2013-08-30T22:42:53.853Z,1377902573.853 [Supervisor](DEBUG): Initializing supervisor.
2013-08-30T22:42:53.858Z,1377902573.858 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-30T22:42:53.859Z,1377902573.859 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-30T22:42:53.862Z,1377902573.862 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-30T22:42:53.866Z,1377902573.866 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-30T22:42:53.876Z,1377902573.876 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-30T22:42:53.878Z,1377902573.878 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-30T22:42:53.879Z,1377902573.879 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-30T22:42:53.882Z,1377902573.882 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-30T22:42:53.883Z,1377902573.883 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-30T22:42:53.887Z,1377902573.887 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-30T22:42:54.198Z,1377902574.198 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-30T22:42:54.199Z,1377902574.199 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-30T22:42:54.412Z,1377902574.412 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-30T22:42:54.412Z,1377902574.412 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-30T22:42:54.510Z,1377902574.510 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-30T22:42:54.513Z,1377902574.513 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-30T22:42:54.640Z,1377902574.640 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-30T22:42:54.641Z,1377902574.641 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-30T22:42:54.795Z,1377902574.795 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-30T22:42:54.797Z,1377902574.797 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-30T22:42:55.061Z,1377902575.061 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-30T22:42:55.062Z,1377902575.062 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-30T22:42:55.245Z,1377902575.245 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-30T22:42:55.247Z,1377902575.247 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-30T22:42:55.538Z,1377902575.538 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-30T22:42:55.540Z,1377902575.540 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-30T22:42:55.658Z,1377902575.658 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-30T22:42:55.659Z,1377902575.659 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-30T22:42:56.111Z,1377902576.111 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-30T22:42:56.112Z,1377902576.112 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-30T22:42:56.231Z,1377902576.231 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-30T22:42:56.231Z,1377902576.231 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-30T22:42:56.327Z,1377902576.327 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-30T22:42:56.331Z,1377902576.331 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-30T22:42:56.440Z,1377902576.440 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-30T22:42:56.584Z,1377902576.584 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-30T22:42:56.688Z,1377902576.688 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-30T22:42:56.804Z,1377902576.804 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-30T22:42:56.912Z,1377902576.912 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-30T22:42:57.040Z,1377902577.040 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-30T22:42:57.148Z,1377902577.148 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-30T22:42:57.247Z,1377902577.247 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-08-30T22:42:57.260Z,1377902577.260 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-30T22:42:57.478Z,1377902577.478 [InternalSim] Loaded
2013-08-30T22:42:57.478Z,1377902577.478 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-30T22:42:57.478Z,1377902577.478 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-30T22:42:57.479Z,1377902577.479 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-30T22:42:57.630Z,1377902577.630 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-30T22:42:57.658Z,1377902577.658 [SBIT] Loaded
2013-08-30T22:42:57.658Z,1377902577.658 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-30T22:42:57.659Z,1377902577.659 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-30T22:42:57.687Z,1377902577.687 [IBIT] Loaded
2013-08-30T22:42:57.688Z,1377902577.688 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-30T22:42:57.690Z,1377902577.690 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-30T22:42:57.815Z,1377902577.815 [CBIT] Loaded
2013-08-30T22:42:57.815Z,1377902577.815 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-30T22:42:57.815Z,1377902577.815 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-30T22:42:57.816Z,1377902577.816 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-30T22:42:58.014Z,1377902578.014 [BuoyancyServo] Loaded
2013-08-30T22:42:58.014Z,1377902578.014 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-30T22:42:58.026Z,1377902578.026 [ElevatorServo] Loaded
2013-08-30T22:42:58.026Z,1377902578.026 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-30T22:42:58.041Z,1377902578.041 [MassServo] Loaded
2013-08-30T22:42:58.041Z,1377902578.041 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-30T22:42:58.053Z,1377902578.053 [RudderServo] Loaded
2013-08-30T22:42:58.053Z,1377902578.053 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-30T22:42:58.064Z,1377902578.064 [ThrusterServo] Loaded
