2013-09-04T00:10:20.360Z,1378253420.360 [Supervisor](DEBUG): Initializing supervisor.
2013-09-04T00:10:20.366Z,1378253420.366 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-04T00:10:20.367Z,1378253420.367 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-04T00:10:20.370Z,1378253420.370 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-04T00:10:20.374Z,1378253420.374 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-04T00:10:20.385Z,1378253420.385 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-04T00:10:20.386Z,1378253420.386 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-04T00:10:20.387Z,1378253420.387 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-04T00:10:20.390Z,1378253420.390 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-04T00:10:20.391Z,1378253420.391 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-04T00:10:20.395Z,1378253420.395 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-04T00:10:20.728Z,1378253420.728 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-04T00:10:20.728Z,1378253420.728 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-04T00:10:20.948Z,1378253420.948 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-04T00:10:20.948Z,1378253420.948 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-04T00:10:21.047Z,1378253421.047 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-04T00:10:21.049Z,1378253421.049 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-04T00:10:21.172Z,1378253421.172 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-04T00:10:21.173Z,1378253421.173 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-04T00:10:21.328Z,1378253421.328 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-04T00:10:21.330Z,1378253421.330 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-04T00:10:21.601Z,1378253421.601 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-04T00:10:21.602Z,1378253421.602 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-04T00:10:21.789Z,1378253421.789 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-04T00:10:21.791Z,1378253421.791 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-04T00:10:22.090Z,1378253422.090 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-04T00:10:22.092Z,1378253422.092 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-04T00:10:22.210Z,1378253422.210 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-04T00:10:22.210Z,1378253422.210 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-04T00:10:22.679Z,1378253422.679 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-04T00:10:22.680Z,1378253422.680 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-04T00:10:22.799Z,1378253422.799 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-04T00:10:22.799Z,1378253422.799 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-04T00:10:22.895Z,1378253422.895 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-04T00:10:22.899Z,1378253422.899 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-04T00:10:23.013Z,1378253423.013 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-04T00:10:23.156Z,1378253423.156 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-04T00:10:23.260Z,1378253423.260 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-04T00:10:23.376Z,1378253423.376 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-04T00:10:23.484Z,1378253423.484 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-04T00:10:23.616Z,1378253423.616 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-04T00:10:23.724Z,1378253423.724 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-04T00:10:23.819Z,1378253423.819 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-09-04T00:10:23.824Z,1378253423.824 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-04T00:10:24.052Z,1378253424.052 [InternalSim] Loaded
2013-09-04T00:10:24.052Z,1378253424.052 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-04T00:10:24.053Z,1378253424.053 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-04T00:10:24.054Z,1378253424.054 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-04T00:10:24.198Z,1378253424.198 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-04T00:10:24.233Z,1378253424.233 [SBIT] Loaded
2013-09-04T00:10:24.233Z,1378253424.233 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-04T00:10:24.234Z,1378253424.234 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-04T00:10:24.270Z,1378253424.270 [IBIT] Loaded
2013-09-04T00:10:24.270Z,1378253424.270 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-04T00:10:24.272Z,1378253424.272 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-04T00:10:24.409Z,1378253424.409 [CBIT] Loaded
2013-09-04T00:10:24.409Z,1378253424.409 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-04T00:10:24.410Z,1378253424.410 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-04T00:10:24.411Z,1378253424.411 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-04T00:10:25.640Z,1378253425.640 [BuoyancyServo] Loaded
2013-09-04T00:10:25.641Z,1378253425.641 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-04T00:10:25.653Z,1378253425.653 [ElevatorServo] Loaded
2013-09-04T00:10:25.653Z,1378253425.653 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-04T00:10:25.665Z,1378253425.665 [MassServo] Loaded
2013-09-04T00:10:25.665Z,1378253425.665 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-04T00:10:25.677Z,1378253425.677 [RudderServo] Loaded
2013-09-04T00:10:25.677Z,1378253425.677 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-04T00:10:25.689Z,1378253425.689 [ThrusterServo] Loaded
2013-09-04T00:10:25.689Z,1378253425.689 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-04T00:10:25.690Z,1378253425.690 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-04T00:10:25.690Z,1378253425.690 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-04T00:10:26.227Z,1378253426.227 [DepthRateCalculator] Loaded
