2013-08-26T18:17:15.872Z,1377541035.872 [Supervisor](DEBUG): Initializing supervisor.
2013-08-26T18:17:15.874Z,1377541035.874 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-26T18:17:15.875Z,1377541035.875 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-26T18:17:15.876Z,1377541035.876 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-26T18:17:15.894Z,1377541035.894 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-26T18:17:15.906Z,1377541035.906 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-26T18:17:15.907Z,1377541035.907 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-26T18:17:15.908Z,1377541035.908 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-26T18:17:15.909Z,1377541035.909 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-26T18:17:15.909Z,1377541035.909 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-26T18:17:15.911Z,1377541035.911 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-26T18:17:16.353Z,1377541036.353 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-26T18:17:16.353Z,1377541036.353 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-26T18:17:16.573Z,1377541036.573 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-26T18:17:16.573Z,1377541036.573 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-26T18:17:16.659Z,1377541036.659 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-26T18:17:16.660Z,1377541036.660 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-26T18:17:16.772Z,1377541036.772 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-26T18:17:16.773Z,1377541036.773 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-26T18:17:16.912Z,1377541036.912 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-26T18:17:16.913Z,1377541036.913 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-26T18:17:17.150Z,1377541037.150 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-26T18:17:17.151Z,1377541037.151 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-26T18:17:17.316Z,1377541037.316 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-26T18:17:17.317Z,1377541037.317 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-26T18:17:17.578Z,1377541037.578 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-26T18:17:17.579Z,1377541037.579 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-26T18:17:17.681Z,1377541037.681 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-26T18:17:17.682Z,1377541037.682 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-26T18:17:18.097Z,1377541038.097 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-26T18:17:18.098Z,1377541038.098 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-26T18:17:18.216Z,1377541038.216 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-26T18:17:18.217Z,1377541038.217 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-26T18:17:18.330Z,1377541038.330 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-26T18:17:18.331Z,1377541038.331 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-26T18:17:18.431Z,1377541038.431 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-26T18:17:18.558Z,1377541038.558 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-26T18:17:18.652Z,1377541038.652 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-26T18:17:18.757Z,1377541038.757 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-26T18:17:18.853Z,1377541038.853 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-26T18:17:18.969Z,1377541038.968 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-26T18:17:19.064Z,1377541039.064 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-26T18:17:19.151Z,1377541039.151 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-08-26T18:17:19.151Z,1377541039.151 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-08-26T18:17:19.152Z,1377541039.152 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-26T18:17:19.348Z,1377541039.348 [InternalSim] Loaded
2013-08-26T18:17:19.348Z,1377541039.348 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-26T18:17:19.349Z,1377541039.349 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-26T18:17:19.349Z,1377541039.349 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-26T18:17:19.458Z,1377541039.458 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-26T18:17:19.486Z,1377541039.486 [SBIT] Loaded
2013-08-26T18:17:19.487Z,1377541039.487 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-26T18:17:19.487Z,1377541039.487 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-26T18:17:19.516Z,1377541039.516 [IBIT] Loaded
2013-08-26T18:17:19.517Z,1377541039.517 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-26T18:17:19.519Z,1377541039.519 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-26T18:17:19.633Z,1377541039.633 [CBIT] Loaded
2013-08-26T18:17:19.633Z,1377541039.633 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-26T18:17:19.633Z,1377541039.634 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-26T18:17:19.634Z,1377541039.634 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-26T18:17:19.821Z,1377541039.821 [BuoyancyServo] Loaded
2013-08-26T18:17:19.821Z,1377541039.821 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-26T18:17:19.833Z,1377541039.833 [ElevatorServo] Loaded
2013-08-26T18:17:19.834Z,1377541039.833 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-26T18:17:19.845Z,1377541039.845 [MassServo] Loaded
2013-08-26T18:17:19.845Z,1377541039.845 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-26T18:17:19.856Z,1377541039.856 [RudderServo] Loaded
2013-08-26T18:17:19.857Z,1377541039.856 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-26T18:17:19.867Z,1377541039.867 [ThrusterServo] Loaded
