2013-09-03T22:35:32.262Z,1378247732.262 [Supervisor](DEBUG): Initializing supervisor.
2013-09-03T22:35:32.268Z,1378247732.268 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-03T22:35:32.269Z,1378247732.269 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-03T22:35:32.272Z,1378247732.272 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-03T22:35:32.276Z,1378247732.276 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-03T22:35:32.286Z,1378247732.286 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-03T22:35:32.288Z,1378247732.288 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-03T22:35:32.289Z,1378247732.289 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-03T22:35:32.292Z,1378247732.292 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-03T22:35:32.293Z,1378247732.293 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-03T22:35:32.297Z,1378247732.297 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-03T22:35:32.608Z,1378247732.608 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-03T22:35:32.609Z,1378247732.609 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-03T22:35:32.822Z,1378247732.822 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-03T22:35:32.823Z,1378247732.823 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-03T22:35:32.920Z,1378247732.920 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-03T22:35:32.923Z,1378247732.923 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-03T22:35:33.050Z,1378247733.050 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-03T22:35:33.051Z,1378247733.051 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-03T22:35:33.205Z,1378247733.205 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-03T22:35:33.207Z,1378247733.207 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-03T22:35:33.471Z,1378247733.471 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-03T22:35:33.472Z,1378247733.472 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-03T22:35:33.652Z,1378247733.652 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-03T22:35:33.655Z,1378247733.655 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-03T22:35:33.944Z,1378247733.944 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-03T22:35:33.946Z,1378247733.946 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-03T22:35:34.064Z,1378247734.064 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-03T22:35:34.064Z,1378247734.064 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-03T22:35:34.517Z,1378247734.517 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-03T22:35:34.518Z,1378247734.518 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-03T22:35:34.639Z,1378247734.639 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-03T22:35:34.640Z,1378247734.640 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-03T22:35:34.737Z,1378247734.737 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-03T22:35:34.741Z,1378247734.741 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-03T22:35:34.851Z,1378247734.851 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-03T22:35:34.993Z,1378247734.993 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-03T22:35:35.097Z,1378247735.097 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-03T22:35:35.212Z,1378247735.212 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-03T22:35:35.318Z,1378247735.318 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-03T22:35:35.446Z,1378247735.446 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-03T22:35:35.556Z,1378247735.556 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-03T22:35:35.704Z,1378247735.704 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-09-03T22:35:35.750Z,1378247735.750 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-03T22:35:35.961Z,1378247735.961 [InternalSim] Loaded
2013-09-03T22:35:35.961Z,1378247735.961 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-03T22:35:35.966Z,1378247735.966 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-03T22:35:35.966Z,1378247735.966 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-03T22:35:36.082Z,1378247736.082 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-03T22:35:36.114Z,1378247736.114 [SBIT] Loaded
2013-09-03T22:35:36.115Z,1378247736.115 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-03T22:35:36.115Z,1378247736.115 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-03T22:35:36.148Z,1378247736.148 [IBIT] Loaded
2013-09-03T22:35:36.148Z,1378247736.148 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-03T22:35:36.150Z,1378247736.150 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-03T22:35:36.275Z,1378247736.275 [CBIT] Loaded
2013-09-03T22:35:36.275Z,1378247736.275 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-03T22:35:36.276Z,1378247736.276 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-03T22:35:36.276Z,1378247736.276 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-03T22:35:36.476Z,1378247736.476 [BuoyancyServo] Loaded
2013-09-03T22:35:36.476Z,1378247736.476 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-03T22:35:36.488Z,1378247736.488 [ElevatorServo] Loaded
2013-09-03T22:35:36.488Z,1378247736.488 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-03T22:35:36.503Z,1378247736.503 [MassServo] Loaded
2013-09-03T22:35:36.503Z,1378247736.503 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-03T22:35:36.515Z,1378247736.515 [RudderServo] Loaded
2013-09-03T22:35:36.515Z,1378247736.515 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-03T22:35:36.526Z,1378247736.526 [ThrusterServo] Loaded
