2013-08-22T22:18:07.119Z,1377209887.119 [Supervisor](DEBUG): Initializing supervisor.
2013-08-22T22:18:07.121Z,1377209887.121 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-22T22:18:07.122Z,1377209887.122 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-22T22:18:07.123Z,1377209887.123 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-22T22:18:07.127Z,1377209887.127 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-22T22:18:07.137Z,1377209887.137 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-22T22:18:07.138Z,1377209887.138 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-22T22:18:07.139Z,1377209887.139 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-22T22:18:07.140Z,1377209887.140 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-22T22:18:07.141Z,1377209887.141 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-22T22:18:07.142Z,1377209887.142 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-22T22:18:07.425Z,1377209887.425 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-22T22:18:07.426Z,1377209887.426 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-22T22:18:07.618Z,1377209887.618 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-22T22:18:07.618Z,1377209887.618 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-22T22:18:07.703Z,1377209887.703 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-22T22:18:07.704Z,1377209887.704 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-22T22:18:07.815Z,1377209887.815 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-22T22:18:07.816Z,1377209887.816 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-22T22:18:07.954Z,1377209887.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-22T22:18:07.954Z,1377209887.954 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-22T22:18:08.193Z,1377209888.193 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-22T22:18:08.193Z,1377209888.194 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-22T22:18:08.358Z,1377209888.358 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-22T22:18:08.359Z,1377209888.359 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-22T22:18:08.624Z,1377209888.624 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-22T22:18:08.625Z,1377209888.625 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-22T22:18:08.748Z,1377209888.748 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-22T22:18:08.749Z,1377209888.749 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-22T22:18:09.163Z,1377209889.163 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-22T22:18:09.163Z,1377209889.164 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-22T22:18:09.275Z,1377209889.276 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-22T22:18:09.276Z,1377209889.276 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-22T22:18:09.363Z,1377209889.363 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-22T22:18:09.364Z,1377209889.364 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-22T22:18:09.462Z,1377209889.462 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-22T22:18:09.589Z,1377209889.589 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-22T22:18:09.682Z,1377209889.682 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-22T22:18:09.787Z,1377209889.787 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-22T22:18:09.882Z,1377209889.882 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-22T22:18:09.997Z,1377209889.997 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-22T22:18:10.093Z,1377209890.093 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-22T22:18:10.179Z,1377209890.179 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-08-22T22:18:10.180Z,1377209890.180 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-22T22:18:10.346Z,1377209890.346 [InternalSim] Loaded
2013-08-22T22:18:10.346Z,1377209890.346 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-22T22:18:10.347Z,1377209890.347 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-22T22:18:10.347Z,1377209890.347 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-22T22:18:10.435Z,1377209890.434 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-22T22:18:10.463Z,1377209890.464 [SBIT] Loaded
2013-08-22T22:18:10.464Z,1377209890.464 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-22T22:18:10.465Z,1377209890.464 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-22T22:18:10.494Z,1377209890.494 [IBIT] Loaded
2013-08-22T22:18:10.494Z,1377209890.494 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-22T22:18:10.496Z,1377209890.496 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-22T22:18:10.612Z,1377209890.612 [CBIT] Loaded
2013-08-22T22:18:10.612Z,1377209890.612 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-22T22:18:10.613Z,1377209890.612 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-22T22:18:10.613Z,1377209890.613 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-22T22:18:10.782Z,1377209890.782 [BuoyancyServo] Loaded
