2013-09-03T22:42:15.569Z,1378248135.569 [Supervisor](DEBUG): Initializing supervisor.
2013-09-03T22:42:15.572Z,1378248135.572 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-03T22:42:15.572Z,1378248135.572 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-03T22:42:15.576Z,1378248135.576 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-03T22:42:15.579Z,1378248135.579 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-03T22:42:15.590Z,1378248135.590 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-03T22:42:15.592Z,1378248135.592 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-03T22:42:15.593Z,1378248135.593 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-03T22:42:15.596Z,1378248135.596 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-03T22:42:15.596Z,1378248135.596 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-03T22:42:15.601Z,1378248135.601 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-03T22:42:15.912Z,1378248135.912 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-03T22:42:15.912Z,1378248135.912 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-03T22:42:16.128Z,1378248136.128 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-03T22:42:16.129Z,1378248136.129 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-03T22:42:16.224Z,1378248136.224 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-03T22:42:16.226Z,1378248136.226 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-03T22:42:16.354Z,1378248136.354 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-03T22:42:16.354Z,1378248136.354 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-03T22:42:16.509Z,1378248136.509 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-03T22:42:16.511Z,1378248136.511 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-03T22:42:16.775Z,1378248136.775 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-03T22:42:16.775Z,1378248136.775 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-03T22:42:16.959Z,1378248136.959 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-03T22:42:16.961Z,1378248136.961 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-03T22:42:17.256Z,1378248137.256 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-03T22:42:17.258Z,1378248137.258 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-03T22:42:17.375Z,1378248137.375 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-03T22:42:17.376Z,1378248137.376 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-03T22:42:17.829Z,1378248137.829 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-03T22:42:17.829Z,1378248137.829 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-03T22:42:17.948Z,1378248137.948 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-03T22:42:17.949Z,1378248137.949 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-03T22:42:18.045Z,1378248138.045 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-03T22:42:18.049Z,1378248138.049 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-03T22:42:18.159Z,1378248138.159 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-03T22:42:18.301Z,1378248138.301 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-03T22:42:18.405Z,1378248138.405 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-03T22:42:18.521Z,1378248138.521 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-03T22:42:18.628Z,1378248138.628 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-03T22:42:18.758Z,1378248138.758 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-03T22:42:18.866Z,1378248138.866 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-03T22:42:18.960Z,1378248138.960 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-09-03T22:42:18.973Z,1378248138.973 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-03T22:42:19.192Z,1378248139.192 [InternalSim] Loaded
2013-09-03T22:42:19.193Z,1378248139.193 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-03T22:42:19.193Z,1378248139.193 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-03T22:42:19.194Z,1378248139.194 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-03T22:42:20.400Z,1378248140.400 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-03T22:42:20.429Z,1378248140.429 [SBIT] Loaded
2013-09-03T22:42:20.429Z,1378248140.429 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-03T22:42:20.430Z,1378248140.430 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-03T22:42:20.463Z,1378248140.463 [IBIT] Loaded
2013-09-03T22:42:20.463Z,1378248140.463 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-03T22:42:20.465Z,1378248140.465 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-03T22:42:20.591Z,1378248140.591 [CBIT] Loaded
2013-09-03T22:42:20.591Z,1378248140.591 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-03T22:42:20.592Z,1378248140.592 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-03T22:42:20.592Z,1378248140.592 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-03T22:42:20.793Z,1378248140.793 [BuoyancyServo] Loaded
2013-09-03T22:42:20.794Z,1378248140.794 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-03T22:42:20.806Z,1378248140.806 [ElevatorServo] Loaded
2013-09-03T22:42:20.806Z,1378248140.806 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-03T22:42:20.821Z,1378248140.821 [MassServo] Loaded
2013-09-03T22:42:20.821Z,1378248140.821 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-03T22:42:20.833Z,1378248140.833 [RudderServo] Loaded
2013-09-03T22:42:20.833Z,1378248140.833 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-03T22:42:20.844Z,1378248140.844 [ThrusterServo] Loaded
