2013-08-27T01:42:21.248Z,1377567741.248 [Supervisor](DEBUG): Initializing supervisor.
2013-08-27T01:42:21.250Z,1377567741.250 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-27T01:42:21.251Z,1377567741.251 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-27T01:42:21.252Z,1377567741.252 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-27T01:42:21.256Z,1377567741.256 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-27T01:42:21.266Z,1377567741.266 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-27T01:42:21.268Z,1377567741.267 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-27T01:42:21.268Z,1377567741.268 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-27T01:42:21.269Z,1377567741.269 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-27T01:42:21.270Z,1377567741.270 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-27T01:42:21.271Z,1377567741.271 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-27T01:42:21.550Z,1377567741.550 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-27T01:42:21.551Z,1377567741.551 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-27T01:42:21.742Z,1377567741.742 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-27T01:42:21.743Z,1377567741.743 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-27T01:42:21.828Z,1377567741.828 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-27T01:42:21.828Z,1377567741.828 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-27T01:42:21.939Z,1377567741.939 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-27T01:42:21.940Z,1377567741.940 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-27T01:42:22.077Z,1377567742.077 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-27T01:42:22.078Z,1377567742.078 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-27T01:42:22.318Z,1377567742.318 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-27T01:42:22.319Z,1377567742.319 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-27T01:42:22.482Z,1377567742.482 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-27T01:42:22.483Z,1377567742.483 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-27T01:42:22.743Z,1377567742.743 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-27T01:42:22.744Z,1377567742.744 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-27T01:42:22.845Z,1377567742.845 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-27T01:42:22.846Z,1377567742.846 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-27T01:42:23.254Z,1377567743.254 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-27T01:42:23.255Z,1377567743.255 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-27T01:42:23.365Z,1377567743.365 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-27T01:42:23.365Z,1377567743.365 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-27T01:42:23.451Z,1377567743.451 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-27T01:42:23.452Z,1377567743.452 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-27T01:42:23.551Z,1377567743.551 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-27T01:42:23.676Z,1377567743.676 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-27T01:42:23.770Z,1377567743.770 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-27T01:42:23.874Z,1377567743.875 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-27T01:42:23.970Z,1377567743.970 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-27T01:42:24.083Z,1377567744.083 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-27T01:42:24.179Z,1377567744.179 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-27T01:42:24.264Z,1377567744.264 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-08-27T01:42:24.265Z,1377567744.265 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-08-27T01:42:24.266Z,1377567744.266 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-27T01:42:24.426Z,1377567744.426 [InternalSim] Loaded
2013-08-27T01:42:24.426Z,1377567744.426 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-27T01:42:24.427Z,1377567744.427 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-27T01:42:24.428Z,1377567744.428 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-27T01:42:24.511Z,1377567744.511 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-27T01:42:24.539Z,1377567744.539 [SBIT] Loaded
2013-08-27T01:42:24.539Z,1377567744.539 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-27T01:42:24.540Z,1377567744.540 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-27T01:42:24.569Z,1377567744.569 [IBIT] Loaded
2013-08-27T01:42:24.569Z,1377567744.569 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-27T01:42:24.572Z,1377567744.572 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-27T01:42:24.684Z,1377567744.684 [CBIT] Loaded
2013-08-27T01:42:24.684Z,1377567744.684 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-27T01:42:24.685Z,1377567744.685 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-27T01:42:24.686Z,1377567744.686 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-27T01:42:24.851Z,1377567744.851 [BuoyancyServo] Loaded
2013-08-27T01:42:24.851Z,1377567744.851 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-27T01:42:24.863Z,1377567744.863 [ElevatorServo] Loaded
2013-08-27T01:42:24.863Z,1377567744.863 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-27T01:42:24.874Z,1377567744.874 [MassServo] Loaded
2013-08-27T01:42:24.874Z,1377567744.874 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-27T01:42:24.886Z,1377567744.886 [RudderServo] Loaded
2013-08-27T01:42:24.886Z,1377567744.886 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-27T01:42:24.897Z,1377567744.897 [ThrusterServo] Loaded
