2013-08-30T22:21:13.461Z,1377901273.461 [Supervisor](DEBUG): Initializing supervisor.
2013-08-30T22:21:13.464Z,1377901273.464 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-30T22:21:13.465Z,1377901273.465 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-30T22:21:13.468Z,1377901273.468 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-30T22:21:13.472Z,1377901273.472 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-30T22:21:13.482Z,1377901273.482 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-30T22:21:13.484Z,1377901273.484 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-30T22:21:13.485Z,1377901273.485 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-30T22:21:13.488Z,1377901273.488 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-30T22:21:13.489Z,1377901273.489 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-30T22:21:13.493Z,1377901273.493 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-30T22:21:13.810Z,1377901273.810 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-30T22:21:13.811Z,1377901273.811 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-30T22:21:14.030Z,1377901274.030 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-30T22:21:14.031Z,1377901274.031 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-30T22:21:14.129Z,1377901274.129 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-30T22:21:14.131Z,1377901274.131 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-30T22:21:14.250Z,1377901274.250 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-30T22:21:14.251Z,1377901274.251 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-30T22:21:14.405Z,1377901274.405 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-30T22:21:14.407Z,1377901274.407 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-30T22:21:14.677Z,1377901274.677 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-30T22:21:14.678Z,1377901274.678 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-30T22:21:14.870Z,1377901274.870 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-30T22:21:14.872Z,1377901274.872 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-30T22:21:15.172Z,1377901275.172 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-30T22:21:15.175Z,1377901275.175 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-30T22:21:15.292Z,1377901275.292 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-30T22:21:15.292Z,1377901275.292 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-30T22:21:15.945Z,1377901275.945 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-30T22:21:15.946Z,1377901275.946 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-30T22:21:16.069Z,1377901276.069 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-30T22:21:16.070Z,1377901276.070 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-30T22:21:16.165Z,1377901276.165 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-30T22:21:16.169Z,1377901276.169 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-30T22:21:16.283Z,1377901276.283 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-30T22:21:16.426Z,1377901276.426 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-30T22:21:16.530Z,1377901276.530 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-30T22:21:16.646Z,1377901276.646 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-30T22:21:16.754Z,1377901276.754 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-30T22:21:16.894Z,1377901276.894 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-30T22:21:17.033Z,1377901277.033 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-30T22:21:17.129Z,1377901277.129 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-08-30T22:21:17.134Z,1377901277.134 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-30T22:21:17.342Z,1377901277.342 [InternalSim] Loaded
2013-08-30T22:21:17.346Z,1377901277.346 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-30T22:21:17.346Z,1377901277.346 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-30T22:21:17.347Z,1377901277.347 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-30T22:21:17.466Z,1377901277.466 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-30T22:21:17.494Z,1377901277.494 [SBIT] Loaded
2013-08-30T22:21:17.494Z,1377901277.494 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-30T22:21:17.495Z,1377901277.495 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-30T22:21:17.528Z,1377901277.528 [IBIT] Loaded
2013-08-30T22:21:17.528Z,1377901277.528 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-30T22:21:17.531Z,1377901277.531 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-30T22:21:17.661Z,1377901277.661 [CBIT] Loaded
2013-08-30T22:21:17.661Z,1377901277.661 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-30T22:21:17.661Z,1377901277.661 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-30T22:21:17.662Z,1377901277.662 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-30T22:21:17.860Z,1377901277.860 [BuoyancyServo] Loaded
2013-08-30T22:21:17.860Z,1377901277.860 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-30T22:21:17.872Z,1377901277.872 [ElevatorServo] Loaded
2013-08-30T22:21:17.872Z,1377901277.872 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-30T22:21:17.888Z,1377901277.888 [MassServo] Loaded
2013-08-30T22:21:17.888Z,1377901277.888 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-30T22:21:17.899Z,1377901277.899 [RudderServo] Loaded
2013-08-30T22:21:17.899Z,1377901277.899 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-30T22:21:17.911Z,1377901277.911 [ThrusterServo] Loaded
