2013-08-22T16:29:43.431Z,1377188983.431 [Supervisor](DEBUG): Initializing supervisor.
2013-08-22T16:29:43.433Z,1377188983.433 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-22T16:29:43.434Z,1377188983.434 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-22T16:29:43.435Z,1377188983.435 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-22T16:29:43.438Z,1377188983.438 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-22T16:29:43.449Z,1377188983.449 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-22T16:29:43.450Z,1377188983.450 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-22T16:29:43.451Z,1377188983.451 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-22T16:29:43.452Z,1377188983.452 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-22T16:29:43.453Z,1377188983.453 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-22T16:29:43.454Z,1377188983.454 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-22T16:29:43.734Z,1377188983.734 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-22T16:29:43.735Z,1377188983.735 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-22T16:29:43.925Z,1377188983.925 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-22T16:29:43.926Z,1377188983.926 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-22T16:29:44.010Z,1377188984.010 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-22T16:29:44.010Z,1377188984.010 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-22T16:29:44.121Z,1377188984.121 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-22T16:29:44.122Z,1377188984.122 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-22T16:29:44.258Z,1377188984.258 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-22T16:29:44.259Z,1377188984.259 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-22T16:29:44.496Z,1377188984.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-22T16:29:44.497Z,1377188984.497 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-22T16:29:44.663Z,1377188984.663 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-22T16:29:44.664Z,1377188984.664 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-22T16:29:44.925Z,1377188984.925 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-22T16:29:44.926Z,1377188984.926 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-22T16:29:45.027Z,1377188985.027 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-22T16:29:45.027Z,1377188985.027 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-22T16:29:45.441Z,1377188985.441 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-22T16:29:45.442Z,1377188985.442 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-22T16:29:45.587Z,1377188985.588 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-22T16:29:45.588Z,1377188985.588 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-22T16:29:45.674Z,1377188985.674 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-22T16:29:45.674Z,1377188985.674 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-22T16:29:45.772Z,1377188985.772 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-22T16:29:45.897Z,1377188985.897 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-22T16:29:45.989Z,1377188985.989 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-22T16:29:46.094Z,1377188986.093 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-22T16:29:46.188Z,1377188986.188 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-22T16:29:46.302Z,1377188986.302 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-22T16:29:46.398Z,1377188986.398 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-22T16:29:46.482Z,1377188986.483 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-08-22T16:29:46.483Z,1377188986.483 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-08-22T16:29:46.484Z,1377188986.484 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-22T16:29:46.651Z,1377188986.651 [InternalSim] Loaded
2013-08-22T16:29:46.651Z,1377188986.651 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-22T16:29:46.651Z,1377188986.651 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-22T16:29:46.652Z,1377188986.652 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-22T16:29:46.739Z,1377188986.740 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-22T16:29:46.769Z,1377188986.769 [SBIT] Loaded
2013-08-22T16:29:46.769Z,1377188986.769 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-22T16:29:46.770Z,1377188986.770 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-22T16:29:46.799Z,1377188986.799 [IBIT] Loaded
2013-08-22T16:29:46.800Z,1377188986.800 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-22T16:29:46.802Z,1377188986.802 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-22T16:29:46.921Z,1377188986.921 [CBIT] Loaded
2013-08-22T16:29:46.921Z,1377188986.921 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-22T16:29:46.922Z,1377188986.921 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-22T16:29:46.922Z,1377188986.922 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-22T16:29:47.095Z,1377188987.095 [BuoyancyServo] Loaded
2013-08-22T16:29:47.095Z,1377188987.095 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-22T16:29:47.107Z,1377188987.107 [ElevatorServo] Loaded
2013-08-22T16:29:47.108Z,1377188987.108 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-22T16:29:47.119Z,1377188987.119 [MassServo] Loaded
2013-08-22T16:29:47.119Z,1377188987.119 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-22T16:29:47.131Z,1377188987.131 [RudderServo] Loaded
2013-08-22T16:29:47.131Z,1377188987.131 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-22T16:29:47.142Z,1377188987.142 [ThrusterServo] Loaded