2013-09-03T22:35:36.526Z,1378247736.526 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-03T22:35:36.527Z,1378247736.527 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-03T22:35:36.527Z,1378247736.527 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-03T22:35:36.587Z,1378247736.587 [DepthRateCalculator] Loaded
2013-09-03T22:35:36.588Z,1378247736.588 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-03T22:35:39.988Z,1378247739.988 [HFRadarModelCalc] Loaded
2013-09-03T22:35:39.992Z,1378247739.992 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-03T22:35:40.008Z,1378247740.008 [NavChart] Loaded
2013-09-03T22:35:40.008Z,1378247740.008 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-03T22:35:40.018Z,1378247740.018 [PitchRateCalculator] Loaded
2013-09-03T22:35:40.018Z,1378247740.018 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-03T22:35:40.028Z,1378247740.028 [SpeedCalculator] Loaded
2013-09-03T22:35:40.028Z,1378247740.028 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-03T22:35:40.044Z,1378247740.044 [TempGradientCalculator] Loaded
2013-09-03T22:35:40.045Z,1378247740.045 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-03T22:35:40.050Z,1378247740.050 [YawRateCalculator] Loaded
2013-09-03T22:35:40.050Z,1378247740.050 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-03T22:35:40.100Z,1378247740.100 [Navigation] Loaded
2013-09-03T22:35:40.104Z,1378247740.104 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-03T22:35:40.105Z,1378247740.105 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-03T22:35:40.105Z,1378247740.105 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-03T22:35:40.404Z,1378247740.404 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-03T22:35:40.405Z,1378247740.405 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-03T22:35:40.447Z,1378247740.447 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-03T22:35:40.448Z,1378247740.448 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-03T22:35:40.519Z,1378247740.519 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-03T22:35:40.619Z,1378247740.619 [VerticalControl] Loaded
2013-09-03T22:35:40.620Z,1378247740.620 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-03T22:35:40.621Z,1378247740.621 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-03T22:35:40.685Z,1378247740.685 [HorizontalControl] Loaded
2013-09-03T22:35:40.685Z,1378247740.685 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-03T22:35:40.686Z,1378247740.686 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-03T22:35:40.688Z,1378247740.688 [SpeedControl] Loaded
2013-09-03T22:35:40.688Z,1378247740.688 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-03T22:35:40.689Z,1378247740.689 [LoopControl](DEBUG): Construct LoopControl.
2013-09-03T22:35:40.689Z,1378247740.689 [LoopControl] Loaded
2013-09-03T22:35:40.689Z,1378247740.689 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-03T22:35:40.690Z,1378247740.690 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-03T22:35:40.691Z,1378247740.691 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-03T22:35:40.699Z,1378247740.699 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-03T22:35:40.708Z,1378247740.708 [AsyncPiEstimator] Loaded
2013-09-03T22:35:40.708Z,1378247740.708 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-03T22:35:40.710Z,1378247740.710 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-03T22:35:40.712Z,1378247740.712 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-03T22:35:40.713Z,1378247740.713 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-03T22:35:40.973Z,1378247740.973 [AHRS_sp3003D] Loaded
2013-09-03T22:35:40.973Z,1378247740.973 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-03T22:35:41.247Z,1378247741.247 [Batt_Ocean_Server] Loaded
2013-09-03T22:35:41.247Z,1378247741.247 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-09-03T22:35:41.260Z,1378247741.260 [Depth_Keller] Loaded
2013-09-03T22:35:41.261Z,1378247741.261 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-03T22:35:41.266Z,1378247741.266 [DropWeight] Loaded
2013-09-03T22:35:41.266Z,1378247741.266 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-09-03T22:35:41.465Z,1378247741.465 [DVL_micro] Loaded
2013-09-03T22:35:41.466Z,1378247741.466 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-03T22:35:41.470Z,1378247741.470 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-09-03T22:35:41.564Z,1378247741.564 [NAL9602] Loaded
2013-09-03T22:35:41.565Z,1378247741.565 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-03T22:35:41.610Z,1378247741.610 [Onboard] Loaded
2013-09-03T22:35:41.611Z,1378247741.611 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-03T22:35:41.617Z,1378247741.617 [Radio_Freewave] Loaded
2013-09-03T22:35:41.618Z,1378247741.618 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-03T22:35:41.774Z,1378247741.774 [DAT] Loaded
2013-09-03T22:35:41.774Z,1378247741.774 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-03T22:35:41.775Z,1378247741.775 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-03T22:35:41.775Z,1378247741.775 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-03T22:35:41.867Z,1378247741.867 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-03T22:35:41.869Z,1378247741.869 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-03T22:35:41.870Z,1378247741.870 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-03T22:35:41.883Z,1378247741.883 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-03T22:35:41.887Z,1378247741.887 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-09-03T22:35:41.891Z,1378247741.891 [Supervisor](DEBUG): Running supervisor.