2013-08-30T22:21:17.911Z,1377901277.911 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-30T22:21:17.911Z,1377901277.911 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-30T22:21:17.912Z,1377901277.912 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-30T22:21:17.970Z,1377901277.970 [DepthRateCalculator] Loaded
2013-08-30T22:21:17.970Z,1377901277.970 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-30T22:21:21.395Z,1377901281.395 [HFRadarModelCalc] Loaded
2013-08-30T22:21:21.396Z,1377901281.396 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-30T22:21:21.411Z,1377901281.411 [NavChart] Loaded
2013-08-30T22:21:21.412Z,1377901281.412 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-30T22:21:21.417Z,1377901281.417 [PitchRateCalculator] Loaded
2013-08-30T22:21:21.418Z,1377901281.418 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-30T22:21:21.432Z,1377901281.432 [SpeedCalculator] Loaded
2013-08-30T22:21:21.432Z,1377901281.432 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-30T22:21:21.448Z,1377901281.448 [TempGradientCalculator] Loaded
2013-08-30T22:21:21.448Z,1377901281.448 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-30T22:21:21.454Z,1377901281.454 [YawRateCalculator] Loaded
2013-08-30T22:21:21.454Z,1377901281.454 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-30T22:21:21.504Z,1377901281.504 [Navigation] Loaded
2013-08-30T22:21:21.504Z,1377901281.504 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-30T22:21:21.505Z,1377901281.505 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-30T22:21:21.505Z,1377901281.505 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-30T22:21:21.803Z,1377901281.803 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-30T22:21:21.804Z,1377901281.804 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-30T22:21:21.847Z,1377901281.847 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-30T22:21:21.847Z,1377901281.847 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-30T22:21:21.917Z,1377901281.917 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-30T22:21:22.021Z,1377901282.021 [VerticalControl] Loaded
2013-08-30T22:21:22.022Z,1377901282.022 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-30T22:21:22.022Z,1377901282.022 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-30T22:21:22.083Z,1377901282.083 [HorizontalControl] Loaded
2013-08-30T22:21:22.083Z,1377901282.083 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-30T22:21:22.084Z,1377901282.084 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-30T22:21:22.086Z,1377901282.086 [SpeedControl] Loaded
2013-08-30T22:21:22.086Z,1377901282.086 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-30T22:21:22.087Z,1377901282.087 [LoopControl](DEBUG): Construct LoopControl.
2013-08-30T22:21:22.087Z,1377901282.087 [LoopControl] Loaded
2013-08-30T22:21:22.087Z,1377901282.087 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-30T22:21:22.088Z,1377901282.088 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-30T22:21:22.089Z,1377901282.089 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-30T22:21:22.097Z,1377901282.097 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-30T22:21:22.106Z,1377901282.106 [AsyncPiEstimator] Loaded
2013-08-30T22:21:22.106Z,1377901282.106 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-30T22:21:22.108Z,1377901282.108 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-08-30T22:21:22.108Z,1377901282.108 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-30T22:21:22.109Z,1377901282.109 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-30T22:21:22.421Z,1377901282.421 [AHRS_sp3003D] Loaded
2013-08-30T22:21:22.422Z,1377901282.422 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-30T22:21:22.701Z,1377901282.701 [Batt_Ocean_Server] Loaded
2013-08-30T22:21:22.701Z,1377901282.701 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-30T22:21:22.718Z,1377901282.718 [Depth_Keller] Loaded
2013-08-30T22:21:22.719Z,1377901282.719 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-30T22:21:22.724Z,1377901282.724 [DropWeight] Loaded
2013-08-30T22:21:22.724Z,1377901282.724 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-30T22:21:22.922Z,1377901282.922 [DVL_micro] Loaded
2013-08-30T22:21:22.922Z,1377901282.922 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-30T22:21:22.927Z,1377901282.927 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-08-30T22:21:23.022Z,1377901283.022 [NAL9602] Loaded
2013-08-30T22:21:23.023Z,1377901283.023 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-30T22:21:23.069Z,1377901283.069 [Onboard] Loaded
2013-08-30T22:21:23.069Z,1377901283.069 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-30T22:21:23.076Z,1377901283.076 [Radio_Freewave] Loaded
2013-08-30T22:21:23.076Z,1377901283.076 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-30T22:21:23.230Z,1377901283.230 [DAT] Loaded
2013-08-30T22:21:23.230Z,1377901283.230 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-30T22:21:23.231Z,1377901283.231 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-30T22:21:23.232Z,1377901283.232 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-30T22:21:23.324Z,1377901283.324 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-30T22:21:23.327Z,1377901283.327 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-30T22:21:23.328Z,1377901283.328 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-30T22:21:23.341Z,1377901283.341 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-30T22:21:23.343Z,1377901283.343 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-08-30T22:21:23.347Z,1377901283.347 [Supervisor](DEBUG): Running supervisor.
