2013-08-27T20:52:29.148Z,1377636749.148 [Supervisor](DEBUG): Initializing supervisor.
2013-08-27T20:52:29.150Z,1377636749.150 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-27T20:52:29.151Z,1377636749.151 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-27T20:52:29.152Z,1377636749.152 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-27T20:52:29.156Z,1377636749.156 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-27T20:52:29.166Z,1377636749.166 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-27T20:52:29.168Z,1377636749.168 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-27T20:52:29.168Z,1377636749.168 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-27T20:52:29.169Z,1377636749.169 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-27T20:52:29.170Z,1377636749.170 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-27T20:52:29.171Z,1377636749.171 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-27T20:52:29.449Z,1377636749.449 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-27T20:52:29.450Z,1377636749.450 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-27T20:52:29.641Z,1377636749.641 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-27T20:52:29.641Z,1377636749.641 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-27T20:52:29.726Z,1377636749.726 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-27T20:52:29.727Z,1377636749.727 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-27T20:52:29.838Z,1377636749.838 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-27T20:52:29.839Z,1377636749.839 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-27T20:52:29.977Z,1377636749.977 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-27T20:52:29.978Z,1377636749.977 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-27T20:52:30.214Z,1377636750.214 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-27T20:52:30.215Z,1377636750.215 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-27T20:52:30.378Z,1377636750.378 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-27T20:52:30.379Z,1377636750.378 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-27T20:52:30.638Z,1377636750.638 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-27T20:52:30.639Z,1377636750.639 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-27T20:52:30.740Z,1377636750.740 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-27T20:52:30.741Z,1377636750.741 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-27T20:52:31.149Z,1377636751.149 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-27T20:52:31.149Z,1377636751.149 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-27T20:52:31.260Z,1377636751.260 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-27T20:52:31.261Z,1377636751.260 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-27T20:52:31.347Z,1377636751.346 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-27T20:52:31.347Z,1377636751.347 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-27T20:52:31.446Z,1377636751.446 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-27T20:52:31.572Z,1377636751.572 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-27T20:52:31.666Z,1377636751.666 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-27T20:52:31.771Z,1377636751.771 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-27T20:52:31.866Z,1377636751.866 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-27T20:52:31.982Z,1377636751.981 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-27T20:52:32.077Z,1377636752.077 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-27T20:52:32.162Z,1377636752.162 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-08-27T20:52:32.164Z,1377636752.164 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-27T20:52:32.324Z,1377636752.324 [InternalSim] Loaded
2013-08-27T20:52:32.324Z,1377636752.325 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-27T20:52:32.325Z,1377636752.325 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-27T20:52:32.326Z,1377636752.326 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-27T20:52:32.409Z,1377636752.409 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-27T20:52:32.438Z,1377636752.438 [SBIT] Loaded
2013-08-27T20:52:32.438Z,1377636752.438 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-27T20:52:32.439Z,1377636752.439 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-27T20:52:32.468Z,1377636752.467 [IBIT] Loaded
2013-08-27T20:52:32.468Z,1377636752.468 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-27T20:52:32.470Z,1377636752.470 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-27T20:52:32.583Z,1377636752.583 [CBIT] Loaded
2013-08-27T20:52:32.583Z,1377636752.583 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-27T20:52:32.584Z,1377636752.583 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-27T20:52:32.584Z,1377636752.584 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-27T20:52:32.749Z,1377636752.749 [BuoyancyServo] Loaded
2013-08-27T20:52:32.750Z,1377636752.750 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-27T20:52:32.762Z,1377636752.761 [ElevatorServo] Loaded
2013-08-27T20:52:32.762Z,1377636752.762 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-27T20:52:32.773Z,1377636752.773 [MassServo] Loaded
2013-08-27T20:52:32.773Z,1377636752.773 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-27T20:52:32.784Z,1377636752.784 [RudderServo] Loaded
2013-08-27T20:52:32.785Z,1377636752.785 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-27T20:52:32.796Z,1377636752.796 [ThrusterServo] Loaded