2013-08-22T22:18:10.783Z,1377209890.783 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-22T22:18:10.795Z,1377209890.795 [ElevatorServo] Loaded
2013-08-22T22:18:10.795Z,1377209890.795 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-22T22:18:10.806Z,1377209890.806 [MassServo] Loaded
2013-08-22T22:18:10.806Z,1377209890.806 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-22T22:18:10.818Z,1377209890.818 [RudderServo] Loaded
2013-08-22T22:18:10.818Z,1377209890.818 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-22T22:18:10.829Z,1377209890.829 [ThrusterServo] Loaded
2013-08-22T22:18:10.830Z,1377209890.829 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-22T22:18:10.830Z,1377209890.830 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-22T22:18:10.831Z,1377209890.830 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-22T22:18:10.866Z,1377209890.866 [DepthRateCalculator] Loaded
2013-08-22T22:18:10.866Z,1377209890.866 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-22T22:18:13.991Z,1377209893.991 [HFRadarModelCalc] Loaded
2013-08-22T22:18:13.992Z,1377209893.991 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-22T22:18:14.008Z,1377209894.008 [NavChart] Loaded
2013-08-22T22:18:14.008Z,1377209894.008 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-22T22:18:14.014Z,1377209894.014 [PitchRateCalculator] Loaded
2013-08-22T22:18:14.014Z,1377209894.014 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-22T22:18:14.025Z,1377209894.025 [SpeedCalculator] Loaded
2013-08-22T22:18:14.025Z,1377209894.025 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-22T22:18:14.041Z,1377209894.041 [TempGradientCalculator] Loaded
2013-08-22T22:18:14.042Z,1377209894.042 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-22T22:18:14.047Z,1377209894.047 [YawRateCalculator] Loaded
2013-08-22T22:18:14.047Z,1377209894.047 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-22T22:18:14.094Z,1377209894.094 [Navigation] Loaded
2013-08-22T22:18:14.094Z,1377209894.094 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-22T22:18:14.095Z,1377209894.095 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-22T22:18:14.095Z,1377209894.095 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-22T22:18:14.333Z,1377209894.333 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-22T22:18:14.334Z,1377209894.334 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-22T22:18:14.357Z,1377209894.357 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-22T22:18:14.358Z,1377209894.358 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-22T22:18:14.405Z,1377209894.405 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-22T22:18:14.499Z,1377209894.499 [VerticalControl] Loaded
2013-08-22T22:18:14.499Z,1377209894.499 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-22T22:18:14.500Z,1377209894.500 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-22T22:18:14.558Z,1377209894.558 [HorizontalControl] Loaded
2013-08-22T22:18:14.558Z,1377209894.558 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-22T22:18:14.559Z,1377209894.559 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-22T22:18:14.561Z,1377209894.561 [SpeedControl] Loaded
2013-08-22T22:18:14.561Z,1377209894.561 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-22T22:18:14.562Z,1377209894.562 [LoopControl](DEBUG): Construct LoopControl.
2013-08-22T22:18:14.562Z,1377209894.562 [LoopControl] Loaded
2013-08-22T22:18:14.562Z,1377209894.562 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-22T22:18:14.563Z,1377209894.563 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-22T22:18:14.563Z,1377209894.563 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-22T22:18:14.569Z,1377209894.569 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-22T22:18:14.575Z,1377209894.575 [AsyncPiEstimator] Loaded
2013-08-22T22:18:14.575Z,1377209894.575 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-22T22:18:14.576Z,1377209894.576 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4064F4E0
2013-08-22T22:18:14.577Z,1377209894.577 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-22T22:18:14.577Z,1377209894.577 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-22T22:18:14.774Z,1377209894.774 [AHRS_sp3003D] Loaded
2013-08-22T22:18:14.774Z,1377209894.774 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-22T22:18:15.029Z,1377209895.029 [Batt_Ocean_Server] Loaded
2013-08-22T22:18:15.030Z,1377209895.030 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-22T22:18:15.043Z,1377209895.043 [Depth_Keller] Loaded
2013-08-22T22:18:15.044Z,1377209895.044 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-22T22:18:15.049Z,1377209895.049 [DropWeight] Loaded
2013-08-22T22:18:15.049Z,1377209895.049 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-22T22:18:15.234Z,1377209895.234 [DVL_micro] Loaded
2013-08-22T22:18:15.234Z,1377209895.234 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-22T22:18:15.235Z,1377209895.235 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406DE4E0
2013-08-22T22:18:15.324Z,1377209895.325 [NAL9602] Loaded