2013-09-03T22:42:20.844Z,1378248140.844 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-03T22:42:20.845Z,1378248140.845 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-03T22:42:20.846Z,1378248140.846 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-03T22:42:20.906Z,1378248140.906 [DepthRateCalculator] Loaded
2013-09-03T22:42:20.906Z,1378248140.906 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-03T22:42:24.381Z,1378248144.381 [HFRadarModelCalc] Loaded
2013-09-03T22:42:24.382Z,1378248144.382 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-03T22:42:24.398Z,1378248144.398 [NavChart] Loaded
2013-09-03T22:42:24.398Z,1378248144.398 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-03T22:42:24.404Z,1378248144.404 [PitchRateCalculator] Loaded
2013-09-03T22:42:24.404Z,1378248144.404 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-03T22:42:24.419Z,1378248144.419 [SpeedCalculator] Loaded
2013-09-03T22:42:24.419Z,1378248144.419 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-03T22:42:24.435Z,1378248144.435 [TempGradientCalculator] Loaded
2013-09-03T22:42:24.435Z,1378248144.435 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-03T22:42:24.441Z,1378248144.441 [YawRateCalculator] Loaded
2013-09-03T22:42:24.441Z,1378248144.441 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-03T22:42:24.491Z,1378248144.491 [Navigation] Loaded
2013-09-03T22:42:24.492Z,1378248144.492 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-03T22:42:24.492Z,1378248144.492 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-03T22:42:24.493Z,1378248144.493 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-03T22:42:24.800Z,1378248144.800 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-03T22:42:24.800Z,1378248144.800 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-03T22:42:24.839Z,1378248144.839 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-03T22:42:24.840Z,1378248144.840 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-03T22:42:24.912Z,1378248144.912 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-03T22:42:25.013Z,1378248145.013 [VerticalControl] Loaded
2013-09-03T22:42:25.013Z,1378248145.013 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-03T22:42:25.014Z,1378248145.014 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-03T22:42:25.079Z,1378248145.079 [HorizontalControl] Loaded
2013-09-03T22:42:25.080Z,1378248145.080 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-03T22:42:25.080Z,1378248145.080 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-03T22:42:25.082Z,1378248145.082 [SpeedControl] Loaded
2013-09-03T22:42:25.082Z,1378248145.082 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-03T22:42:25.083Z,1378248145.083 [LoopControl](DEBUG): Construct LoopControl.
2013-09-03T22:42:25.084Z,1378248145.084 [LoopControl] Loaded
2013-09-03T22:42:25.084Z,1378248145.084 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-03T22:42:25.084Z,1378248145.084 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-03T22:42:25.085Z,1378248145.085 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-03T22:42:25.093Z,1378248145.093 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-03T22:42:25.098Z,1378248145.098 [AsyncPiEstimator] Loaded
2013-09-03T22:42:25.099Z,1378248145.099 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-03T22:42:25.103Z,1378248145.103 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-03T22:42:25.103Z,1378248145.103 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-03T22:42:25.104Z,1378248145.104 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-03T22:42:25.366Z,1378248145.366 [AHRS_sp3003D] Loaded
2013-09-03T22:42:25.366Z,1378248145.366 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-03T22:42:25.639Z,1378248145.639 [Batt_Ocean_Server] Loaded
2013-09-03T22:42:25.640Z,1378248145.640 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-09-03T22:42:25.657Z,1378248145.657 [Depth_Keller] Loaded
2013-09-03T22:42:25.658Z,1378248145.658 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-03T22:42:25.663Z,1378248145.663 [DropWeight] Loaded
2013-09-03T22:42:25.663Z,1378248145.663 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-09-03T22:42:25.867Z,1378248145.867 [DVL_micro] Loaded
2013-09-03T22:42:25.868Z,1378248145.868 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-03T22:42:25.872Z,1378248145.872 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-09-03T22:42:25.967Z,1378248145.967 [NAL9602] Loaded
2013-09-03T22:42:25.967Z,1378248145.967 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-03T22:42:26.014Z,1378248146.014 [Onboard] Loaded
2013-09-03T22:42:26.014Z,1378248146.014 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-03T22:42:26.021Z,1378248146.021 [Radio_Freewave] Loaded
2013-09-03T22:42:26.021Z,1378248146.021 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-03T22:42:26.178Z,1378248146.178 [DAT] Loaded
2013-09-03T22:42:26.178Z,1378248146.178 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-03T22:42:26.179Z,1378248146.179 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-03T22:42:26.180Z,1378248146.180 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-03T22:42:26.271Z,1378248146.271 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-03T22:42:26.274Z,1378248146.274 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-03T22:42:26.275Z,1378248146.275 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-03T22:42:26.287Z,1378248146.287 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-03T22:42:26.288Z,1378248146.288 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-09-03T22:42:26.292Z,1378248146.292 [Supervisor](DEBUG): Running supervisor.