2013-08-27T20:52:32.796Z,1377636752.796 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-27T20:52:32.796Z,1377636752.796 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-27T20:52:32.797Z,1377636752.797 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-27T20:52:32.831Z,1377636752.831 [DepthRateCalculator] Loaded
2013-08-27T20:52:32.832Z,1377636752.832 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-27T20:52:35.978Z,1377636755.978 [HFRadarModelCalc] Loaded
2013-08-27T20:52:35.978Z,1377636755.978 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-27T20:52:35.994Z,1377636755.994 [NavChart] Loaded
2013-08-27T20:52:35.995Z,1377636755.995 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-27T20:52:36.000Z,1377636756.000 [PitchRateCalculator] Loaded
2013-08-27T20:52:36.000Z,1377636756.000 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-27T20:52:36.011Z,1377636756.011 [SpeedCalculator] Loaded
2013-08-27T20:52:36.011Z,1377636756.011 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-27T20:52:36.027Z,1377636756.027 [TempGradientCalculator] Loaded
2013-08-27T20:52:36.027Z,1377636756.027 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-27T20:52:36.033Z,1377636756.033 [YawRateCalculator] Loaded
2013-08-27T20:52:36.033Z,1377636756.033 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-27T20:52:36.079Z,1377636756.079 [Navigation] Loaded
2013-08-27T20:52:36.079Z,1377636756.079 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-27T20:52:36.080Z,1377636756.080 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-27T20:52:36.080Z,1377636756.080 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-27T20:52:36.312Z,1377636756.312 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-27T20:52:36.313Z,1377636756.313 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-27T20:52:36.335Z,1377636756.335 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-27T20:52:36.336Z,1377636756.336 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-27T20:52:36.382Z,1377636756.382 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-27T20:52:36.474Z,1377636756.474 [VerticalControl] Loaded
2013-08-27T20:52:36.475Z,1377636756.475 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-27T20:52:36.475Z,1377636756.476 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-27T20:52:36.533Z,1377636756.533 [HorizontalControl] Loaded
2013-08-27T20:52:36.533Z,1377636756.533 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-27T20:52:36.533Z,1377636756.533 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-27T20:52:36.535Z,1377636756.535 [SpeedControl] Loaded
2013-08-27T20:52:36.535Z,1377636756.535 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-27T20:52:36.536Z,1377636756.536 [LoopControl](DEBUG): Construct LoopControl.
2013-08-27T20:52:36.537Z,1377636756.537 [LoopControl] Loaded
2013-08-27T20:52:36.537Z,1377636756.537 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-27T20:52:36.537Z,1377636756.537 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-27T20:52:36.538Z,1377636756.538 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-27T20:52:36.544Z,1377636756.544 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-27T20:52:36.549Z,1377636756.549 [AsyncPiEstimator] Loaded
2013-08-27T20:52:36.549Z,1377636756.549 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-27T20:52:36.550Z,1377636756.550 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-08-27T20:52:36.551Z,1377636756.551 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-27T20:52:36.551Z,1377636756.551 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-27T20:52:36.742Z,1377636756.742 [AHRS_sp3003D] Loaded
2013-08-27T20:52:36.742Z,1377636756.742 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-27T20:52:36.989Z,1377636756.989 [Batt_Ocean_Server] Loaded
2013-08-27T20:52:36.989Z,1377636756.990 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-27T20:52:37.003Z,1377636757.003 [Depth_Keller] Loaded
2013-08-27T20:52:37.003Z,1377636757.003 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-27T20:52:37.008Z,1377636757.008 [DropWeight] Loaded
2013-08-27T20:52:37.009Z,1377636757.009 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-27T20:52:37.189Z,1377636757.189 [DVL_micro] Loaded
2013-08-27T20:52:37.189Z,1377636757.189 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-27T20:52:37.191Z,1377636757.191 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-08-27T20:52:37.279Z,1377636757.279 [NAL9602] Loaded
2013-08-27T20:52:37.280Z,1377636757.280 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-27T20:52:37.322Z,1377636757.322 [Onboard] Loaded
2013-08-27T20:52:37.322Z,1377636757.322 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-27T20:52:37.329Z,1377636757.329 [Radio_Freewave] Loaded
2013-08-27T20:52:37.329Z,1377636757.329 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-27T20:52:37.468Z,1377636757.468 [DAT] Loaded
2013-08-27T20:52:37.468Z,1377636757.468 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-27T20:52:37.469Z,1377636757.469 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-27T20:52:37.469Z,1377636757.469 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-27T20:52:37.532Z,1377636757.532 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-27T20:52:37.534Z,1377636757.534 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-27T20:52:37.535Z,1377636757.535 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-27T20:52:37.542Z,1377636757.542 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-27T20:52:37.543Z,1377636757.543 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-08-27T20:52:37.547Z,1377636757.547 [Supervisor](DEBUG): Running supervisor.
