:20.380Z,1377113480.380 [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>


2013-08-21T19:31:20.381Z,1377113480.381 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-21T19:31:20.462Z,1377113480.462 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-21T19:31:20.464Z,1377113480.464 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-21T19:31:20.480Z,1377113480.480 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-21T19:31:20.481Z,1377113480.481 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-21T19:31:20.481Z,1377113480.481 [DVL_micro](INFO): Querying output modes
2013-08-21T19:31:20.482Z,1377113480.482 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-21T19:31:20.489Z,1377113480.489 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-21T19:31:20.493Z,1377113480.493 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-08-21T19:31:20.493Z,1377113480.493 [DVL_micro](INFO): NQ1 output enabled
2013-08-21T19:31:20.493Z,1377113480.493 [DVL_micro](INFO): RSSI output enabled
2013-08-21T19:31:20.493Z,1377113480.493 [DVL_micro](INFO): ADCP output enabled
2013-08-21T19:31:20.493Z,1377113480.493 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-21T19:31:20.501Z,1377113480.501 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-21T19:31:20.505Z,1377113480.505 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-21T19:31:20.517Z,1377113480.517 [DVL_micro](INFO): pause:Powering down
2013-08-21T19:31:20.536Z,1377113480.536 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-21T19:31:20.553Z,1377113480.553 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-21T19:31:20.569Z,1377113480.569 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-21T19:31:20.574Z,1377113480.574 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-21T19:31:20.589Z,1377113480.589 [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>


2013-08-21T19:31:20.594Z,1377113480.594 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,SCPI,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-08-21T19:31:20.667Z,1377113480.667 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-21T19:31:20.877Z,1377113480.877 [Radio_Freewave](INFO): Powering up
2013-08-21T19:31:20.883Z,1377113480.883 [DAT](INFO): Powering up
2013-08-21T19:31:20.883Z,1377113480.883 [DAT](DEBUG): Initializing DAT.
2013-08-21T19:31:21.192Z,1377113481.192 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-21T19:31:21.222Z,1377113481.222 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-21T19:31:21.228Z,1377113481.228 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-21T19:31:21.234Z,1377113481.234 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-21T19:31:21.248Z,1377113481.248 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-21T19:31:21.254Z,1377113481.254 [MassServo](DEBUG): Initializing MassServo.
2013-08-21T19:31:21.260Z,1377113481.260 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-21T19:31:21.264Z,1377113481.264 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-21T19:31:21.281Z,1377113481.281 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-21T19:31:21.290Z,1377113481.290 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-21T19:31:22.918Z,1377113482.918 [NAL9602](INFO): Powering up NAL9602
2013-08-21T19:31:33.501Z,1377113493.501 [NAL9602](INFO): NAL9602 initialized
2013-08-21T19:31:33.928Z,1377113493.928 [SBIT](IMPORTANT): Beginning Startup BIT
2013-08-21T19:31:33.931Z,1377113493.931 [CBIT](IMPORTANT): Beginning GF scan
2013-08-21T19:31:40.579Z,1377113500.579 [DAT](INFO): Init failed - response: 
2013-08-21T19:31:40.580Z,1377113500.580 [DAT](FAULT): DAT failed to initialize
2013-08-21T19:31:40.580Z,1377113500.580 [DAT] Communications Fault, FailCount= 1
2013-08-21T19:31:40.580Z,1377113500.580 [DAT](ERROR): Communications Fault
2013-08-21T19:31:40.667Z,1377113500.667 [CBIT](ERROR): Communications Fault in component: DAT
2013-08-21T19:31:40.986Z,1377113500.986 [DAT](INFO): Powering down
2013-08-21T19:31:41.986Z,1377113501.986 [CBIT](INFO): Clearing failed state for component DAT
2013-08-21T19:31:41.986Z,1377113501.986 [DAT] No Fault, FailCount= 1
2013-08-21T19:31:44.263Z,1377113504.263 [DAT](INFO): Powering up
2013-08-21T19:31:44.263Z,1377113504.263 [DAT](DEBUG): Initializing DAT.