2013-08-22T22:18:15.325Z,1377209895.325 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-22T22:18:15.368Z,1377209895.368 [Onboard] Loaded
2013-08-22T22:18:15.368Z,1377209895.368 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-22T22:18:15.375Z,1377209895.375 [Radio_Freewave] Loaded
2013-08-22T22:18:15.375Z,1377209895.375 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-22T22:18:15.527Z,1377209895.527 [DAT] Loaded
2013-08-22T22:18:15.527Z,1377209895.527 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-22T22:18:15.528Z,1377209895.528 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-22T22:18:15.529Z,1377209895.529 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-22T22:18:15.594Z,1377209895.594 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-22T22:18:15.596Z,1377209895.596 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-22T22:18:15.597Z,1377209895.597 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-22T22:18:15.604Z,1377209895.604 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-22T22:18:15.605Z,1377209895.605 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4073B4E0
2013-08-22T22:18:15.609Z,1377209895.609 [Supervisor](DEBUG): Running supervisor.
2013-08-22T22:18:15.610Z,1377209895.610 [CommandLine](INFO): Thread ID is 861
2013-08-22T22:18:15.614Z,1377209895.614 [controlThread](INFO): Thread ID is 860
2013-08-22T22:18:15.614Z,1377209895.614 [controlThread](DEBUG): Initializing ControlThread
2013-08-22T22:18:15.614Z,1377209895.614 [CycleStarter](INFO): Thread ID is 859
2013-08-22T22:18:15.615Z,1377209895.615 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-22T22:18:15.649Z,1377209895.649 [logger](INFO): Thread ID is 862
2013-08-22T22:18:15.673Z,1377209895.673 [SBIT](INFO): Initialize SBIT Component.
2013-08-22T22:18:15.674Z,1377209895.674 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10560
2013-08-22T22:18:15.674Z,1377209895.674 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-22T22:18:15.674Z,1377209895.674 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-22T22:18:15.675Z,1377209895.675 [IBIT](INFO): Initialize IBIT Component.
2013-08-22T22:18:15.676Z,1377209895.676 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-22T22:18:15.676Z,1377209895.676 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-22T22:18:15.689Z,1377209895.689 [AsyncPiEstimator](INFO): Thread ID is 924
2013-08-22T22:18:15.689Z,1377209895.689 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-22T22:18:15.701Z,1377209895.701 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-22T22:18:15.702Z,1377209895.702 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-22T22:18:15.702Z,1377209895.702 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-22T22:18:15.703Z,1377209895.703 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-22T22:18:15.703Z,1377209895.703 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-22T22:18:15.704Z,1377209895.704 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-22T22:18:15.704Z,1377209895.704 [Navigation](DEBUG): Initializing Navigation.
2013-08-22T22:18:15.705Z,1377209895.704 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-22T22:18:15.706Z,1377209895.706 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-22T22:18:15.707Z,1377209895.707 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-22T22:18:15.707Z,1377209895.707 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-22T22:18:15.712Z,1377209895.712 [DVL_micro](INFO): Thread ID is 925
2013-08-22T22:18:15.721Z,1377209895.721 [DVL_micro](INFO): Initializing
2013-08-22T22:18:15.721Z,1377209895.721 [DVL_micro](INFO): start:Powering up
2013-08-22T22:18:15.722Z,1377209895.722 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-22T22:18:15.723Z,1377209895.723 [DVL_micro](INFO): Cycling power to configure device.
2013-08-22T22:18:15.734Z,1377209895.734 [NavChartDb](INFO): Thread ID is 926
2013-08-22T22:18:15.736Z,1377209895.736 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-22T22:18:15.737Z,1377209895.737 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-22T22:18:15.737Z,1377209895.737 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-22T22:18:15.738Z,1377209895.737 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-22T22:18:15.738Z,1377209895.738 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-22T22:18:15.738Z,1377209895.738 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-22T22:18:15.738Z,1377209895.738 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-22T22:18:15.738Z,1377209895.738 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-22T22:18:15.739Z,1377209895.739 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-22T22:18:17.365Z,1377209897.365 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-22T22:18:17.397Z,1377209897.397 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-22T22:18:17.411Z,1377209897.411 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T22:18:17.437Z,1377209897.437 [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>