2013-08-27T20:52:37.548Z,1377636757.548 [CommandLine](INFO): Thread ID is 1497
2013-08-27T20:52:37.551Z,1377636757.551 [controlThread](INFO): Thread ID is 1496
2013-08-27T20:52:37.551Z,1377636757.551 [controlThread](DEBUG): Initializing ControlThread
2013-08-27T20:52:37.551Z,1377636757.551 [CycleStarter](INFO): Thread ID is 1495
2013-08-27T20:52:37.552Z,1377636757.552 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-27T20:52:37.585Z,1377636757.585 [logger](INFO): Thread ID is 1498
2013-08-27T20:52:37.610Z,1377636757.610 [SBIT](INFO): Initialize SBIT Component.
2013-08-27T20:52:37.610Z,1377636757.610 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-08-27T20:52:37.611Z,1377636757.611 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-27T20:52:37.611Z,1377636757.611 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-27T20:52:37.612Z,1377636757.612 [IBIT](INFO): Initialize IBIT Component.
2013-08-27T20:52:37.613Z,1377636757.612 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-27T20:52:37.613Z,1377636757.613 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-27T20:52:37.625Z,1377636757.625 [AsyncPiEstimator](INFO): Thread ID is 1559
2013-08-27T20:52:37.625Z,1377636757.625 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-27T20:52:37.637Z,1377636757.637 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-27T20:52:37.638Z,1377636757.638 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-27T20:52:37.638Z,1377636757.638 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-27T20:52:37.639Z,1377636757.639 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-27T20:52:37.639Z,1377636757.639 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-27T20:52:37.640Z,1377636757.640 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-27T20:52:37.640Z,1377636757.640 [Navigation](DEBUG): Initializing Navigation.
2013-08-27T20:52:37.640Z,1377636757.640 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-27T20:52:37.642Z,1377636757.642 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-27T20:52:37.643Z,1377636757.643 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-27T20:52:37.643Z,1377636757.643 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-27T20:52:37.648Z,1377636757.648 [DVL_micro](INFO): Thread ID is 1560
2013-08-27T20:52:37.658Z,1377636757.658 [DVL_micro](INFO): Initializing
2013-08-27T20:52:37.658Z,1377636757.658 [DVL_micro](INFO): start:Powering up
2013-08-27T20:52:37.659Z,1377636757.658 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-27T20:52:37.659Z,1377636757.659 [DVL_micro](INFO): Cycling power to configure device.
2013-08-27T20:52:37.669Z,1377636757.669 [NavChartDb](INFO): Thread ID is 1561
2013-08-27T20:52:37.672Z,1377636757.672 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-27T20:52:37.673Z,1377636757.673 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-27T20:52:37.673Z,1377636757.673 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-27T20:52:37.673Z,1377636757.673 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-27T20:52:37.673Z,1377636757.673 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-27T20:52:37.674Z,1377636757.674 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-27T20:52:37.674Z,1377636757.674 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-27T20:52:37.674Z,1377636757.674 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-27T20:52:37.674Z,1377636757.674 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-27T20:52:39.110Z,1377636759.110 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-27T20:52:39.163Z,1377636759.163 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-27T20:52:39.181Z,1377636759.181 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-27T20:52:39.211Z,1377636759.211 [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>


2013-08-27T20:52:39.233Z,1377636759.233 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-27T20:52:39.281Z,1377636759.281 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-27T20:52:39.283Z,1377636759.283 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-27T20:52:39.286Z,1377636759.286 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-27T20:52:39.322Z,1377636759.322 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-27T20:52:39.341Z,1377636759.341 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-27T20:52:39.347Z,1377636759.347 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-27T20:52:39.372Z,1377636759.372 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-27T20:52:39.375Z,1377636759.375 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-27T20:52:39.407Z,1377636759.408 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-27T20:52:39.411Z,1377636759.411 [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>


2013-08-27T20:52:39.420Z,1377636759.420 [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,
2013-08-27T20:52:39.464Z,1377636759.464 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-27T20:52:39.525Z,1377636759.525 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-08-27T20:52:39.616Z,1377636759.616 [Radio_Freewave](INFO): Powering up
2013-08-27T20:52:39.626Z,1377636759.626 [DAT](INFO): Powering up
2013-08-27T20:52:39.626Z,1377636759.626 [DAT](DEBUG): Initializing DAT.
