2013-08-30T22:47:20.840Z,1377902840.840 [Supervisor](DEBUG): Initializing supervisor.
2013-08-30T22:47:20.846Z,1377902840.846 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-30T22:47:20.847Z,1377902840.847 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-30T22:47:20.850Z,1377902840.850 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-30T22:47:20.854Z,1377902840.854 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-30T22:47:20.865Z,1377902840.865 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-30T22:47:20.870Z,1377902840.870 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-30T22:47:20.871Z,1377902840.871 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-30T22:47:20.874Z,1377902840.874 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-30T22:47:20.875Z,1377902840.875 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-30T22:47:20.879Z,1377902840.879 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-30T22:47:21.190Z,1377902841.190 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-30T22:47:21.191Z,1377902841.191 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-30T22:47:21.408Z,1377902841.408 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-30T22:47:21.408Z,1377902841.408 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-30T22:47:21.506Z,1377902841.506 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-30T22:47:21.509Z,1377902841.509 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-30T22:47:21.628Z,1377902841.628 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-30T22:47:21.629Z,1377902841.629 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-30T22:47:21.783Z,1377902841.783 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-30T22:47:21.785Z,1377902841.785 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-30T22:47:22.049Z,1377902842.049 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-30T22:47:22.050Z,1377902842.050 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-30T22:47:22.229Z,1377902842.229 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-30T22:47:22.232Z,1377902842.232 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-30T22:47:22.526Z,1377902842.526 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-30T22:47:22.528Z,1377902842.528 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-30T22:47:22.646Z,1377902842.646 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-30T22:47:22.646Z,1377902842.646 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-30T22:47:23.099Z,1377902843.099 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-30T22:47:23.100Z,1377902843.100 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-30T22:47:23.218Z,1377902843.218 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-30T22:47:23.219Z,1377902843.219 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-30T22:47:23.315Z,1377902843.315 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-30T22:47:23.319Z,1377902843.319 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-30T22:47:23.428Z,1377902843.428 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-30T22:47:23.571Z,1377902843.571 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-30T22:47:23.675Z,1377902843.675 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-30T22:47:23.792Z,1377902843.792 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-30T22:47:23.900Z,1377902843.900 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-30T22:47:24.028Z,1377902844.028 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-30T22:47:24.139Z,1377902844.139 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-30T22:47:24.291Z,1377902844.291 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-08-30T22:47:24.319Z,1377902844.319 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-30T22:47:24.542Z,1377902844.542 [InternalSim] Loaded
2013-08-30T22:47:24.542Z,1377902844.542 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-30T22:47:24.542Z,1377902844.542 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-30T22:47:24.543Z,1377902844.543 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-30T22:47:24.663Z,1377902844.663 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-30T22:47:24.700Z,1377902844.700 [SBIT] Loaded
2013-08-30T22:47:24.700Z,1377902844.700 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-30T22:47:24.701Z,1377902844.701 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-30T22:47:24.730Z,1377902844.730 [IBIT] Loaded
2013-08-30T22:47:24.731Z,1377902844.731 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-30T22:47:24.733Z,1377902844.733 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-30T22:47:24.861Z,1377902844.861 [CBIT] Loaded
2013-08-30T22:47:24.861Z,1377902844.861 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-30T22:47:24.862Z,1377902844.862 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-30T22:47:24.863Z,1377902844.863 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-30T22:47:25.066Z,1377902845.066 [BuoyancyServo] Loaded
2013-08-30T22:47:25.067Z,1377902845.067 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-30T22:47:25.079Z,1377902845.079 [ElevatorServo] Loaded
2013-08-30T22:47:25.079Z,1377902845.079 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-30T22:47:25.094Z,1377902845.094 [MassServo] Loaded
2013-08-30T22:47:25.095Z,1377902845.095 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-30T22:47:25.106Z,1377902845.106 [RudderServo] Loaded
2013-08-30T22:47:25.106Z,1377902845.106 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-30T22:47:25.118Z,1377902845.118 [ThrusterServo] Loaded