2013-08-22T16:29:47.142Z,1377188987.142 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-22T16:29:47.143Z,1377188987.143 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-22T16:29:47.144Z,1377188987.144 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-22T16:29:47.179Z,1377188987.179 [DepthRateCalculator] Loaded
2013-08-22T16:29:47.180Z,1377188987.180 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-22T16:29:50.278Z,1377188990.279 [HFRadarModelCalc] Loaded
2013-08-22T16:29:50.279Z,1377188990.279 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-22T16:29:50.295Z,1377188990.295 [NavChart] Loaded
2013-08-22T16:29:50.295Z,1377188990.295 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-22T16:29:50.301Z,1377188990.301 [PitchRateCalculator] Loaded
2013-08-22T16:29:50.301Z,1377188990.301 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-22T16:29:50.312Z,1377188990.312 [SpeedCalculator] Loaded
2013-08-22T16:29:50.312Z,1377188990.312 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-22T16:29:50.329Z,1377188990.329 [TempGradientCalculator] Loaded
2013-08-22T16:29:50.329Z,1377188990.329 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-22T16:29:50.334Z,1377188990.334 [YawRateCalculator] Loaded
2013-08-22T16:29:50.335Z,1377188990.335 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-22T16:29:50.382Z,1377188990.382 [Navigation] Loaded
2013-08-22T16:29:50.382Z,1377188990.382 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-22T16:29:50.383Z,1377188990.383 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-22T16:29:50.383Z,1377188990.383 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-22T16:29:50.625Z,1377188990.625 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-22T16:29:50.626Z,1377188990.626 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-22T16:29:50.670Z,1377188990.670 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-22T16:29:50.671Z,1377188990.671 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-22T16:29:50.719Z,1377188990.719 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-22T16:29:50.814Z,1377188990.814 [VerticalControl] Loaded
2013-08-22T16:29:50.814Z,1377188990.814 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-22T16:29:50.815Z,1377188990.815 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-22T16:29:50.873Z,1377188990.873 [HorizontalControl] Loaded
2013-08-22T16:29:50.874Z,1377188990.874 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-22T16:29:50.874Z,1377188990.874 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-22T16:29:50.876Z,1377188990.876 [SpeedControl] Loaded
2013-08-22T16:29:50.876Z,1377188990.876 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-22T16:29:50.877Z,1377188990.877 [LoopControl](DEBUG): Construct LoopControl.
2013-08-22T16:29:50.878Z,1377188990.878 [LoopControl] Loaded
2013-08-22T16:29:50.878Z,1377188990.878 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-22T16:29:50.878Z,1377188990.878 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-22T16:29:50.879Z,1377188990.879 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-22T16:29:50.885Z,1377188990.885 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-22T16:29:50.890Z,1377188990.890 [AsyncPiEstimator] Loaded
2013-08-22T16:29:50.890Z,1377188990.890 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-22T16:29:50.891Z,1377188990.891 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4064F4E0
2013-08-22T16:29:50.892Z,1377188990.892 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-22T16:29:50.892Z,1377188990.892 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-22T16:29:51.092Z,1377188991.092 [AHRS_sp3003D] Loaded
2013-08-22T16:29:51.092Z,1377188991.092 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-22T16:29:51.345Z,1377188991.345 [Batt_Ocean_Server] Loaded
2013-08-22T16:29:51.345Z,1377188991.345 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-22T16:29:51.359Z,1377188991.359 [Depth_Keller] Loaded
2013-08-22T16:29:51.359Z,1377188991.359 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-22T16:29:51.364Z,1377188991.364 [DropWeight] Loaded
2013-08-22T16:29:51.364Z,1377188991.364 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-22T16:29:51.550Z,1377188991.550 [DVL_micro] Loaded
2013-08-22T16:29:51.550Z,1377188991.550 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-22T16:29:51.551Z,1377188991.551 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406DE4E0
2013-08-22T16:29:51.639Z,1377188991.639 [NAL9602] Loaded
2013-08-22T16:29:51.640Z,1377188991.640 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-22T16:29:51.683Z,1377188991.683 [Onboard] Loaded
2013-08-22T16:29:51.683Z,1377188991.683 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-22T16:29:51.690Z,1377188991.690 [Radio_Freewave] Loaded
2013-08-22T16:29:51.690Z,1377188991.690 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-22T16:29:51.843Z,1377188991.843 [DAT] Loaded
2013-08-22T16:29:51.843Z,1377188991.843 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-22T16:29:51.843Z,1377188991.843 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-22T16:29:51.844Z,1377188991.844 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-22T16:29:51.915Z,1377188991.915 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-22T16:29:51.917Z,1377188991.917 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-22T16:29:51.919Z,1377188991.919 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-22T16:29:51.928Z,1377188991.928 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-22T16:29:51.929Z,1377188991.929 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4073B4E0
2013-08-22T16:29:51.999Z,1377188991.999 [Supervisor](DEBUG): Running supervisor.