2013-08-22T22:18:17.438Z,1377209897.438 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-22T22:18:17.520Z,1377209897.520 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-22T22:18:17.522Z,1377209897.522 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-22T22:18:17.538Z,1377209897.538 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T22:18:17.546Z,1377209897.546 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-22T22:18:17.573Z,1377209897.573 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T22:18:17.579Z,1377209897.579 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-22T22:18:17.613Z,1377209897.613 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-22T22:18:17.617Z,1377209897.617 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T22:18:17.633Z,1377209897.633 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-22T22:18:17.637Z,1377209897.637 [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>


2013-08-22T22:18:17.641Z,1377209897.641 [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,
2013-08-22T22:18:17.712Z,1377209897.713 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-22T22:18:17.813Z,1377209897.813 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-22T22:18:17.813Z,1377209897.813 [DVL_micro](INFO): Querying output modes
2013-08-22T22:18:17.813Z,1377209897.813 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-22T22:18:17.824Z,1377209897.824 [DVL_micro](DEBUG): cmdResponse: 01
2013-08-22T22:18:17.825Z,1377209897.825 [DVL_micro](INFO): NQ1 output enabled
2013-08-22T22:18:17.825Z,1377209897.825 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-22T22:18:17.836Z,1377209897.836 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-22T22:18:17.841Z,1377209897.842 [DVL_micro](INFO): pause:Powering down
2013-08-22T22:18:17.932Z,1377209897.932 [Radio_Freewave](INFO): Powering up
2013-08-22T22:18:17.938Z,1377209897.938 [DAT](INFO): Powering up
2013-08-22T22:18:17.938Z,1377209897.938 [DAT](DEBUG): Initializing DAT.
2013-08-22T22:18:18.169Z,1377209898.168 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-22T22:18:18.176Z,1377209898.177 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-22T22:18:18.183Z,1377209898.183 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-22T22:18:18.189Z,1377209898.188 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-22T22:18:18.206Z,1377209898.206 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-22T22:18:18.213Z,1377209898.213 [MassServo](DEBUG): Initializing MassServo.
2013-08-22T22:18:18.219Z,1377209898.218 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-22T22:18:18.224Z,1377209898.224 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-22T22:18:18.230Z,1377209898.230 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-22T22:18:18.236Z,1377209898.236 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-22T22:18:20.718Z,1377209900.718 [NAL9602](INFO): Powering up NAL9602
2013-08-22T22:18:31.361Z,1377209911.361 [NAL9602](INFO): NAL9602 initialized
2013-08-22T22:18:31.397Z,1377209911.397 [SBIT](IMPORTANT): Beginning Startup BIT
2013-08-22T22:18:31.404Z,1377209911.404 [CBIT](IMPORTANT): Beginning GF scan
2013-08-22T22:18:38.074Z,1377209918.074 [DAT](INFO): Powering down
2013-08-22T22:18:58.117Z,1377209938.117 [CBIT](IMPORTANT): No ground fault detected
2013-08-22T22:19:25.081Z,1377209965.081 [SBIT](IMPORTANT): SBIT PASSED
2013-08-22T22:19:25.471Z,1377209965.471 [MissionManager](IMPORTANT): Started mission Startup
2013-08-22T22:19:25.471Z,1377209965.471 [Startup] Running Loop=1
2013-08-22T22:19:25.471Z,1377209965.471 [Startup](INFO): Aggregate::initialize Startup
2013-08-22T22:19:25.471Z,1377209965.471 [Startup:A.GoToSurface] Running Loop=1
2013-08-22T22:19:25.471Z,1377209965.471 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-22T22:19:25.477Z,1377209965.477 [Startup:StartupSatComms] Running Loop=1
2013-08-22T22:19:25.478Z,1377209965.478 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-08-22T22:19:25.478Z,1377209965.478 [Startup:StartupSatComms:A] Running Loop=1
2013-08-22T22:19:25.891Z,1377209965.891 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-08-22T22:19:53.063Z,1377209993.063 [NAL9602](IMPORTANT): GPS fix at: 1377209992.00
2013-08-22T22:19:53.077Z,1377209993.077 [Startup:StartupSatComms:A] Stopped
2013-08-22T22:19:53.077Z,1377209993.077 [Startup:StartupSatComms:B] Running Loop=1
2013-08-22T22:19:53.492Z,1377209993.492 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-08-22T22:20:14.115Z,1377210014.115 [NAL9602](INFO): SBD MO Status=1, MOMSN=14256, MT Status=0, MTMSN=0
2013-08-22T22:20:14.164Z,1377210014.164 [NAL9602](INFO): Sent 215 bytes from file Logs/20130822T220807/Courier0004.lzma
2013-08-22T22:20:14.165Z,1377210014.165 [NAL9602](INFO): Packets left to send: 0
2013-08-22T22:20:14.167Z,1377210014.167 [NAL9602](INFO): Stored copy of sent data in Logs/20130822T220807/Courier0004.lzma.parts/0000.sbd
2013-08-22T22:20:46.097Z,1377210046.096 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/tracking_on_surface.xml
2013-08-22T22:20:46.097Z,1377210046.097 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/tracking_on_surface.xml
2013-08-22T22:20:46.118Z,1377210046.118 [MissionManager](INFO): DefineArg tracking_on_surface.ContactLabel = 1.000000 count
2013-08-22T22:20:46.121Z,1377210046.121 [MissionManager](INFO): DefineArg tracking_on_surface.Repeat = 13.000000 count
2013-08-22T22:20:46.126Z,1377210046.126 [MissionManager](INFO): DefineArg tracking_on_surface.MassDefault = 0.000000 n/a
2013-08-22T22:20:46.128Z,1377210046.128 [tracking_on_surface:A.Pitch](DEBUG): Construct.
2013-08-22T22:20:46.280Z,1377210046.280 [tracking_on_surface:TestDrive:B.Wait](DEBUG): Construct Wait.
2013-08-22T22:20:46.283Z,1377210046.283 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       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/Derivation http://aosn.mbari.org/tethys/Xml/Derivation.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="tracking_on_surface">