2013-09-03T22:35:41.892Z,1378247741.892 [CommandLine](INFO): Thread ID is 755
2013-09-03T22:35:41.896Z,1378247741.896 [controlThread](INFO): Thread ID is 754
2013-09-03T22:35:41.896Z,1378247741.896 [controlThread](DEBUG): Initializing ControlThread
2013-09-03T22:35:41.896Z,1378247741.896 [CycleStarter](INFO): Thread ID is 753
2013-09-03T22:35:41.897Z,1378247741.897 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-03T22:35:42.008Z,1378247742.008 [logger](INFO): Thread ID is 756
2013-09-03T22:35:42.132Z,1378247742.132 [AsyncPiEstimator](INFO): Thread ID is 817
2013-09-03T22:35:42.132Z,1378247742.132 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-03T22:35:42.229Z,1378247742.229 [DVL_micro](INFO): Thread ID is 818
2013-09-03T22:35:42.249Z,1378247742.249 [DVL_micro](INFO): Initializing
2013-09-03T22:35:42.249Z,1378247742.249 [DVL_micro](INFO): start:Powering up
2013-09-03T22:35:42.250Z,1378247742.250 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-03T22:35:42.251Z,1378247742.251 [DVL_micro](INFO): Cycling power to configure device.
2013-09-03T22:35:42.260Z,1378247742.260 [NavChartDb](INFO): Thread ID is 819
2013-09-03T22:35:42.303Z,1378247742.303 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-03T22:35:42.303Z,1378247742.303 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-03T22:35:42.308Z,1378247742.308 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-03T22:35:42.308Z,1378247742.308 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-03T22:35:42.308Z,1378247742.308 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-03T22:35:42.308Z,1378247742.308 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-03T22:35:42.309Z,1378247742.309 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-03T22:35:42.309Z,1378247742.309 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-03T22:35:42.309Z,1378247742.309 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-03T22:35:42.372Z,1378247742.372 [SBIT](INFO): Initialize SBIT Component.
2013-09-03T22:35:42.372Z,1378247742.372 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-09-03T22:35:42.373Z,1378247742.373 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-03T22:35:42.373Z,1378247742.373 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-03T22:35:42.373Z,1378247742.373 [IBIT](INFO): Initialize IBIT Component.
2013-09-03T22:35:42.374Z,1378247742.374 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-03T22:35:42.374Z,1378247742.374 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-09-03T22:35:42.375Z,1378247742.375 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-03T22:35:42.401Z,1378247742.401 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-03T22:35:42.402Z,1378247742.402 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-03T22:35:42.402Z,1378247742.402 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-03T22:35:42.402Z,1378247742.402 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-03T22:35:42.403Z,1378247742.403 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-03T22:35:42.403Z,1378247742.403 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-03T22:35:42.404Z,1378247742.404 [Navigation](DEBUG): Initializing Navigation.
2013-09-03T22:35:42.404Z,1378247742.404 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-03T22:35:42.406Z,1378247742.406 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-03T22:35:42.407Z,1378247742.407 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-03T22:35:42.407Z,1378247742.407 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-03T22:35:43.903Z,1378247743.903 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-09-03T22:35:43.938Z,1378247743.938 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-03T22:35:43.979Z,1378247743.979 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-03T22:35:43.993Z,1378247743.993 [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>


2013-09-03T22:35:43.994Z,1378247743.994 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-03T22:35:44.081Z,1378247744.081 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-03T22:35:44.083Z,1378247744.083 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-03T22:35:44.098Z,1378247744.098 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-03T22:35:44.106Z,1378247744.106 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-03T22:35:44.109Z,1378247744.109 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-03T22:35:44.144Z,1378247744.144 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-03T22:35:44.168Z,1378247744.168 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-03T22:35:44.171Z,1378247744.171 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-03T22:35:44.189Z,1378247744.189 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-03T22:35:44.193Z,1378247744.193 [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>


2013-09-03T22:35:44.206Z,1378247744.206 [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,
2013-09-03T22:35:44.275Z,1378247744.275 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-03T22:35:44.363Z,1378247744.363 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-03T22:35:44.364Z,1378247744.364 [DVL_micro](INFO): Querying output modes
2013-09-03T22:35:44.364Z,1378247744.364 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-03T22:35:44.375Z,1378247744.375 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-09-03T22:35:44.375Z,1378247744.375 [DVL_micro](INFO): NQ1 output enabled
2013-09-03T22:35:44.375Z,1378247744.375 [DVL_micro](INFO): RSSI output enabled
2013-09-03T22:35:44.376Z,1378247744.376 [DVL_micro](INFO): ADCP output enabled
2013-09-03T22:35:44.376Z,1378247744.376 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-03T22:35:44.387Z,1378247744.387 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-03T22:35:44.392Z,1378247744.392 [DVL_micro](INFO): pause:Powering down
2013-09-03T22:35:44.504Z,1378247744.504 [Radio_Freewave](INFO): Powering up
2013-09-03T22:35:44.513Z,1378247744.513 [DAT](INFO): Powering up
2013-09-03T22:35:44.513Z,1378247744.513 [DAT](DEBUG): Initializing DAT.