2013-08-22T16:29:51.000Z,1377188992.000 [CommandLine](INFO): Thread ID is 1419
2013-08-22T16:29:52.002Z,1377188992.002 [controlThread](INFO): Thread ID is 1418
2013-08-22T16:29:52.002Z,1377188992.003 [controlThread](DEBUG): Initializing ControlThread
2013-08-22T16:29:52.003Z,1377188992.003 [CycleStarter](INFO): Thread ID is 1417
2013-08-22T16:29:52.004Z,1377188992.003 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-22T16:29:52.038Z,1377188992.038 [logger](INFO): Thread ID is 1420
2013-08-22T16:29:52.062Z,1377188992.062 [SBIT](INFO): Initialize SBIT Component.
2013-08-22T16:29:52.062Z,1377188992.062 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10560
2013-08-22T16:29:52.063Z,1377188992.063 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-22T16:29:52.063Z,1377188992.063 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-22T16:29:52.063Z,1377188992.063 [IBIT](INFO): Initialize IBIT Component.
2013-08-22T16:29:52.064Z,1377188992.064 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-22T16:29:52.065Z,1377188992.065 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-22T16:29:52.074Z,1377188992.074 [AsyncPiEstimator](INFO): Thread ID is 1481
2013-08-22T16:29:52.074Z,1377188992.074 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-22T16:29:52.091Z,1377188992.091 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-22T16:29:52.091Z,1377188992.091 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-22T16:29:52.092Z,1377188992.092 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-22T16:29:52.092Z,1377188992.092 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-22T16:29:52.092Z,1377188992.092 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-22T16:29:52.093Z,1377188992.093 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-22T16:29:52.093Z,1377188992.093 [Navigation](DEBUG): Initializing Navigation.
2013-08-22T16:29:52.094Z,1377188992.094 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-22T16:29:52.096Z,1377188992.096 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-22T16:29:52.096Z,1377188992.096 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-22T16:29:52.097Z,1377188992.097 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-22T16:29:52.102Z,1377188992.102 [DVL_micro](INFO): Thread ID is 1482
2013-08-22T16:29:52.111Z,1377188992.111 [DVL_micro](INFO): Initializing
2013-08-22T16:29:52.111Z,1377188992.111 [DVL_micro](INFO): start:Powering up
2013-08-22T16:29:52.112Z,1377188992.112 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-22T16:29:52.112Z,1377188992.112 [DVL_micro](INFO): Cycling power to configure device.