    <DefineArg Name="ContactLabel"><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Repeat"><Units:count/><Value>13</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

    <Timeout Duration="P10M"/>

    <Guidance:Pitch RunIn="Parallel">
        <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
    </Guidance:Pitch>

    <Derivation:Tracking RunIn="Parallel">
        <Setting><Derivation:Tracking.contactLabelSetting/><Arg Name="ContactLabel"/></Setting>
    </Derivation:Tracking>

    <Aggregate Id="TestDrive" Repeat="Repeat">

        <Aggregate Id="Data">

            <When>
                <True/>
            </When>

            <SendData Service="Express"><Derivation:Tracking.contact_latitude/>
                <Units:degree/><Derivation:Tracking.contact_longitude/>
                <Units:degree/><Derivation:Tracking.contact_depth/>
                <Units:meter/><Derivation:Tracking.range_to_contact/>
                <Units:meter/><Derivation:Tracking.heading_to_contact/>
                <Units:degree/>
            </SendData>

            <Syslog Severity="None">Pause a cycle</Syslog>

        </Aggregate>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>2</Value></Setting>
        </Guidance:Wait>

    </Aggregate>

</Mission>


2013-08-22T22:20:46.285Z,1377210046.285 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/tracking_on_surface.xml
2013-08-22T22:20:49.971Z,1377210049.971 [NAL9602](INFO): SBD MO Status=2, MOMSN=14257, MT Status=0, MTMSN=0
2013-08-22T22:20:49.971Z,1377210049.971 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-08-22T22:20:53.184Z,1377210053.184 [Startup:StartupSatComms:B](INFO): Timed out from 2013-08-22T22:19:53.1Z
2013-08-22T22:20:53.184Z,1377210053.184 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-08-22T22:20:53.184Z,1377210053.184 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-08-22T22:20:53.184Z,1377210053.184 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-08-22T22:20:53.184Z,1377210053.184 [Startup:StartupSatComms:B] Stopped
2013-08-22T22:20:53.184Z,1377210053.184 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-08-22T22:20:53.185Z,1377210053.185 [Startup:StartupSatComms] Stopped
2013-08-22T22:20:53.185Z,1377210053.185 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-08-22T22:20:53.186Z,1377210053.186 [Startup](INFO): Completed Startup
2013-08-22T22:20:53.186Z,1377210053.186 [Startup] Stopped
2013-08-22T22:20:53.186Z,1377210053.186 [Startup](INFO): Aggregate::uninitialize Startup
2013-08-22T22:20:53.186Z,1377210053.186 [Startup:A.GoToSurface] Stopped
2013-08-22T22:20:53.186Z,1377210053.186 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-22T22:20:53.619Z,1377210053.619 [MissionManager](IMPORTANT): Started mission tracking_on_surface
2013-08-22T22:20:53.619Z,1377210053.619 [tracking_on_surface] Running Loop=1
2013-08-22T22:20:53.619Z,1377210053.619 [tracking_on_surface](INFO): Aggregate::initialize tracking_on_surface
2013-08-22T22:20:53.620Z,1377210053.620 [tracking_on_surface:A.Pitch] Running Loop=1
2013-08-22T22:20:53.620Z,1377210053.620 [tracking_on_surface:A.Pitch](DEBUG): Initialize.
2013-08-22T22:20:53.620Z,1377210053.620 [tracking_on_surface:B.] Running Loop=1