2013-09-03T22:35:44.712Z,1378247744.712 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:35:44.720Z,1378247744.720 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-03T22:35:44.750Z,1378247744.750 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:35:44.756Z,1378247744.756 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-03T22:35:44.770Z,1378247744.770 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:35:44.780Z,1378247744.780 [MassServo](DEBUG): Initializing MassServo.
2013-09-03T22:35:44.798Z,1378247744.798 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:35:44.804Z,1378247744.804 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-03T22:35:44.809Z,1378247744.809 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:35:44.816Z,1378247744.816 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-03T22:35:46.821Z,1378247746.821 [NAL9602](INFO): Powering up NAL9602
2013-09-03T22:35:57.443Z,1378247757.443 [NAL9602](INFO): NAL9602 initialized
2013-09-03T22:35:57.868Z,1378247757.868 [SBIT](IMPORTANT): Beginning Startup BIT
2013-09-03T22:35:57.877Z,1378247757.877 [CBIT](IMPORTANT): Beginning GF scan
2013-09-03T22:36:04.025Z,1378247764.025 [DAT](INFO): Init failed - response: 
2013-09-03T22:36:04.026Z,1378247764.026 [DAT](FAULT): DAT failed to initialize
2013-09-03T22:36:04.026Z,1378247764.026 [DAT] Communications Fault, FailCount= 1
2013-09-03T22:36:04.026Z,1378247764.026 [DAT](ERROR): Communications Fault
2013-09-03T22:36:04.177Z,1378247764.177 [CBIT](ERROR): Communications Fault in component: DAT
2013-09-03T22:36:04.502Z,1378247764.502 [DAT](INFO): Powering down
2013-09-03T22:36:05.500Z,1378247765.500 [CBIT](INFO): Clearing failed state for component DAT
2013-09-03T22:36:05.500Z,1378247765.500 [DAT] No Fault, FailCount= 1
2013-09-03T22:36:07.808Z,1378247767.808 [DAT](INFO): Powering up
2013-09-03T22:36:07.808Z,1378247767.808 [DAT](DEBUG): Initializing DAT.
2013-09-03T22:36:24.606Z,1378247784.606 [CBIT](IMPORTANT): No ground fault detected
2013-09-03T22:36:27.257Z,1378247787.257 [DAT](INFO): Init failed - response: 
2013-09-03T22:36:27.257Z,1378247787.257 [DAT](FAULT): DAT failed to initialize
2013-09-03T22:36:27.258Z,1378247787.258 [DAT] Communications Fault, FailCount= 2
2013-09-03T22:36:27.258Z,1378247787.258 [DAT](ERROR): Communications Fault
2013-09-03T22:36:27.310Z,1378247787.310 [CBIT](ERROR): Communications Fault in component: DAT
2013-09-03T22:36:27.502Z,1378247787.502 [DAT](INFO): Powering down
2013-09-03T22:36:28.363Z,1378247788.363 [CBIT](INFO): Clearing failed state for component DAT
2013-09-03T22:36:28.363Z,1378247788.363 [DAT] No Fault, FailCount= 2
2013-09-03T22:36:30.699Z,1378247790.699 [DAT](INFO): Powering up
2013-09-03T22:36:30.699Z,1378247790.699 [DAT](DEBUG): Initializing DAT.