2013-08-22T16:29:52.123Z,1377188992.123 [NavChartDb](INFO): Thread ID is 1483
2013-08-22T16:29:52.125Z,1377188992.125 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-22T16:29:52.126Z,1377188992.126 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-22T16:29:52.126Z,1377188992.126 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-22T16:29:52.126Z,1377188992.126 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-22T16:29:52.127Z,1377188992.127 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-22T16:29:52.127Z,1377188992.127 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-22T16:29:52.127Z,1377188992.127 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-22T16:29:52.127Z,1377188992.127 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-22T16:29:52.128Z,1377188992.128 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-22T16:29:53.788Z,1377188993.788 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-22T16:29:53.821Z,1377188993.821 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-22T16:29:53.854Z,1377188993.854 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T16:29:53.885Z,1377188993.885 [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>


2013-08-22T16:29:53.886Z,1377188993.886 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-22T16:29:53.961Z,1377188993.961 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-22T16:29:53.963Z,1377188993.963 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-22T16:29:53.982Z,1377188993.982 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T16:29:54.002Z,1377188994.002 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-22T16:29:54.005Z,1377188994.005 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T16:29:54.011Z,1377188994.011 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-22T16:29:54.032Z,1377188994.032 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-22T16:29:54.035Z,1377188994.035 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T16:29:54.071Z,1377188994.071 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-22T16:29:54.075Z,1377188994.075 [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>


2013-08-22T16:29:54.084Z,1377188994.084 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-08-22T16:29:54.127Z,1377188994.127 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-22T16:29:54.190Z,1377188994.190 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-22T16:29:54.190Z,1377188994.190 [DVL_micro](INFO): Querying output modes
2013-08-22T16:29:54.191Z,1377188994.191 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-22T16:29:54.202Z,1377188994.202 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-08-22T16:29:54.202Z,1377188994.202 [DVL_micro](INFO): NQ1 output enabled
2013-08-22T16:29:54.202Z,1377188994.202 [DVL_micro](INFO): RSSI output enabled
2013-08-22T16:29:54.202Z,1377188994.202 [DVL_micro](INFO): ADCP output enabled
2013-08-22T16:29:54.203Z,1377188994.203 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-22T16:29:54.214Z,1377188994.214 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-22T16:29:54.219Z,1377188994.219 [DVL_micro](INFO): pause:Powering down
2013-08-22T16:29:54.374Z,1377188994.374 [Radio_Freewave](INFO): Powering up
2013-08-22T16:29:54.383Z,1377188994.383 [DAT](INFO): Powering up
2013-08-22T16:29:54.383Z,1377188994.383 [DAT](DEBUG): Initializing DAT.
2013-08-22T16:29:54.594Z,1377188994.594 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:29:54.598Z,1377188994.598 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-22T16:29:54.604Z,1377188994.604 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:29:54.610Z,1377188994.610 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-22T16:29:54.616Z,1377188994.616 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:29:54.622Z,1377188994.622 [MassServo](DEBUG): Initializing MassServo.
2013-08-22T16:29:54.628Z,1377188994.628 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:29:54.634Z,1377188994.634 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-22T16:29:54.639Z,1377188994.639 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:29:54.674Z,1377188994.674 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-22T16:29:57.100Z,1377188997.100 [NAL9602](INFO): Powering up NAL9602
2013-08-22T16:30:07.542Z,1377189007.542 [NAL9602](INFO): NAL9602 initialized
2013-08-22T16:30:07.583Z,1377189007.583 [SBIT](IMPORTANT): Beginning Startup BIT
2013-08-22T16:30:07.590Z,1377189007.590 [CBIT](IMPORTANT): Beginning GF scan
2013-08-22T16:30:14.656Z,1377189014.656 [DAT](INFO): Powering down
2013-08-22T16:30:33.935Z,1377189033.935 [CBIT](IMPORTANT): No ground fault detected
2013-08-22T16:30:51.602Z,1377189051.602 [CommandLine](IMPORTANT): got command show variable scpi
2013-08-22T16:30:51.610Z,1377189051.610 [CommandLine](INFO): SCPI.loadControl (none)