2013-08-27T01:42:24.897Z,1377567744.897 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-27T01:42:24.898Z,1377567744.898 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-27T01:42:24.898Z,1377567744.898 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-27T01:42:24.932Z,1377567744.932 [DepthRateCalculator] Loaded
2013-08-27T01:42:24.933Z,1377567744.933 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-27T01:42:28.137Z,1377567748.137 [HFRadarModelCalc] Loaded
2013-08-27T01:42:28.138Z,1377567748.138 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-27T01:42:28.154Z,1377567748.154 [NavChart] Loaded
2013-08-27T01:42:28.154Z,1377567748.154 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-27T01:42:28.159Z,1377567748.159 [PitchRateCalculator] Loaded
2013-08-27T01:42:28.160Z,1377567748.160 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-27T01:42:28.170Z,1377567748.170 [SpeedCalculator] Loaded
2013-08-27T01:42:28.170Z,1377567748.170 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-27T01:42:28.186Z,1377567748.186 [TempGradientCalculator] Loaded
2013-08-27T01:42:28.186Z,1377567748.187 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-27T01:42:28.192Z,1377567748.192 [YawRateCalculator] Loaded
2013-08-27T01:42:28.192Z,1377567748.192 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-27T01:42:28.238Z,1377567748.238 [Navigation] Loaded
2013-08-27T01:42:28.238Z,1377567748.238 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-27T01:42:28.239Z,1377567748.239 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-27T01:42:28.239Z,1377567748.239 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-27T01:42:28.470Z,1377567748.470 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-27T01:42:28.471Z,1377567748.471 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-27T01:42:28.493Z,1377567748.493 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-27T01:42:28.494Z,1377567748.494 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-27T01:42:28.540Z,1377567748.540 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-27T01:42:28.633Z,1377567748.633 [VerticalControl] Loaded
2013-08-27T01:42:28.633Z,1377567748.633 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-27T01:42:28.634Z,1377567748.634 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-27T01:42:28.690Z,1377567748.690 [HorizontalControl] Loaded
2013-08-27T01:42:28.691Z,1377567748.691 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-27T01:42:28.691Z,1377567748.691 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-27T01:42:28.693Z,1377567748.693 [SpeedControl] Loaded
2013-08-27T01:42:28.693Z,1377567748.693 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-27T01:42:28.694Z,1377567748.694 [LoopControl](DEBUG): Construct LoopControl.
2013-08-27T01:42:28.695Z,1377567748.694 [LoopControl] Loaded
2013-08-27T01:42:28.695Z,1377567748.695 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-27T01:42:28.695Z,1377567748.695 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-27T01:42:28.696Z,1377567748.696 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-27T01:42:28.701Z,1377567748.701 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-27T01:42:28.706Z,1377567748.706 [AsyncPiEstimator] Loaded
2013-08-27T01:42:28.707Z,1377567748.707 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-27T01:42:28.708Z,1377567748.708 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-08-27T01:42:28.709Z,1377567748.708 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-27T01:42:28.709Z,1377567748.709 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-27T01:42:28.900Z,1377567748.899 [AHRS_sp3003D] Loaded
2013-08-27T01:42:28.900Z,1377567748.900 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-27T01:42:29.145Z,1377567749.145 [Batt_Ocean_Server] Loaded
2013-08-27T01:42:29.146Z,1377567749.146 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-27T01:42:29.159Z,1377567749.159 [Depth_Keller] Loaded
2013-08-27T01:42:29.159Z,1377567749.159 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-27T01:42:29.164Z,1377567749.164 [DropWeight] Loaded
2013-08-27T01:42:29.164Z,1377567749.164 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-27T01:42:29.345Z,1377567749.345 [DVL_micro] Loaded
2013-08-27T01:42:29.345Z,1377567749.345 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-27T01:42:29.346Z,1377567749.346 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-08-27T01:42:29.432Z,1377567749.432 [NAL9602] Loaded
2013-08-27T01:42:29.433Z,1377567749.432 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-27T01:42:29.475Z,1377567749.475 [Onboard] Loaded
2013-08-27T01:42:29.475Z,1377567749.475 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-27T01:42:29.482Z,1377567749.482 [Radio_Freewave] Loaded
2013-08-27T01:42:29.482Z,1377567749.482 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-27T01:42:29.621Z,1377567749.621 [DAT] Loaded
2013-08-27T01:42:29.621Z,1377567749.621 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-27T01:42:29.621Z,1377567749.621 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-27T01:42:29.622Z,1377567749.622 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-27T01:42:29.685Z,1377567749.685 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-27T01:42:29.687Z,1377567749.687 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-27T01:42:29.688Z,1377567749.688 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-27T01:42:29.695Z,1377567749.695 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-27T01:42:29.696Z,1377567749.696 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-08-27T01:42:29.700Z,1377567749.700 [Supervisor](DEBUG): Running supervisor.