2013-08-27T20:52:39.737Z,1377636759.737 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-27T20:52:39.737Z,1377636759.737 [DVL_micro](INFO): Querying output modes
2013-08-27T20:52:39.737Z,1377636759.737 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-27T20:52:39.748Z,1377636759.748 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-08-27T20:52:39.749Z,1377636759.749 [DVL_micro](INFO): NQ1 output enabled
2013-08-27T20:52:39.749Z,1377636759.749 [DVL_micro](INFO): ADCP output enabled
2013-08-27T20:52:39.749Z,1377636759.749 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-27T20:52:39.760Z,1377636759.760 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-27T20:52:39.766Z,1377636759.766 [DVL_micro](INFO): pause:Powering down
2013-08-27T20:52:39.845Z,1377636759.845 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-27T20:52:39.849Z,1377636759.849 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-27T20:52:39.855Z,1377636759.855 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-27T20:52:39.860Z,1377636759.860 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-27T20:52:39.866Z,1377636759.866 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-27T20:52:39.872Z,1377636759.872 [MassServo](DEBUG): Initializing MassServo.
2013-08-27T20:52:39.878Z,1377636759.878 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-27T20:52:39.884Z,1377636759.884 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-27T20:52:39.924Z,1377636759.924 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-27T20:52:39.933Z,1377636759.932 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-27T20:52:42.330Z,1377636762.330 [NAL9602](INFO): Powering up NAL9602
2013-08-27T20:52:53.056Z,1377636773.056 [NAL9602](INFO): NAL9602 initialized
2013-08-27T20:52:53.109Z,1377636773.109 [SBIT](IMPORTANT): Beginning Startup BIT
2013-08-27T20:52:53.120Z,1377636773.120 [CBIT](IMPORTANT): Beginning GF scan
2013-08-27T20:52:59.252Z,1377636779.252 [DAT](INFO): Init failed - response: 
2013-08-27T20:52:59.252Z,1377636779.252 [DAT](FAULT): DAT failed to initialize
2013-08-27T20:52:59.252Z,1377636779.252 [DAT] Communications Fault, FailCount= 1
2013-08-27T20:52:59.252Z,1377636779.253 [DAT](ERROR): Communications Fault
2013-08-27T20:52:59.316Z,1377636779.316 [CBIT](ERROR): Communications Fault in component: DAT
2013-08-27T20:52:59.711Z,1377636779.711 [DAT](INFO): Powering down
2013-08-27T20:53:00.612Z,1377636780.612 [CBIT](INFO): Clearing failed state for component DAT
2013-08-27T20:53:00.613Z,1377636780.612 [DAT] No Fault, FailCount= 1
2013-08-27T20:53:02.947Z,1377636782.947 [DAT](INFO): Powering up
2013-08-27T20:53:02.948Z,1377636782.948 [DAT](DEBUG): Initializing DAT.
2013-08-27T20:53:19.661Z,1377636799.661 [CBIT](IMPORTANT): No ground fault detected
2013-08-27T20:53:22.320Z,1377636802.320 [DAT](INFO): Init failed - response: 
2013-08-27T20:53:22.320Z,1377636802.320 [DAT](FAULT): DAT failed to initialize
2013-08-27T20:53:22.320Z,1377636802.320 [DAT] Communications Fault, FailCount= 2
2013-08-27T20:53:22.320Z,1377636802.320 [DAT](ERROR): Communications Fault
2013-08-27T20:53:22.380Z,1377636802.380 [CBIT](ERROR): Communications Fault in component: DAT
2013-08-27T20:53:22.602Z,1377636802.602 [DAT](INFO): Powering down
2013-08-27T20:53:23.453Z,1377636803.453 [CBIT](INFO): Clearing failed state for component DAT
2013-08-27T20:53:23.453Z,1377636803.453 [DAT] No Fault, FailCount= 2
2013-08-27T20:53:25.801Z,1377636805.801 [DAT](INFO): Powering up
2013-08-27T20:53:25.801Z,1377636805.801 [DAT](DEBUG): Initializing DAT.