2013-08-22T22:20:53.620Z,1377210053.620 [tracking_on_surface:B.](INFO): Initializing Tracking.
2013-08-22T22:20:53.621Z,1377210053.621 [tracking_on_surface:TestDrive] Running Loop=1
2013-08-22T22:20:53.621Z,1377210053.621 [tracking_on_surface:TestDrive](INFO): Aggregate::initialize tracking_on_surface:TestDrive
2013-08-22T22:20:53.621Z,1377210053.621 [tracking_on_surface:TestDrive:B.Wait] Running Loop=1
2013-08-22T22:20:53.621Z,1377210053.621 [tracking_on_surface:TestDrive:B.Wait](DEBUG): Initialize Wait Component.
2013-08-22T22:20:53.626Z,1377210053.626 [tracking_on_surface:TestDrive:Data] Running Loop=1
2013-08-22T22:20:53.626Z,1377210053.626 [tracking_on_surface:TestDrive:Data](INFO): Aggregate::initialize tracking_on_surface:TestDrive:Data
2013-08-22T22:20:53.626Z,1377210053.626 [tracking_on_surface:TestDrive:Data:A] Running Loop=1
2013-08-22T22:20:53.631Z,1377210053.631 [tracking_on_surface:TestDrive:Data:A] Stopped
2013-08-22T22:20:53.632Z,1377210053.632 [tracking_on_surface:TestDrive:Data:B] Running Loop=1
2013-08-22T22:20:53.632Z,1377210053.632 [tracking_on_surface:B.] Running Loop=1
2013-08-22T22:20:53.632Z,1377210053.632 [tracking_on_surface:B.](DEBUG): Tracking...
2013-08-22T22:20:53.632Z,1377210053.632 [tracking_on_surface:B.](DEBUG): Requesting two-way mode from DAT.
2013-08-22T22:20:53.633Z,1377210053.633 [tracking_on_surface:B.](INFO): DAT did not provide matching contact label.
2013-08-22T22:20:53.637Z,1377210053.637 [tracking_on_surface:A.Pitch] Running Loop=1
2013-08-22T22:20:53.979Z,1377210053.980 [DAT](INFO): Powering up
2013-08-22T22:20:53.989Z,1377210053.990 [tracking_on_surface:TestDrive:Data:B] Stopped
2013-08-22T22:20:53.990Z,1377210053.990 [tracking_on_surface:TestDrive:Data](INFO): Completed tracking_on_surface:TestDrive:Data
2013-08-22T22:20:53.990Z,1377210053.990 [tracking_on_surface:TestDrive:Data] Stopped
2013-08-22T22:20:53.990Z,1377210053.990 [tracking_on_surface:TestDrive:Data](INFO): Aggregate::uninitialize tracking_on_surface:TestDrive:Data
2013-08-22T22:20:53.990Z,1377210053.990 [tracking_on_surface:B.](DEBUG): Tracking...
2013-08-22T22:20:53.990Z,1377210053.990 [tracking_on_surface:B.](DEBUG): Requesting two-way mode from DAT.
2013-08-22T22:20:53.991Z,1377210053.991 [tracking_on_surface:B.](INFO): DAT did not provide matching contact label.
2013-08-22T22:20:54.896Z,1377210054.897 [tracking_on_surface:TestDrive:Data] Running Loop=1
2013-08-22T22:20:54.897Z,1377210054.897 [tracking_on_surface:TestDrive:Data](INFO): Aggregate::initialize tracking_on_surface:TestDrive:Data
2013-08-22T22:20:54.897Z,1377210054.897 [tracking_on_surface:TestDrive:Data:A] Running Loop=1
2013-08-22T22:20:54.898Z,1377210054.898 [tracking_on_surface:TestDrive:Data:A] Stopped
2013-08-22T22:20:54.898Z,1377210054.898 [tracking_on_surface:TestDrive:Data:B] Running Loop=1
2013-08-22T22:20:54.898Z,1377210054.898 [tracking_on_surface:B.](DEBUG): Tracking...
2013-08-22T22:20:54.898Z,1377210054.898 [tracking_on_surface:B.](DEBUG): Requesting two-way mode from DAT.
2013-08-22T22:20:54.899Z,1377210054.899 [tracking_on_surface:B.](INFO): DAT did not provide matching contact label.
2013-08-22T22:20:55.208Z,1377210055.208 [tracking_on_surface:TestDrive:Data:B] Stopped
2013-08-22T22:20:55.208Z,1377210055.208 [tracking_on_surface:TestDrive:Data](INFO): Completed