2013-09-03T22:36:36.588Z,1378247796.588 [CommandLine](IMPORTANT): got command @ /etc/rc.d/init.d/settime
2013-09-03T22:36:46.700Z,1378247806.700 [CommandLine](IMPORTANT): got command @ /etc/rc.d/init.d/settime restart
2013-09-03T22:36:50.021Z,1378247810.021 [DAT](INFO): Init failed - response: 
2013-09-03T22:36:50.021Z,1378247810.021 [DAT](FAULT): DAT failed to initialize
2013-09-03T22:36:50.021Z,1378247810.021 [DAT] Communications Fault, FailCount= 3
2013-09-03T22:36:50.021Z,1378247810.021 [DAT](ERROR): Communications Fault
2013-09-03T22:36:50.067Z,1378247810.067 [CBIT](ERROR): Communications Fault in component: DAT
2013-09-03T22:36:50.068Z,1378247810.068 [CBIT](CRITICAL): Communications Fault in component: DAT
2013-09-03T22:36:50.416Z,1378247810.416 [DAT](INFO): Powering down
2013-09-03T22:36:50.473Z,1378247810.473 [CommandLine](FAULT): Scheduling is paused
2013-09-03T22:36:51.508Z,1378247811.508 [SBIT](IMPORTANT): SBIT PASSED
2013-09-03T22:36:51.980Z,1378247811.980 [MissionManager](IMPORTANT): Started mission Startup
2013-09-03T22:36:51.980Z,1378247811.980 [Startup] Running Loop=1
2013-09-03T22:36:51.980Z,1378247811.980 [Startup](INFO): Aggregate::initialize Startup
2013-09-03T22:36:51.980Z,1378247811.980 [Startup:A.GoToSurface] Running Loop=1
2013-09-03T22:36:51.980Z,1378247811.980 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-09-03T22:36:51.990Z,1378247811.990 [Startup:StartupSatComms] Running Loop=1
2013-09-03T22:36:51.991Z,1378247811.991 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-09-03T22:36:51.991Z,1378247811.991 [Startup:StartupSatComms:A] Running Loop=1
2013-09-03T22:36:52.285Z,1378247812.285 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-09-03T22:37:52.280Z,1378247872.280 [Startup:StartupSatComms:A](INFO): Timed out from 2013-09-03T22:36:51.0Z
2013-09-03T22:37:52.280Z,1378247872.280 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-09-03T22:37:52.280Z,1378247872.280 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-09-03T22:37:52.281Z,1378247872.281 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-09-03T22:37:52.281Z,1378247872.281 [Startup:StartupSatComms:A] Stopped
2013-09-03T22:37:52.281Z,1378247872.281 [Startup:StartupSatComms:B] Running Loop=1
2013-09-03T22:37:52.700Z,1378247872.700 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-09-03T22:38:52.385Z,1378247932.385 [Startup:StartupSatComms:B](INFO): Timed out from 2013-09-03T22:37:52.3Z
2013-09-03T22:38:52.385Z,1378247932.385 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-09-03T22:38:52.385Z,1378247932.385 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-09-03T22:38:52.385Z,1378247932.385 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-09-03T22:38:52.385Z,1378247932.385 [Startup:StartupSatComms:B] Stopped
2013-09-03T22:38:52.385Z,1378247932.385 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-09-03T22:38:52.385Z,1378247932.385 [Startup:StartupSatComms] Stopped
2013-09-03T22:38:52.385Z,1378247932.385 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-09-03T22:38:52.387Z,1378247932.387 [Startup](INFO): Completed Startup
2013-09-03T22:38:52.387Z,1378247932.387 [Startup] Stopped
2013-09-03T22:38:52.387Z,1378247932.387 [Startup](INFO): Aggregate::uninitialize Startup
2013-09-03T22:38:52.387Z,1378247932.387 [Startup:A.GoToSurface] Stopped
2013-09-03T22:38:52.387Z,1378247932.387 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-09-03T22:38:53.278Z,1378247933.278 [MissionManager](IMPORTANT): Started mission Default
2013-09-03T22:38:53.278Z,1378247933.278 [Default] Running Loop=1
2013-09-03T22:38:53.278Z,1378247933.278 [Default](INFO): Aggregate::initialize Default
2013-09-03T22:38:53.278Z,1378247933.278 [Default:D.SetSpeed] Running Loop=1
2013-09-03T22:38:53.278Z,1378247933.278 [Default:D.SetSpeed](DEBUG): Initialize.
2013-09-03T22:38:53.279Z,1378247933.279 [Default:E.GoToSurface] Running Loop=1
2013-09-03T22:38:53.279Z,1378247933.279 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-09-03T22:38:53.279Z,1378247933.279 [Default:Iridium] Running Loop=1
2013-09-03T22:38:53.279Z,1378247933.279 [Default:Iridium](INFO): A