2013-09-03T22:42:26.293Z,1378248146.293 [CommandLine](INFO): Thread ID is 755
2013-09-03T22:42:26.296Z,1378248146.296 [controlThread](INFO): Thread ID is 754
2013-09-03T22:42:26.296Z,1378248146.296 [controlThread](DEBUG): Initializing ControlThread
2013-09-03T22:42:26.297Z,1378248146.297 [CycleStarter](INFO): Thread ID is 753
2013-09-03T22:42:26.297Z,1378248146.297 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-03T22:42:26.395Z,1378248146.395 [logger](INFO): Thread ID is 756
2013-09-03T22:42:26.481Z,1378248146.481 [AsyncPiEstimator](INFO): Thread ID is 817
2013-09-03T22:42:26.481Z,1378248146.481 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-03T22:42:26.490Z,1378248146.490 [DVL_micro](INFO): Thread ID is 818
2013-09-03T22:42:26.604Z,1378248146.604 [NavChartDb](INFO): Thread ID is 819
2013-09-03T22:42:26.651Z,1378248146.651 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-03T22:42:26.652Z,1378248146.652 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-03T22:42:26.652Z,1378248146.652 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-03T22:42:26.653Z,1378248146.653 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-03T22:42:26.653Z,1378248146.653 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-03T22:42:26.653Z,1378248146.653 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-03T22:42:26.653Z,1378248146.653 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-03T22:42:26.653Z,1378248146.653 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-03T22:42:26.654Z,1378248146.654 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-03T22:42:26.656Z,1378248146.656 [DVL_micro](INFO): Initializing
2013-09-03T22:42:26.656Z,1378248146.656 [DVL_micro](INFO): start:Powering up
2013-09-03T22:42:26.665Z,1378248146.665 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-03T22:42:26.666Z,1378248146.666 [DVL_micro](INFO): Cycling power to configure device.
2013-09-03T22:42:26.680Z,1378248146.680 [SBIT](INFO): Initialize SBIT Component.
2013-09-03T22:42:26.680Z,1378248146.680 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-09-03T22:42:26.680Z,1378248146.680 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-03T22:42:26.681Z,1378248146.681 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-03T22:42:26.686Z,1378248146.686 [IBIT](INFO): Initialize IBIT Component.
2013-09-03T22:42:26.686Z,1378248146.686 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-03T22:42:26.687Z,1378248146.687 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-09-03T22:42:26.687Z,1378248146.687 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-03T22:42:26.718Z,1378248146.718 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-03T22:42:26.719Z,1378248146.719 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-03T22:42:26.719Z,1378248146.719 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-03T22:42:26.720Z,1378248146.720 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-03T22:42:26.720Z,1378248146.720 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-03T22:42:26.720Z,1378248146.720 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-03T22:42:26.721Z,1378248146.721 [Navigation](DEBUG): Initializing Navigation.