2013-08-30T22:42:58.064Z,1377902578.064 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-30T22:42:58.065Z,1377902578.065 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-30T22:42:58.065Z,1377902578.065 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-30T22:42:58.130Z,1377902578.130 [DepthRateCalculator] Loaded
2013-08-30T22:42:58.130Z,1377902578.130 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-30T22:43:01.512Z,1377902581.512 [HFRadarModelCalc] Loaded
2013-08-30T22:43:01.512Z,1377902581.512 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-30T22:43:01.528Z,1377902581.528 [NavChart] Loaded
2013-08-30T22:43:01.528Z,1377902581.528 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-30T22:43:01.534Z,1377902581.534 [PitchRateCalculator] Loaded
2013-08-30T22:43:01.534Z,1377902581.534 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-30T22:43:01.548Z,1377902581.548 [SpeedCalculator] Loaded
2013-08-30T22:43:01.549Z,1377902581.549 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-30T22:43:01.565Z,1377902581.565 [TempGradientCalculator] Loaded
2013-08-30T22:43:01.565Z,1377902581.565 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-30T22:43:01.570Z,1377902581.570 [YawRateCalculator] Loaded
2013-08-30T22:43:01.570Z,1377902581.570 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-30T22:43:01.620Z,1377902581.620 [Navigation] Loaded
2013-08-30T22:43:01.621Z,1377902581.621 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-30T22:43:01.621Z,1377902581.621 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-30T22:43:01.622Z,1377902581.622 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-30T22:43:01.923Z,1377902581.923 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-30T22:43:01.923Z,1377902581.923 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-30T22:43:01.966Z,1377902581.966 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-30T22:43:01.966Z,1377902581.966 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-30T22:43:02.037Z,1377902582.037 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-30T22:43:02.140Z,1377902582.140 [VerticalControl] Loaded
2013-08-30T22:43:02.141Z,1377902582.141 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-30T22:43:02.142Z,1377902582.142 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-30T22:43:02.202Z,1377902582.202 [HorizontalControl] Loaded
2013-08-30T22:43:02.202Z,1377902582.202 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-30T22:43:02.203Z,1377902582.203 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-30T22:43:02.205Z,1377902582.205 [SpeedControl] Loaded
2013-08-30T22:43:02.205Z,1377902582.205 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-30T22:43:02.205Z,1377902582.205 [LoopControl](DEBUG): Construct LoopControl.
2013-08-30T22:43:02.206Z,1377902582.206 [LoopControl] Loaded
2013-08-30T22:43:02.206Z,1377902582.206 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-30T22:43:02.207Z,1377902582.207 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-30T22:43:02.207Z,1377902582.207 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-30T22:43:02.217Z,1377902582.217 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-30T22:43:02.222Z,1377902582.222 [AsyncPiEstimator] Loaded
2013-08-30T22:43:02.222Z,1377902582.222 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-30T22:43:02.223Z,1377902582.223 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-08-30T22:43:02.224Z,1377902582.224 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-30T22:43:02.224Z,1377902582.224 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-30T22:43:02.477Z,1377902582.477 [AHRS_sp3003D] Loaded
2013-08-30T22:43:02.478Z,1377902582.478 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-30T22:43:02.756Z,1377902582.756 [Batt_Ocean_Server] Loaded
2013-08-30T22:43:02.757Z,1377902582.757 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-30T22:43:02.774Z,1377902582.774 [Depth_Keller] Loaded
2013-08-30T22:43:02.774Z,1377902582.774 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-30T22:43:02.779Z,1377902582.779 [DropWeight] Loaded
2013-08-30T22:43:02.780Z,1377902582.780 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-30T22:43:02.979Z,1377902582.979 [DVL_micro] Loaded
2013-08-30T22:43:02.979Z,1377902582.979 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-30T22:43:02.984Z,1377902582.984 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-08-30T22:43:03.078Z,1377902583.078 [NAL9602] Loaded
2013-08-30T22:43:03.079Z,1377902583.079 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-30T22:43:03.124Z,1377902583.124 [Onboard] Loaded
2013-08-30T22:43:03.125Z,1377902583.125 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-30T22:43:03.131Z,1377902583.131 [Radio_Freewave] Loaded
2013-08-30T22:43:03.132Z,1377902583.132 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-30T22:43:03.286Z,1377902583.286 [DAT] Loaded
2013-08-30T22:43:03.287Z,1377902583.287 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-30T22:43:03.287Z,1377902583.287 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-30T22:43:03.288Z,1377902583.288 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-30T22:43:03.383Z,1377902583.383 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-30T22:43:03.385Z,1377902583.385 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-30T22:43:03.386Z,1377902583.386 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-30T22:43:03.399Z,1377902583.399 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-30T22:43:03.401Z,1377902583.401 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-08-30T22:43:03.405Z,1377902583.405 [Supervisor](DEBUG): Running supervisor.