2013-08-27T20:53:45.136Z,1377636825.136 [DAT](INFO): Init failed - response: 
2013-08-27T20:53:45.136Z,1377636825.136 [DAT](FAULT): DAT failed to initialize
2013-08-27T20:53:45.136Z,1377636825.136 [DAT] Communications Fault, FailCount= 3
2013-08-27T20:53:45.136Z,1377636825.136 [DAT](ERROR): Communications Fault
2013-08-27T20:53:45.160Z,1377636825.160 [CBIT](ERROR): Communications Fault in component: DAT
2013-08-27T20:53:45.160Z,1377636825.160 [CBIT](CRITICAL): Communications Fault in component: DAT
2013-08-27T20:53:45.420Z,1377636825.420 [DAT](INFO): Powering down
2013-08-27T20:53:45.558Z,1377636825.558 [CommandLine](FAULT): Scheduling is paused
2013-08-27T20:53:46.579Z,1377636826.579 [SBIT](IMPORTANT): SBIT PASSED
2013-08-27T20:53:46.986Z,1377636826.986 [MissionManager](IMPORTANT): Started mission Startup
2013-08-27T20:53:46.986Z,1377636826.986 [Startup] Running Loop=1
2013-08-27T20:53:46.986Z,1377636826.986 [Startup](INFO): Aggregate::initialize Startup
2013-08-27T20:53:46.987Z,1377636826.987 [Startup:A.GoToSurface] Running Loop=1
2013-08-27T20:53:46.987Z,1377636826.987 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-27T20:53:47.021Z,1377636827.021 [Startup:StartupSatComms] Running Loop=1
2013-08-27T20:53:47.021Z,1377636827.021 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-08-27T20:53:47.021Z,1377636827.021 [Startup:StartupSatComms:A] Running Loop=1
2013-08-27T20:53:47.413Z,1377636827.413 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-08-27T20:53:59.225Z,1377636839.224 [CommandLine](IMPORTANT): got command restart application
2013-08-27T20:54:00.284Z,1377636840.284 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-08-27T20:54:00.284Z,1377636840.284 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-08-27T20:54:00.664Z,1377636840.664 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-08-27T20:54:00.665Z,1377636840.665 [DVL_micro](INFO): uninitialize:Powering down
2013-08-27T20:54:00.666Z,1377636840.666 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-08-27T20:54:00.960Z,1377636840.960 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-08-27T20:54:00.961Z,1377636840.961 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-08-27T20:54:01.004Z,1377636841.004 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-08-27T20:54:01.006Z,1377636841.006 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-08-27T20:54:01.164Z,1377636841.164 [controlThread](DEBUG): Uninitializing ControlThread
2013-08-27T20:54:01.165Z,1377636841.165 [AHRS_sp3003D](INFO): Powering down
2013-08-27T20:54:01.253Z,1377636841.253 [NAL9602](INFO): Powering down
2013-08-27T20:54:01.255Z,1377636841.255 [DAT](INFO): Powering down
2013-08-27T20:54:01.256Z,1377636841.256 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-27T20:54:01.256Z,1377636841.256 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-08-27T20:54:01.261Z,1377636841.260 [Startup] Stopped
2013-08-27T20:54:01.261Z,1377636841.261 [Startup](INFO): Aggregate::uninitialize Startup
2013-08-27T20:54:01.261Z,1377636841.261 [Startup:A.GoToSurface] Stopped
2013-08-27T20:54:01.261Z,1377636841.261 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-27T20:54:01.261Z,1377636841.261 [Startup:StartupSatComms] Stopped
2013-08-27T20:54:01.261Z,1377636841.261 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-08-27T20:54:01.261Z,1377636841.261 [Startup:StartupSatComms:A] Stopped
2013-08-27T20:54:01.262Z,1377636841.262 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-08-27T20:54:01.263Z,1377636841.263 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-08-27T20:54:01.263Z,1377636841.263 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-08-27T20:54:01.263Z,1377636841.263 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-08-27T20:54:01.264Z,1377636841.263 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-08-27T20:54:01.264Z,1377636841.264 [BuoyancyServo](INFO): Powering down
2013-08-27T20:54:01.276Z,1377636841.276 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-08-27T20:54:01.276Z,1377636841.276 [ElevatorServo](INFO): Powering down
2013-08-27T20:54:01.277Z,1377636841.277 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-08-27T20:54:01.277Z,1377636841.277 [MassServo](INFO): Powering down
2013-08-27T20:54:01.278Z,1377636841.278 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-08-27T20:54:01.278Z,1377636841.278 [RudderServo](INFO): Powering down
2013-08-27T20:54:01.279Z,1377636841.279 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-08-27T20:54:01.279Z,1377636841.279 [ThrusterServo](INFO): Powering down
2013-08-27T20:54:01.280Z,1377636841.280 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-08-27T20:54:01.280Z,1377636841.280 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-08-27T20:54:01.281Z,1377636841.281 [CBIT](DEBUG): Uninitialize CBIT Component.