2013-08-26T18:17:19.868Z,1377541039.868 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-26T18:17:19.868Z,1377541039.868 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-26T18:17:19.869Z,1377541039.869 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-26T18:17:19.926Z,1377541039.926 [DepthRateCalculator] Loaded
2013-08-26T18:17:19.926Z,1377541039.926 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-26T18:17:23.088Z,1377541043.088 [HFRadarModelCalc] Loaded
2013-08-26T18:17:23.089Z,1377541043.089 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-26T18:17:23.104Z,1377541043.104 [NavChart] Loaded
2013-08-26T18:17:23.105Z,1377541043.105 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-26T18:17:23.110Z,1377541043.110 [PitchRateCalculator] Loaded
2013-08-26T18:17:23.111Z,1377541043.111 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-26T18:17:23.121Z,1377541043.121 [SpeedCalculator] Loaded
2013-08-26T18:17:23.121Z,1377541043.121 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-26T18:17:23.137Z,1377541043.137 [TempGradientCalculator] Loaded
2013-08-26T18:17:23.137Z,1377541043.137 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-26T18:17:23.143Z,1377541043.143 [YawRateCalculator] Loaded
2013-08-26T18:17:23.143Z,1377541043.143 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-26T18:17:23.189Z,1377541043.189 [Navigation] Loaded
2013-08-26T18:17:23.189Z,1377541043.189 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-26T18:17:23.190Z,1377541043.190 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-26T18:17:23.190Z,1377541043.190 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-26T18:17:23.467Z,1377541043.467 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-26T18:17:23.468Z,1377541043.468 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-26T18:17:23.511Z,1377541043.511 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-26T18:17:23.511Z,1377541043.511 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-26T18:17:23.678Z,1377541043.678 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-26T18:17:23.771Z,1377541043.771 [VerticalControl] Loaded
2013-08-26T18:17:23.772Z,1377541043.772 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-26T18:17:23.772Z,1377541043.772 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-26T18:17:23.830Z,1377541043.829 [HorizontalControl] Loaded
2013-08-26T18:17:23.830Z,1377541043.830 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-26T18:17:23.830Z,1377541043.830 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-26T18:17:23.832Z,1377541043.832 [SpeedControl] Loaded
2013-08-26T18:17:23.832Z,1377541043.832 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-26T18:17:23.833Z,1377541043.833 [LoopControl](DEBUG): Construct LoopControl.
2013-08-26T18:17:23.834Z,1377541043.834 [LoopControl] Loaded
2013-08-26T18:17:23.834Z,1377541043.834 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-26T18:17:23.834Z,1377541043.834 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-26T18:17:23.835Z,1377541043.835 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-26T18:17:23.844Z,1377541043.844 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-26T18:17:23.849Z,1377541043.849 [AsyncPiEstimator] Loaded
2013-08-26T18:17:23.850Z,1377541043.849 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-26T18:17:23.851Z,1377541043.851 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-08-26T18:17:23.851Z,1377541043.851 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-26T18:17:23.852Z,1377541043.852 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-26T18:17:24.091Z,1377541044.091 [AHRS_sp3003D] Loaded
2013-08-26T18:17:24.091Z,1377541044.092 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-26T18:17:24.353Z,1377541044.353 [Batt_Ocean_Server] Loaded
2013-08-26T18:17:24.354Z,1377541044.353 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-26T18:17:24.367Z,1377541044.367 [Depth_Keller] Loaded
2013-08-26T18:17:24.368Z,1377541044.368 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-26T18:17:24.373Z,1377541044.372 [DropWeight] Loaded
2013-08-26T18:17:24.373Z,1377541044.373 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-26T18:17:24.552Z,1377541044.552 [DVL_micro] Loaded
2013-08-26T18:17:24.553Z,1377541044.553 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-26T18:17:24.554Z,1377541044.554 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-08-26T18:17:24.640Z,1377541044.640 [NAL9602] Loaded
2013-08-26T18:17:24.640Z,1377541044.640 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-26T18:17:24.682Z,1377541044.682 [Onboard] Loaded
2013-08-26T18:17:24.682Z,1377541044.682 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-26T18:17:24.689Z,1377541044.689 [Radio_Freewave] Loaded
2013-08-26T18:17:24.689Z,1377541044.690 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-26T18:17:24.833Z,1377541044.833 [DAT] Loaded
2013-08-26T18:17:24.834Z,1377541044.833 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-26T18:17:24.834Z,1377541044.834 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-26T18:17:24.835Z,1377541044.835 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-26T18:17:24.921Z,1377541044.921 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-26T18:17:24.923Z,1377541044.923 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-26T18:17:24.924Z,1377541044.924 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-26T18:17:24.938Z,1377541044.938 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-26T18:17:24.939Z,1377541044.939 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-08-26T18:17:24.944Z,1377541044.944 [Supervisor](DEBUG): Running supervisor.