2013-08-27T01:42:29.701Z,1377567749.701 [CommandLine](INFO): Thread ID is 3642
2013-08-27T01:42:29.703Z,1377567749.703 [controlThread](INFO): Thread ID is 3641
2013-08-27T01:42:29.703Z,1377567749.703 [controlThread](DEBUG): Initializing ControlThread
2013-08-27T01:42:29.704Z,1377567749.704 [CycleStarter](INFO): Thread ID is 3640
2013-08-27T01:42:29.704Z,1377567749.704 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-27T01:42:29.739Z,1377567749.739 [logger](INFO): Thread ID is 3643
2013-08-27T01:42:29.762Z,1377567749.763 [SBIT](INFO): Initialize SBIT Component.
2013-08-27T01:42:29.763Z,1377567749.763 [SBIT](IMPORTANT): Tethys CM Info: 
$ Rev:10573
2013-08-27T01:42:29.763Z,1377567749.763 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-27T01:42:29.764Z,1377567749.764 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-27T01:42:29.764Z,1377567749.764 [IBIT](INFO): Initialize IBIT Component.
2013-08-27T01:42:29.765Z,1377567749.765 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-27T01:42:29.766Z,1377567749.766 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-27T01:42:29.778Z,1377567749.778 [AsyncPiEstimator](INFO): Thread ID is 3704
2013-08-27T01:42:29.778Z,1377567749.778 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-27T01:42:29.791Z,1377567749.791 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-27T01:42:29.791Z,1377567749.791 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-27T01:42:29.792Z,1377567749.792 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-27T01:42:29.792Z,1377567749.792 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-27T01:42:29.792Z,1377567749.792 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-27T01:42:29.793Z,1377567749.793 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-27T01:42:29.793Z,1377567749.793 [Navigation](DEBUG): Initializing Navigation.
2013-08-27T01:42:29.794Z,1377567749.794 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-27T01:42:29.796Z,1377567749.796 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-27T01:42:29.796Z,1377567749.796 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-27T01:42:29.797Z,1377567749.797 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-27T01:42:29.803Z,1377567749.803 [DVL_micro](INFO): Thread ID is 3705
2013-08-27T01:42:29.812Z,1377567749.812 [DVL_micro](INFO): Initializing
2013-08-27T01:42:29.812Z,1377567749.812 [DVL_micro](INFO): start:Powering up
2013-08-27T01:42:29.812Z,1377567749.812 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-27T01:42:29.813Z,1377567749.813 [DVL_micro](INFO): Cycling power to configure device.
2013-08-27T01:42:29.834Z,1377567749.834 [NavChartDb](INFO): Thread ID is 3706
2013-08-27T01:42:29.837Z,1377567749.837 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-27T01:42:29.837Z,1377567749.838 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-27T01:42:29.838Z,1377567749.838 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-27T01:42:29.838Z,1377567749.838 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-27T01:42:29.838Z,1377567749.838 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-27T01:42:29.839Z,1377567749.839 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-27T01:42:29.839Z,1377567749.839 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-27T01:42:29.839Z,1377567749.839 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-27T01:42:29.839Z,1377567749.839 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-27T01:42:31.290Z,1377567751.290 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-27T01:42:31.321Z,1377567751.321 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-27T01:42:31.359Z,1377567751.359 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-27T01:42:31.393Z,1377567751.393 [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>


2013-08-27T01:42:31.394Z,1377567751.394 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-27T01:42:31.472Z,1377567751.472 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-27T01:42:31.474Z,1377567751.474 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-27T01:42:31.492Z,1377567751.492 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-27T01:42:31.513Z,1377567751.513 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-27T01:42:31.528Z,1377567751.528 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-27T01:42:31.534Z,1377567751.534 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-27T01:42:31.571Z,1377567751.571 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-27T01:42:31.590Z,1377567751.590 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-27T01:42:31.595Z,1377567751.595 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-27T01:42:31.612Z,1377567751.612 [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>


2013-08-27T01:42:31.616Z,1377567751.616 [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,
2013-08-27T01:42:31.678Z,1377567751.678 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-27T01:42:31.712Z,1377567751.712 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-08-27T01:42:31.793Z,1377567751.793 [Radio_Freewave](INFO): Powering up
2013-08-2