2013-08-21T19:31:50.756Z,1377113510.756 [CommandLine](IMPORTANT): got command show variable bouyancy
2013-08-21T19:32:00.664Z,1377113520.664 [CBIT](IMPORTANT): No ground fault detected
2013-08-21T19:32:04.191Z,1377113524.191 [DAT](INFO): Powering down
2013-08-21T19:32:27.638Z,1377113547.638 [SBIT](IMPORTANT): SBIT PASSED
2013-08-21T19:32:28.049Z,1377113548.049 [MissionManager](IMPORTANT): Started mission Startup
2013-08-21T19:32:28.049Z,1377113548.049 [Startup] Running Loop=1
2013-08-21T19:32:28.049Z,1377113548.049 [Startup](INFO): Aggregate::initialize Startup
2013-08-21T19:32:28.049Z,1377113548.049 [Startup:A.GoToSurface] Running Loop=1
2013-08-21T19:32:28.049Z,1377113548.049 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-21T19:32:28.055Z,1377113548.055 [Startup:StartupSatComms] Running Loop=1
2013-08-21T19:32:28.055Z,1377113548.055 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-08-21T19:32:28.056Z,1377113548.056 [Startup:StartupSatComms:A] Running Loop=1
2013-08-21T19:32:28.424Z,1377113548.424 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-08-21T19:33:28.070Z,1377113608.070 [Startup:StartupSatComms:A](INFO): Timed out from 2013-08-21T19:32:28.1Z
2013-08-21T19:33:28.071Z,1377113608.071 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-08-21T19:33:28.071Z,1377113608.071 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-08-21T19:33:28.071Z,1377113608.071 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-08-21T19:33:28.071Z,1377113608.071 [Startup:StartupSatComms:A] Stopped
2013-08-21T19:33:28.071Z,1377113608.071 [Startup:StartupSatComms:B] Running Loop=1
2013-08-21T19:33:28.426Z,1377113608.426 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-08-21T19:34:28.358Z,1377113668.358 [Startup:StartupSatComms:B](INFO): Timed out from 2013-08-21T19:33:28.1Z
2013-08-21T19:34:28.359Z,1377113668.359 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-08-21T19:34:28.359Z,1377113668.359 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-08-21T19:34:28.359Z,1377113668.359 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-08-21T19:34:28.359Z,1377113668.359 [Startup:StartupSatComms:B] Stopped
2013-08-21T19:34:28.359Z,1377113668.359 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-08-21T19:34:28.359Z,1377113668.359 [Startup:StartupSatComms] Stopped
2013-08-21T19:34:28.359Z,1377113668.359 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-08-21T19:34:28.360Z,1377113668.360 [Startup](INFO): Completed Startup
2013-08-21T19:34:28.360Z,1377113668.360 [Startup] Stopped
2013-08-21T19:34:28.361Z,1377113668.361 [Startup](INFO): Aggregate::uninitialize Startup
2013-08-21T19:34:28.361Z,1377113668.361 [Startup:A.GoToSurface] Stopped
2013-08-21T19:34:28.361Z,1377113668.361 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-21T19:34:29.251Z,1377113669.251 [MissionManager](IMPORTANT): Started mission Default
2013-08-21T19:34:29.252Z,1377113669.252 [Default] Running Loop=1
2013-08-21T19:34:29.252Z,1377113669.252 [Default](INFO): Aggregate::initialize Default
2013-08-21T19:34:29.252Z,1377113669.252 [Default:D.SetSpeed] Running Loop=1
2013-08-21T19:34:29.252Z,1377113669.252 [Default:D.SetSpeed](DEBUG): Initialize.
2013-08-21T19:34:29.252Z,1377113669.252 [Default:E.GoToSurface] Running Loop=1
2013-08-21T19:34:29.252Z,1377113669.252 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-21T19:34:29.252Z,1377113669.252 [Default:Iridium] Running Loop=1
2013-08-21T19:34:29.252Z,1377113669.252 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-08-21T19:34:29.253Z,1377113669.253 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-08-21T19:34:29.253Z,1377113669.253 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-08-21T19:34:29.253Z,1377113669.253 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-08-21T19:34:29.253Z,1377113669.253 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-21T19:34:29.254Z,1377113669.254 [Default:E.GoToSurface] Running Loop=1
2013-08-21T19:34:29.259Z,1377113669.259 [Default:D.SetSpeed] Running Loop=1
2013-08-21T19:34:29.264Z,1377113669.264 [Default:CallIridium] Running Loop=1
2013-08-21T19:34:29.264Z,1377113669.264 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-08-21T19:34:29.264Z,1377113669.264 [Default:CallIridium:A] Running Loop=1
2013-08-21T19:34:29.267Z,1377113669.267 [Default:CallIridium:A] Stopped
2013-08-21T19:34:29.267Z,1377113669.267 [Default:CallIridium:B] Running Loop=1
2013-08-21T19:34:29.267Z,1377113669.267 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-08-21T19:34:29.272Z,1377113669.272 [Default:Iridium:B.GoToSurface] Stopped
2013-08-21T19:34:29.272Z,1377113669.272 [Default:Iridium:B.GoToSurface]