2013-08-30T22:21:23.348Z,1377901283.348 [CommandLine](INFO): Thread ID is 758
2013-08-30T22:21:23.352Z,1377901283.352 [controlThread](INFO): Thread ID is 757
2013-08-30T22:21:23.352Z,1377901283.352 [controlThread](DEBUG): Initializing ControlThread
2013-08-30T22:21:23.353Z,1377901283.353 [CycleStarter](INFO): Thread ID is 756
2013-08-30T22:21:23.353Z,1377901283.353 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-30T22:21:23.464Z,1377901283.464 [logger](INFO): Thread ID is 759
2013-08-30T22:21:23.588Z,1377901283.588 [AsyncPiEstimator](INFO): Thread ID is 821
2013-08-30T22:21:23.588Z,1377901283.588 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-30T22:21:23.689Z,1377901283.689 [DVL_micro](INFO): Thread ID is 822
2013-08-30T22:21:23.708Z,1377901283.708 [DVL_micro](INFO): Initializing
2013-08-30T22:21:23.708Z,1377901283.708 [DVL_micro](INFO): start:Powering up
2013-08-30T22:21:23.709Z,1377901283.709 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-30T22:21:23.710Z,1377901283.710 [DVL_micro](INFO): Cycling power to configure device.
2013-08-30T22:21:23.756Z,1377901283.756 [NavChartDb](INFO): Thread ID is 823
2013-08-30T22:21:23.776Z,1377901283.776 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-30T22:21:23.777Z,1377901283.777 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-30T22:21:23.777Z,1377901283.777 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-30T22:21:23.777Z,1377901283.777 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-30T22:21:23.778Z,1377901283.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-30T22:21:23.778Z,1377901283.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-30T22:21:23.778Z,1377901283.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-30T22:21:23.778Z,1377901283.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-30T22:21:23.778Z,1377901283.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-30T22:21:23.817Z,1377901283.817 [SBIT](INFO): Initialize SBIT Component.
2013-08-30T22:21:23.817Z,1377901283.817 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-08-30T22:21:23.818Z,1377901283.818 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-30T22:21:23.818Z,1377901283.818 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-30T22:21:23.818Z,1377901283.818 [IBIT](INFO): Initialize IBIT Component.
2013-08-30T22:21:23.819Z,1377901283.819 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-30T22:21:23.819Z,1377901283.819 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-08-30T22:21:23.820Z,1377901283.820 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-30T22:21:23.864Z,1377901283.864 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-30T22:21:23.865Z,1377901283.865 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-30T22:21:23.865Z,1377901283.865 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-30T22:21:23.865Z,1377901283.865 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-30T22:21:23.866Z,1377901283.866 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-30T22:21:23.866Z,1377901283.866 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-30T22:21:23.867Z,1377901283.867 [Navigation](DEBUG): Initializing Navigation.
2013-08-30T22:21:23.867Z,1377901283.867 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-30T22:21:23.869Z,1377901283.869 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-30T22:21:23.870Z,1377901283.870 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-30T22:21:23.870Z,1377901283.870 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-30T22:21:25.413Z,1377901285.413 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-30T22:21:25.470Z,1377901285.470 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-30T22:21:25.519Z,1377901285.519 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-30T22:21:25.542Z,1377901285.542 [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>


2013-08-30T22:21:25.543Z,1377901285.543 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-30T22:21:25.640Z,1377901285.640 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-30T22:21:25.642Z,1377901285.642 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-30T22:21:25.658Z,1377901285.658 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-30T22:21:25.666Z,1377901285.666 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-30T22:21:25.697Z,1377901285.697 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-30T22:21:25.723Z,1377901285.723 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-30T22:21:25.741Z,1377901285.741 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-30T22:21:25.744Z,1377901285.744 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-30T22:21:25.749Z,1377901285.749 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-30T22:21:25.768Z,1377901285.768 [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>


2013-08-30T22:21:25.773Z,1377901285.773 [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,
2013-08-30T22:21:25.824Z,1377901285.824 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-30T22:21:25.824Z,1377901285.824 [DVL_micro](INFO): Querying output modes
2013-08-30T22:21:25.824Z,1377901285.824 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-30T22:21:25.835Z,1377901285.835 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-08-30T22:21:25.836Z,1377901285.836 [DVL_micro](INFO): NQ1 output enabled
2013-08-30T22:21:25.836Z,1377901285.836 [DVL_micro](INFO): ADCP output enabled
2013-08-30T22:21:25.836Z,1377901285.836 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-30T22:21:25.844Z,1377901285.844 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-30T22:21:25.848Z,1377901285.848 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-30T22:21:25.853Z,1377901285.853 [DVL_micro](INFO): pause:Powering down
2013-08-30T22:21:26.071Z,1377901286.071 [Radio_Freewave](INFO): Powering up
2013-08-30T22:21:26.108Z,1377901286.108 [DAT](INFO): Powering up
2013-08-30T22:21:26.108Z,1377901286.108 [DAT](DEBUG): Initializing DAT.