2013-08-26T18:17:24.945Z,1377541044.945 [CommandLine](INFO): Thread ID is 7834
2013-08-26T18:17:24.947Z,1377541044.947 [controlThread](INFO): Thread ID is 7833
2013-08-26T18:17:24.947Z,1377541044.947 [controlThread](DEBUG): Initializing ControlThread
2013-08-26T18:17:24.948Z,1377541044.948 [CycleStarter](INFO): Thread ID is 7832
2013-08-26T18:17:24.948Z,1377541044.948 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-26T18:17:25.047Z,1377541045.047 [logger](INFO): Thread ID is 7835
2013-08-26T18:17:25.137Z,1377541045.136 [AsyncPiEstimator](INFO): Thread ID is 7896
2013-08-26T18:17:25.137Z,1377541045.137 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-26T18:17:25.146Z,1377541045.146 [DVL_micro](INFO): Thread ID is 7897
2013-08-26T18:17:25.288Z,1377541045.288 [NavChartDb](INFO): Thread ID is 7898
2013-08-26T18:17:25.300Z,1377541045.300 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-26T18:17:25.301Z,1377541045.301 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-26T18:17:25.301Z,1377541045.301 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-26T18:17:25.301Z,1377541045.301 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-26T18:17:25.301Z,1377541045.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-26T18:17:25.302Z,1377541045.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-26T18:17:25.302Z,1377541045.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-26T18:17:25.302Z,1377541045.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-26T18:17:25.302Z,1377541045.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-26T18:17:25.341Z,1377541045.341 [DVL_micro](INFO): Initializing
2013-08-26T18:17:25.341Z,1377541045.341 [DVL_micro](INFO): start:Powering up
2013-08-26T18:17:25.342Z,1377541045.342 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-26T18:17:25.343Z,1377541045.343 [DVL_micro](INFO): Cycling power to configure device.
2013-08-26T18:17:25.435Z,1377541045.435 [SBIT](INFO): Initialize SBIT Component.
2013-08-26T18:17:25.435Z,1377541045.435 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-08-26T18:17:25.443Z,1377541045.443 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-26T18:17:25.443Z,1377541045.443 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-26T18:17:25.450Z,1377541045.450 [IBIT](INFO): Initialize IBIT Component.
2013-08-26T18:17:25.451Z,1377541045.451 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-26T18:17:25.451Z,1377541045.451 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-08-26T18:17:25.452Z,1377541045.452 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2013-08-26T18:17:25.452Z,1377541045.452 [CBIT] Hardware Fault, FailCount= 1
2013-08-26T18:17:25.452Z,1377541045.452 [CBIT](ERROR): Hardware Fault
2013-08-26T18:17:25.481Z,1377541045.481 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-26T18:17:25.482Z,1377541045.482 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-26T18:17:25.482Z,1377541045.482 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-26T18:17:25.482Z,1377541045.482 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-26T18:17:25.483Z,1377541045.483 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-26T18:17:25.483Z,1377541045.483 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-26T18:17:25.484Z,1377541045.484 [Navigation](DEBUG): Initializing Navigation.