2013-08-30T22:47:25.118Z,1377902845.118 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-30T22:47:25.118Z,1377902845.118 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-30T22:47:25.119Z,1377902845.119 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-30T22:47:25.180Z,1377902845.180 [DepthRateCalculator] Loaded
2013-08-30T22:47:25.180Z,1377902845.180 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-30T22:47:28.601Z,1377902848.601 [HFRadarModelCalc] Loaded
2013-08-30T22:47:28.606Z,1377902848.606 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-30T22:47:28.623Z,1377902848.623 [NavChart] Loaded
2013-08-30T22:47:28.623Z,1377902848.623 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-30T22:47:28.629Z,1377902848.629 [PitchRateCalculator] Loaded
2013-08-30T22:47:28.629Z,1377902848.629 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-30T22:47:28.640Z,1377902848.640 [SpeedCalculator] Loaded
2013-08-30T22:47:28.640Z,1377902848.640 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-30T22:47:28.660Z,1377902848.660 [TempGradientCalculator] Loaded
2013-08-30T22:47:28.661Z,1377902848.661 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-30T22:47:28.666Z,1377902848.666 [YawRateCalculator] Loaded
2013-08-30T22:47:28.666Z,1377902848.666 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-30T22:47:28.718Z,1377902848.718 [Navigation] Loaded
2013-08-30T22:47:28.718Z,1377902848.718 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-30T22:47:28.719Z,1377902848.719 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-30T22:47:28.720Z,1377902848.720 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-30T22:47:29.032Z,1377902849.032 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-30T22:47:29.033Z,1377902849.033 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-30T22:47:29.072Z,1377902849.072 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-30T22:47:29.072Z,1377902849.072 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-30T22:47:29.146Z,1377902849.146 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-30T22:47:29.253Z,1377902849.253 [VerticalControl] Loaded
2013-08-30T22:47:29.253Z,1377902849.253 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-30T22:47:29.254Z,1377902849.254 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-30T22:47:29.316Z,1377902849.316 [HorizontalControl] Loaded
2013-08-30T22:47:29.317Z,1377902849.317 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-30T22:47:29.317Z,1377902849.317 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-30T22:47:29.319Z,1377902849.319 [SpeedControl] Loaded
2013-08-30T22:47:29.319Z,1377902849.319 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-30T22:47:29.320Z,1377902849.320 [LoopControl](DEBUG): Construct LoopControl.
2013-08-30T22:47:29.321Z,1377902849.321 [LoopControl] Loaded
2013-08-30T22:47:29.321Z,1377902849.321 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-30T22:47:29.321Z,1377902849.321 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-30T22:47:29.322Z,1377902849.322 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-30T22:47:29.331Z,1377902849.331 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-30T22:47:29.336Z,1377902849.336 [AsyncPiEstimator] Loaded
2013-08-30T22:47:29.337Z,1377902849.337 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-30T22:47:29.340Z,1377902849.340 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-08-30T22:47:29.340Z,1377902849.340 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-30T22:47:29.341Z,1377902849.341 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-30T22:47:29.617Z,1377902849.617 [AHRS_sp3003D] Loaded
2013-08-30T22:47:29.617Z,1377902849.617 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-30T22:47:29.899Z,1377902849.899 [Batt_Ocean_Server] Loaded
2013-08-30T22:47:29.900Z,1377902849.900 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-30T22:47:29.914Z,1377902849.914 [Depth_Keller] Loaded
2013-08-30T22:47:29.914Z,1377902849.914 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-30T22:47:29.919Z,1377902849.919 [DropWeight] Loaded
2013-08-30T22:47:29.919Z,1377902849.919 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-30T22:47:30.125Z,1377902850.125 [DVL_micro] Loaded
2013-08-30T22:47:30.126Z,1377902850.126 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-30T22:47:30.128Z,1377902850.128 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-08-30T22:47:30.226Z,1377902850.226 [NAL9602] Loaded
2013-08-30T22:47:30.226Z,1377902850.226 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-30T22:47:30.274Z,1377902850.274 [Onboard] Loaded
2013-08-30T22:47:30.274Z,1377902850.274 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-30T22:47:30.285Z,1377902850.285 [Radio_Freewave] Loaded
2013-08-30T22:47:30.285Z,1377902850.285 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-30T22:47:30.444Z,1377902850.444 [DAT] Loaded
2013-08-30T22:47:30.444Z,1377902850.444 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-30T22:47:30.445Z,1377902850.445 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-30T22:47:30.445Z,1377902850.445 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-30T22:47:30.545Z,1377902850.545 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-30T22:47:30.547Z,1377902850.547 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-30T22:47:30.548Z,1377902850.548 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-30T22:47:30.561Z,1377902850.561 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-30T22:47:30.565Z,1377902850.565 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-08-30T22:47:30.569Z,1377902850.569 [Supervisor](DEBUG): Running supervisor.