2013-08-30T22:21:26.308Z,1377901286.308 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-30T22:21:26.316Z,1377901286.316 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-30T22:21:26.334Z,1377901286.334 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-30T22:21:26.340Z,1377901286.340 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-30T22:21:26.346Z,1377901286.346 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-30T22:21:26.348Z,1377901286.348 [MassServo](DEBUG): Initializing MassServo.
2013-08-30T22:21:26.354Z,1377901286.354 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-30T22:21:26.360Z,1377901286.360 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-30T22:21:26.366Z,1377901286.366 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-30T22:21:26.372Z,1377901286.372 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-30T22:21:28.102Z,1377901288.102 [NAL9602](INFO): Powering up NAL9602
2013-08-30T22:21:38.587Z,1377901298.587 [NAL9602](INFO): NAL9602 initialized
2013-08-30T22:21:39.416Z,1377901299.416 [SBIT](IMPORTANT): Beginning Startup BIT
2013-08-30T22:21:39.418Z,1377901299.418 [CBIT](IMPORTANT): Beginning GF scan
2013-08-30T22:21:45.582Z,1377901305.582 [DAT](INFO): Init failed - response: 
2013-08-30T22:21:45.582Z,1377901305.582 [DAT](FAULT): DAT failed to initialize
2013-08-30T22:21:45.582Z,1377901305.582 [DAT] Communications Fault, FailCount= 1
2013-08-30T22:21:45.582Z,1377901305.582 [DAT](ERROR): Communications Fault
2013-08-30T22:21:45.650Z,1377901305.650 [CBIT](ERROR): Communications Fault in component: DAT
2013-08-30T22:21:46.009Z,1377901306.009 [DAT](INFO): Powering down
2013-08-30T22:21:46.920Z,1377901306.920 [CBIT](INFO): Clearing failed state for component DAT
2013-08-30T22:21:46.920Z,1377901306.920 [DAT] No Fault, FailCount= 1
2013-08-30T22:21:49.263Z,1377901309.263 [DAT](INFO): Powering up
2013-08-30T22:21:49.263Z,1377901309.263 [DAT](DEBUG): Initializing DAT.
2013-08-30T22:22:06.183Z,1377901326.183 [CBIT](IMPORTANT): No ground fault detected
2013-08-30T22:22:08.762Z,1377901328.762 [DAT](INFO): Init failed - response: 
2013-08-30T22:22:08.762Z,1377901328.762 [DAT](FAULT): DAT failed to initialize
2013-08-30T22:22:08.762Z,1377901328.762 [DAT] Communications Fault, FailCount= 2
2013-08-30T22:22:08.762Z,1377901328.762 [DAT](ERROR): Communications Fault
2013-08-30T22:22:08.830Z,1377901328.830 [CBIT](ERROR): Communications Fault in component: DAT
2013-08-30T22:22:09.086Z,1377901329.086 [DAT](INFO): Powering down
2013-08-30T22:22:09.944Z,1377901329.944 [CBIT](INFO): Clearing failed state for component DAT
2013-08-30T22:22:09.944Z,1377901329.944 [DAT] No Fault, FailCount= 2
2013-08-30T22:22:12.286Z,1377901332.286 [DAT](INFO): Powering up
2013-08-30T22:22:12.287Z,1377901332.287 [DAT](DEBUG): Initializing DAT.
2013-08-30T22:22:31.657Z,1377901351.657 [DAT](INFO): Init failed - response: 
2013-08-30T22:22:31.657Z,1377901351.657 [DAT](FAULT): DAT failed to initialize
2013-08-30T22:22:31.657Z,1377901351.657 [DAT] Communications Fault, FailCount= 3
2013-08-30T22:22:31.657Z,1377901351.657 [DAT](ERROR): Communications Fault
2013-08-30T22:22:31.681Z,1377901351.681 [CBIT](ERROR): Communications Fault in component: DAT
2013-08-30T22:22:31.682Z,1377901351.682 [CBIT](CRITICAL): Communications Fault in component: DAT
2013-08-30T22:22:31.882Z,