2013-08-22T16:30:51.610Z,1377189051.610 [CommandLine](INFO): SCPI.uart (none)
2013-08-22T16:30:51.611Z,1377189051.611 [CommandLine](INFO): SCPI.baud (bit_per_second)
2013-08-22T16:30:51.615Z,1377189051.615 [CommandLine](INFO): SCPI.loadAtStartup (bool)
2013-08-22T16:30:51.615Z,1377189051.615 [CommandLine](INFO): SCPI.simulateHardware (bool)
2013-08-22T16:30:51.616Z,1377189051.616 [CommandLine](INFO): SCPI.sampleTime (second)
2013-08-22T16:31:00.686Z,1377189060.686 [CommandLine](IMPORTANT): got command get SCPI.loadAtStartup
2013-08-22T16:31:00.686Z,1377189060.686 [CommandLine](IMPORTANT): SCPI.loadAtStartup 0 bool
2013-08-22T16:31:00.972Z,1377189060.972 [SBIT](IMPORTANT): SBIT PASSED
2013-08-22T16:31:01.360Z,1377189061.360 [MissionManager](IMPORTANT): Started mission Startup
2013-08-22T16:31:01.360Z,1377189061.360 [Startup] Running Loop=1
2013-08-22T16:31:01.361Z,1377189061.361 [Startup](INFO): Aggregate::initialize Startup
2013-08-22T16:31:01.361Z,1377189061.361 [Startup:A.GoToSurface] Running Loop=1
2013-08-22T16:31:01.361Z,1377189061.361 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-22T16:31:01.367Z,1377189061.367 [Startup:StartupSatComms] Running Loop=1
2013-08-22T16:31:01.367Z,1377189061.367 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-08-22T16:31:01.367Z,1377189061.367 [Startup:StartupSatComms:A] Running Loop=1
2013-08-22T16:31:01.804Z,1377189061.804 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-08-22T16:31:15.678Z,1377189075.678 [CommandLine](IMPORTANT): got command restart application
2013-08-22T16:31:16.813Z,1377189076.813 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-08-22T16:31:16.814Z,1377189076.814 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-08-22T16:31:16.914Z,1377189076.914 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-08-22T16:31:17.170Z,1377189077.170 [DVL_micro](INFO): uninitialize:Powering down
2013-08-22T16:31:17.182Z,1377189077.182 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-08-22T16:31:17.410Z,1377189077.410 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-08-22T16:31:17.421Z,1377189077.421 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-08-22T16:31:17.461Z,1377189077.461 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-08-22T16:31:17.463Z,1377189077.463 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-08-22T16:31:17.554Z,1377189077.554 [controlThread](DEBUG): Uninitializing ControlThread
2013-08-22T16:31:17.554Z,1377189077.555 [AHRS_sp3003D](INFO): Powering down
2013-08-22T16:31:17.643Z,1377189077.643 [NAL9602](INFO): Powering down
2013-08-22T16:31:17.644Z,1377189077.644 [DAT](INFO): Powering down
2013-08-22T16:31:17.645Z,1377189077.645 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-22T16:31:17.646Z,1377189077.646 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-08-22T16:31:17.650Z,1377189077.650 [Startup] Stopped
2013-08-22T16:31:17.650Z,1377189077.650 [Startup](INFO): Aggregate::uninitialize Startup
2013-08-22T16:31:17.650Z,1377189077.650 [Startup:A.GoToSurface] Stopped
2013-08-22T16:31:17.650Z,1377189077.650 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-22T16:31:17.650Z,1377189077.651 [Startup:StartupSatComms] Stopped
2013-08-22T16:31:17.651Z,1377189077.651 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-08-22T16:31:17.651Z,1377189077.651 [Startup:StartupSatComms:A] Stopped
2013-08-22T16:31:17.652Z,1377189077.652 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-08-22T16:31:17.652Z,1377189077.652 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-08-22T16:31:17.652Z,1377189077.652 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-08-22T16:31:17.653Z,1377189077.653 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-08-22T16:31:17.653Z,1377189077.653 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-08-22T16:31:17.654Z,1377189077.654 [BuoyancyServo](INFO): Powering down
2013-08-22T16:31:17.666Z,1377189077.666 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-08-22T16:31:17.666Z,1377189077.666 [ElevatorServo](INFO): Powering down
2013-08-22T16:31:17.667Z,1377189077.667 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-08-22T16:31:17.667Z,1377189077.667 [MassServo](INFO): Powering down
2013-08-22T16:31:17.668Z,1377189077.668 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-08-22T16:31:17.668Z,1377189077.668 [RudderServo](INFO): Powering down
2013-08-22T16:31:17.669Z,1377189077.668 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-08-22T16:31:17.669Z,1377189077.669 [ThrusterServo](INFO): Powering down
2013-08-22T16:31:17.669Z,1377189077.670 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-08-22T16:31:17.670Z,1377189077.670 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-08-22T16:31:17.670Z,1377189077.670 [CBIT](DEBUG): Uninitialize CBIT Component.