2013-08-30T22:47:30.570Z,1377902850.570 [CommandLine](INFO): Thread ID is 755
2013-08-30T22:47:30.574Z,1377902850.574 [controlThread](INFO): Thread ID is 754
2013-08-30T22:47:30.574Z,1377902850.574 [controlThread](DEBUG): Initializing ControlThread
2013-08-30T22:47:30.575Z,1377902850.575 [CycleStarter](INFO): Thread ID is 753
2013-08-30T22:47:30.575Z,1377902850.575 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-30T22:47:30.681Z,1377902850.681 [logger](INFO): Thread ID is 756
2013-08-30T22:47:30.798Z,1377902850.798 [AsyncPiEstimator](INFO): Thread ID is 817
2013-08-30T22:47:30.798Z,1377902850.798 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-30T22:47:30.814Z,1377902850.814 [DVL_micro](INFO): Thread ID is 818
2013-08-30T22:47:30.923Z,1377902850.923 [NavChartDb](INFO): Thread ID is 819
2013-08-30T22:47:30.934Z,1377902850.934 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-30T22:47:30.935Z,1377902850.935 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-30T22:47:30.935Z,1377902850.935 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-30T22:47:30.936Z,1377902850.935 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-30T22:47:30.936Z,1377902850.936 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-30T22:47:30.936Z,1377902850.936 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-30T22:47:30.936Z,1377902850.936 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-30T22:47:30.936Z,1377902850.936 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-30T22:47:30.937Z,1377902850.937 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-30T22:47:30.939Z,1377902850.939 [DVL_micro](INFO): Initializing
2013-08-30T22:47:30.940Z,1377902850.940 [DVL_micro](INFO): start:Powering up
2013-08-30T22:47:30.941Z,1377902850.941 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-30T22:47:30.941Z,1377902850.941 [DVL_micro](INFO): Cycling power to configure device.
2013-08-30T22:47:31.034Z,1377902851.034 [SBIT](INFO): Initialize SBIT Component.
2013-08-30T22:47:31.035Z,1377902851.035 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-08-30T22:47:31.035Z,1377902851.035 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-30T22:47:31.035Z,1377902851.035 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-30T22:47:31.036Z,1377902851.036 [IBIT](INFO): Initialize IBIT Component.
2013-08-30T22:47:31.037Z,1377902851.037 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-30T22:47:31.037Z,1377902851.037 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-08-30T22:47:31.037Z,1377902851.037 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-30T22:47:31.063Z,1377902851.063 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-30T22:47:31.064Z,1377902851.064 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-30T22:47:31.064Z,1377902851.064 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-30T22:47:31.064Z,1377902851.064 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-30T22:47:31.065Z,1377902851.065 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-30T22:47:31.065Z,1377902851.065 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-30T22:47:31.066Z,1377902851.066 [Navigation](DEBUG): Initializing Navigation.
2013-08-30T22:47:31.066Z,1377902851.066 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-30T22:47:31.068Z,1377902851.068 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-30T22:47:31.069Z,1377902851.069 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-30T22:47:31.069Z,1377902851.069 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-30T22:47:32.687Z,1377902852.687 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-30T22:47:32.732Z,1377902852.732 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-30T22:47:32.774Z,1377902852.774 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-30T22:47:32.784Z,1377902852.784 [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>


2013-08-30T22:47:32.785Z,1377902852.785 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-30T22:47:32.878Z,1377902852.878 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-30T22:47:32.880Z,1377902852.880 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-30T22:47:32.884Z,1377902852.884 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-30T22:47:32.927Z,1377902852.927 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-30T22:47:32.945Z,1377902852.945 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-30T22:47:32.951Z,1377902852.951 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-30T22:47:32.972Z,1377902852.972 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-30T22:47:32.979Z,1377902852.979 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-30T22:47:32.984Z,1377902852.984 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-30T22:47:32.987Z,1377902852.987 [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>


2013-08-30T22:47:32.989Z,1377902852.989 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-30T22:47:32.990Z,1377902852.990 [DVL_micro](INFO): Querying output modes
2013-08-30T22:47:32.990Z,1377902852.990 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-30T22:47:33.001Z,1377902853.001 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-08-30T22:47:33.001Z,1377902853.001 [DVL_micro](INFO): NQ1 output enabled
2013-08-30T22:47:33.001Z,1377902853.001 [DVL_micro](INFO): ADCP output enabled
2013-08-30T22:47:33.002Z,1377902853.002 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-30T22:47:33.013Z,1377902853.013 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-30T22:47:33.018Z,1377902853.018 [DVL_micro](INFO): pause:Powering down
2013-08-30T22:47:33.025Z,1377902853.025 [controlThread](DEBUG): Component order: Cy