2013-08-30T22:43:03.406Z,1377902583.406 [CommandLine](INFO): Thread ID is 753
2013-08-30T22:43:03.410Z,1377902583.410 [controlThread](INFO): Thread ID is 752
2013-08-30T22:43:03.410Z,1377902583.410 [controlThread](DEBUG): Initializing ControlThread
2013-08-30T22:43:03.410Z,1377902583.410 [CycleStarter](INFO): Thread ID is 751
2013-08-30T22:43:03.411Z,1377902583.411 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-30T22:43:03.516Z,1377902583.516 [logger](INFO): Thread ID is 754
2013-08-30T22:43:03.642Z,1377902583.642 [AsyncPiEstimator](INFO): Thread ID is 815
2013-08-30T22:43:03.642Z,1377902583.642 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-30T22:43:03.658Z,1377902583.658 [DVL_micro](INFO): Thread ID is 816
2013-08-30T22:43:03.781Z,1377902583.781 [DVL_micro](INFO): Initializing
2013-08-30T22:43:03.781Z,1377902583.781 [DVL_micro](INFO): start:Powering up
2013-08-30T22:43:03.783Z,1377902583.783 [NavChartDb](INFO): Thread ID is 817
2013-08-30T22:43:03.787Z,1377902583.787 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-30T22:43:03.788Z,1377902583.788 [DVL_micro](INFO): Cycling power to configure device.
2013-08-30T22:43:03.856Z,1377902583.856 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-30T22:43:03.857Z,1377902583.857 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-30T22:43:03.857Z,1377902583.857 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-30T22:43:03.858Z,1377902583.858 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-30T22:43:03.858Z,1377902583.858 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-30T22:43:03.858Z,1377902583.858 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-30T22:43:03.858Z,1377902583.858 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-30T22:43:03.859Z,1377902583.859 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-30T22:43:03.859Z,1377902583.859 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-30T22:43:03.879Z,1377902583.879 [SBIT](INFO): Initialize SBIT Component.
2013-08-30T22:43:03.880Z,1377902583.880 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-08-30T22:43:03.880Z,1377902583.880 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-30T22:43:03.880Z,1377902583.880 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-30T22:43:03.881Z,1377902583.881 [IBIT](INFO): Initialize IBIT Component.
2013-08-30T22:43:03.886Z,1377902583.886 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-30T22:43:03.886Z,1377902583.886 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-08-30T22:43:03.886Z,1377902583.886 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-30T22:43:03.911Z,1377902583.911 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-30T22:43:03.912Z,1377902583.912 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-30T22:43:03.912Z,1377902583.912 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-30T22:43:03.912Z,1377902583.912 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-30T22:43:03.913Z,1377902583.913 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-30T22:43:03.913Z,1377902583.913 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-30T22:43:03.914Z,1377902583.914 [Navigation](DEBUG): Initializing Navigation.
2013-08-30T22:43:03.914Z,1377902583.914 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-30T22:43:03.916Z,1377902583.916 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-30T22:43:03.916Z,1377902583.916 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-30T22:43:03.917Z,1377902583.917 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-30T22:43:05.651Z,1377902585.651 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-30T22:43:05.684Z,1377902585.684 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-30T22:43:05.717Z,1377902585.717 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-30T22:43:05.755Z,1377902585.755 [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>


2013-08-30T22:43:05.756Z,1377902585.756 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-30T22:43:05.845Z,1377902585.845 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-30T22:43:05.847Z,1377902585.847 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-30T22:43:05.859Z,1377902585.859 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-30T22:43:05.873Z,1377902585.873 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-30T22:43:05.873Z,1377902585.873 [DVL_micro](INFO): Querying output modes
2013-08-30T22:43:05.874Z,1377902585.874 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-30T22:43:05.876Z,1377902585.876 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-30T22:43:05.885Z,1377902585.885 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-08-30T22:43:05.885Z,1377902585.885 [DVL_micro](INFO): NQ1 output enabled
2013-08-30T22:43:05.885Z,1377902585.885 [DVL_micro](INFO): ADCP output enabled
2013-08-30T22:43:05.885Z,1377902585.885 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-30T22:43:05.889Z,1377902585.889 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-30T22:43:05.897Z,1377902585.897 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-30T22:43:05.902Z,1377902585.902 [DVL_micro](INFO): pause:Powering down
2013-08-30T22:43:05.907Z,1377902585.907 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-30T22:43:05.920Z,1377902585.920 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-30T22:43:05.955Z,1377902585.955 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-30T22:43:05.960Z,1377902585.960 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-30T22:43:05.974Z,1377902585.974 [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>


2013-08-30T22:43:05.981Z,1377902585.981 [controlThread](DEBUG): Component order: Cy