2013-09-03T22:42:26.721Z,1378248146.721 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-03T22:42:26.723Z,1378248146.723 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-03T22:42:26.724Z,1378248146.724 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-03T22:42:26.724Z,1378248146.724 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-03T22:42:28.276Z,1378248148.276 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-09-03T22:42:28.276Z,1378248148.276 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-09-03T22:42:28.276Z,1378248148.276 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2013-09-03T22:42:28.276Z,1378248148.276 [Batt_Ocean_Server](ERROR): Communications Fault
2013-09-03T22:42:28.283Z,1378248148.283 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-03T22:42:28.320Z,1378248148.320 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-03T22:42:28.350Z,1378248148.350 [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>


2013-09-03T22:42:28.350Z,1378248148.350 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-03T22:42:28.448Z,1378248148.448 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-03T22:42:28.450Z,1378248148.450 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-03T22:42:28.458Z,1378248148.458 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-03T22:42:28.465Z,1378248148.465 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-03T22:42:28.477Z,1378248148.477 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-03T22:42:28.483Z,1378248148.483 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-03T22:42:28.532Z,1378248148.532 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-03T22:42:28.535Z,1378248148.535 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-03T22:42:28.553Z,1378248148.553 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-03T22:42:28.556Z,1378248148.556 [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>


2013-09-03T22:42:28.560Z,1378248148.560 [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,
2013-09-03T22:42:28.616Z,1378248148.616 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-03T22:42:28.749Z,1378248148.749 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-03T22:42:28.749Z,1378248148.749 [DVL_micro](INFO): Querying output modes
2013-09-03T22:42:28.749Z,1378248148.749 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-03T22:42:28.760Z,1378248148.760 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-09-03T22:42:28.761Z,1378248148.761 [DVL_micro](INFO): NQ1 output enabled
2013-09-03T22:42:28.761Z,1378248148.761 [DVL_micro](INFO): RSSI output enabled
2013-09-03T22:42:28.761Z,1378248148.761 [DVL_micro](INFO): ADCP output enabled
2013-09-03T22:42:28.761Z,1378248148.761 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-03T22:42:28.772Z,1378248148.772 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-03T22:42:28.778Z,1378248148.778 [DVL_micro](INFO): pause:Powering down
2013-09-03T22:42:28.837Z,1378248148.837 [Radio_Freewave](INFO): Powering up
2013-09-03T22:42:28.846Z,1378248148.846 [DAT](INFO): Powering up
2013-09-03T22:42:28.846Z,1378248148.846 [DAT](DEBUG): Initializing DAT.
2013-09-03T22:42:29.038Z,1378248149.038 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:42:29.045Z,1378248149.045 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-03T22:42:29.061Z,1378248149.061 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:42:29.069Z,1378248149.069 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-03T22:42:29.075Z,1378248149.075 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:42:29.081Z,1378248149.081 [MassServo](DEBUG): Initializing MassServo.
2013-09-03T22:42:29.087Z,1378248149.087 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:42:29.093Z,1378248149.093 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-03T22:42:29.111Z,1378248149.111 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-03T22:42:29.117Z,1378248149.117 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-03T22:42:29.159Z,1378248149.159 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-09-03T22:42:29.159Z,1378248149.159 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-09-03T22:42:29.159Z,1378248149.159 [Batt_Ocean_Server] No Fault, FailCount= 1
2013-09-03T22:42:29.417Z,1378248149.417 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-09-03T22:42:29.417Z,1378248149.417 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0x42360D0A
2013-09-03T22:42:29.418Z,1378248149.418 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-09-03T22:42:29.418Z,1378248149.418 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-09-03T22:42:29.418Z,1378248149.418 [AHRS_sp3003D](ERROR): Hardware Fault
2013-09-03T22:42:29.582Z,1378248149.582 [DVL_micro](INFO): RSSI unrequested
2013-09-03T22:42:29.582Z,1378248149.582 [DVL_micro](INFO): ADCP unrequested
2013-09-03T22:42:29.583Z,1378248149.583 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-03T22:42:29.583Z,1378248149.583 [DVL_micro](INFO): resume:Powering up
2013-09-03T22:42:29.583Z,1378248149.583 [DVL_micro](INFO): Cycling power to configure device.
2013-09-03T22:42:31.005Z,1378248151.005 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-09-03T22:42:31.034Z,1378248151.034 [NAL9602](INFO): Powering up NAL9602
2013-09-03T22:42:31.378Z,1378248151.378 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-09-03T22:42:31.461Z,1378248151.461 [AHRS_sp3003D](INFO): Powering down
2013-09-03T22:42:31.589Z,1378248151.589 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-03T22:42:31.589Z,1378248151.589 [DVL_micro](INFO): Querying output modes
2013-09-03T22:42:31.589Z,1378248151.589 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-03T22:42:31.601Z,1378248151.601 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-09-03T22:42:31.601Z,1378248151.601 [DVL_micro](INFO): NQ1 output enabled
2013-09-03T22:42:31.601Z,1378248151.601 [DVL_micro](INFO): RSSI output enabled
2013-09-03T22