2013-08-26T18:17:25.484Z,1377541045.484 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-26T18:17:25.486Z,1377541045.486 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-26T18:17:25.487Z,1377541045.487 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-26T18:17:25.487Z,1377541045.487 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-26T18:17:27.073Z,1377541047.073 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-26T18:17:27.108Z,1377541047.108 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-26T18:17:27.145Z,1377541047.145 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-26T18:17:27.167Z,1377541047.167 [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>


2013-08-26T18:17:27.168Z,1377541047.168 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-26T18:17:27.261Z,1377541047.261 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-26T18:17:27.263Z,1377541047.263 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-26T18:17:27.266Z,1377541047.266 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-26T18:17:27.283Z,1377541047.283 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-26T18:17:27.286Z,1377541047.286 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-26T18:17:27.320Z,1377541047.320 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-26T18:17:27.346Z,1377541047.346 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-26T18:17:27.349Z,1377541047.349 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-26T18:17:27.353Z,1377541047.353 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-26T18:17:27.369Z,1377541047.369 [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>


2013-08-26T18:17:27.373Z,1377541047.373 [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,
2013-08-26T18:17:27.416Z,1377541047.416 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-26T18:17:27.417Z,1377541047.417 [DVL_micro](INFO): Querying output modes
2013-08-26T18:17:27.417Z,1377541047.417 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-26T18:17:27.428Z,1377541047.428 [DVL_micro](DEBUG): cmdResponse: 01
2013-08-26T18:17:27.428Z,1377541047.428 [DVL_micro](INFO): NQ1 output enabled
2013-08-26T18:17:27.428Z,1377541047.428 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-26T18:17:27.440Z,1377541047.440 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-26T18:17:27.446Z,1377541047.446 [DVL_micro](INFO): pause:Powering down
2013-08-26T18:17:27.455Z,1377541047.455 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-26T18:17:27.644Z,1377541047.644 [Radio_Freewave](INFO): Powering up
2013-08-26T18:17:27.655Z,1377541047.655 [DAT](INFO): Powering up
2013-08-26T18:17:27.655Z,1377541047.655 [DAT](DEBUG): Initializing DAT.
2013-08-26T18:17:27.933Z,1377541047.933 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-26T18:17:27.940Z,1377541047.940 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-26T18:17:27.951Z,1377541047.951 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-26T18:17:27.952Z,1377541047.952 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-26T18:17:27.982Z,1377541047.982 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-26T18:17:27.988Z,1377541047.988 [MassServo](DEBUG): Initializing MassServo.
2013-08-26T18:17:28.006Z,1377541048.006 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-26T18:17:28.012Z,1377541048.012 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-26T18:17:28.018Z,1377541048.018 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-26T18:17:28.024Z,1377541048.024 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-26T18:17:28.068Z,1377541048.068 [CBIT](DEBUG): Uninitialize CBIT Component.
2013-08-26T18:17:28.260Z,1377541048.260 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-08-26T18:17:28.260Z,1377541048.260 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xA0
2013-08-26T18:17:28.260Z,1377541048.260 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-08-26T18:17:28.260Z,1377541048.260 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-08-26T18:17:28.260Z,1377541048.260 [AHRS_sp3003D](ERROR): Hardware Fault
2013-08-26T18:17:28.528Z,1377541048.528 [AHRS_sp3003D](INFO): Powering down
2013-08-26T18:17:28.657Z,1377541048.657 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-26T18:17:28.657Z,1377541048.657 [DVL_micro](INFO): resume:Powering up
2013-08-26T18:17:28.657Z,1377541048.657 [DVL_micro](INFO): Cycling power to configure device.
2013-08-26T18:17:29.264Z,1377541049.264 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-08-26T18:17:29.264Z,1377541049.264 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-08-26T18:17:29.264Z,1377541049.264 [BuoyancyServo] Communications Fault, FailCount= 1
2013-08-26T18:17:29.264Z,1377541049.264 [BuoyancyServo](ERROR): Communications Fault
2013-08-26T18:17:29.772Z,1377541049.772 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2013-08-26T18:17:29.772Z,1377541049.772 [ElevatorServo](FAULT): Elevator failed to initialize
2013-08-26T18:17:29.772Z,1377541049.772 [ElevatorServo] Communications Fault, FailCount= 1
2013-08-26T18:17:29.772Z,1377541049.772 [ElevatorServo](ERROR): Communications Fault
2013-08-26T18:17:30.284Z,1377541050.284 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2013-08-26T18:17:30.284Z,1377541050.284 [RudderServo](FAULT): Rudder failed to initialize
2013-08-26T18:17:30.284Z,1377541050.284 [RudderServo] Communications Fault, FailCount= 1
2013-08-26T18:17:30.284Z,1377541050.284 [RudderServo](ERROR): Communications Fault
2013-08-26T18:17:30.664Z,1377541050.664 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-26T18:17:30.664Z,1377541050.664 [DVL_micro](INFO): Querying output modes
2013-08-26T18:17:30.665Z,1377541050.665 [DVL_micro](DEBUG): commandDVL: #&!LQNQ