2013-09-04T00:10:26.227Z,1378253426.227 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-04T00:10:29.417Z,1378253429.417 [HFRadarModelCalc] Loaded
2013-09-04T00:10:29.417Z,1378253429.417 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-04T00:10:29.434Z,1378253429.434 [NavChart] Loaded
2013-09-04T00:10:29.434Z,1378253429.434 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-04T00:10:29.440Z,1378253429.440 [PitchRateCalculator] Loaded
2013-09-04T00:10:29.440Z,1378253429.440 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-04T00:10:29.451Z,1378253429.451 [SpeedCalculator] Loaded
2013-09-04T00:10:29.452Z,1378253429.452 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-04T00:10:29.469Z,1378253429.469 [TempGradientCalculator] Loaded
2013-09-04T00:10:29.469Z,1378253429.469 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-04T00:10:29.475Z,1378253429.475 [YawRateCalculator] Loaded
2013-09-04T00:10:29.475Z,1378253429.475 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-04T00:10:29.524Z,1378253429.524 [Navigation] Loaded
2013-09-04T00:10:29.524Z,1378253429.524 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-04T00:10:29.525Z,1378253429.525 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-04T00:10:29.526Z,1378253429.526 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-04T00:10:29.818Z,1378253429.818 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-04T00:10:29.819Z,1378253429.819 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-04T00:10:29.859Z,1378253429.859 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-04T00:10:29.859Z,1378253429.859 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-04T00:10:29.929Z,1378253429.929 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-04T00:10:30.027Z,1378253430.027 [VerticalControl] Loaded
2013-09-04T00:10:30.027Z,1378253430.027 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-04T00:10:30.028Z,1378253430.028 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-04T00:10:30.088Z,1378253430.088 [HorizontalControl] Loaded
2013-09-04T00:10:30.089Z,1378253430.089 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-04T00:10:30.089Z,1378253430.089 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-04T00:10:30.091Z,1378253430.091 [SpeedControl] Loaded
2013-09-04T00:10:30.091Z,1378253430.091 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-04T00:10:30.092Z,1378253430.092 [LoopControl](DEBUG): Construct LoopControl.
2013-09-04T00:10:30.093Z,1378253430.093 [LoopControl] Loaded
2013-09-04T00:10:30.093Z,1378253430.093 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-04T00:10:30.093Z,1378253430.093 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-04T00:10:30.094Z,1378253430.094 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-04T00:10:30.103Z,1378253430.103 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-04T00:10:30.108Z,1378253430.108 [AsyncPiEstimator] Loaded
2013-09-04T00:10:30.108Z,1378253430.108 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-04T00:10:30.109Z,1378253430.109 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-04T00:10:30.110Z,1378253430.110 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-04T00:10:30.111Z,1378253430.111 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-04T00:10:30.360Z,1378253430.360 [AHRS_sp3003D] Loaded
2013-09-04T00:10:30.360Z,1378253430.360 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-04T00:10:30.630Z,1378253430.630 [Batt_Ocean_Server] Loaded
2013-09-04T00:10:30.631Z,1378253430.631 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-09-04T00:10:30.645Z,1378253430.645 [Depth_Keller] Loaded
2013-09-04T00:10:30.645Z,1378253430.645 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-04T00:10:30.650Z,1378253430.650 [DropWeight] Loaded
2013-09-04T00:10:30.651Z,1378253430.651 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-09-04T00:10:30.843Z,1378253430.843 [DVL_micro] Loaded
2013-09-04T00:10:30.843Z,1378253430.843 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-04T00:10:30.844Z,1378253430.844 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-09-04T00:10:30.937Z,1378253430.937 [NAL9602] Loaded
2013-09-04T00:10:30.937Z,1378253430.937 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-04T00:10:30.981Z,1378253430.981 [Onboard] Loaded
2013-09-04T00:10:30.982Z,1378253430.982 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-04T00:10:30.989Z,1378253430.989 [Radio_Freewave] Loaded
2013-09-04T00:10:30.989Z,1378253430.989 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-04T00:10:31.137Z,1378253431.137 [DAT] Loaded
2013-09-04T00:10:31.137Z,1378253431.137 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-04T00:10:31.138Z,1378253431.138 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-04T00:10:31.139Z,1378253431.139 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-04T00:10:31.232Z,1378253431.232 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-04T00:10:31.234Z,1378253431.234 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-04T00:10:31.235Z,1378253431.235 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-04T00:10:31.248Z,1378253431.248 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-04T00:10:31.249Z,1378253431.249 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-09-04T00:10:31.253Z,1378253431.253 [Supervisor](DEBUG): Running supervisor.
2013-09-04T00:10:31.254Z,1378253431.254 [CommandLine](INFO): Thread ID is 755
2013-09-04T00:10:31.257Z,1378253431.257 [controlThread](INFO): Thread ID is 754
2013-09-04T00:10:31.257Z,1378253431.257 [controlThread](DEBUG): Initializing ControlThread
2013-09-04T00:10:31.257Z,1378253431.257 [CycleStarter](INFO): Thread ID is 753
2013-09-04T00:10:31.258Z,1378253431.258 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-04T00:10:31.356Z,1378253431.356 [logger](INFO): Thread ID is 756
2013-09-04T00:10:31.380Z,1378253431.380 [AsyncPiEstimator](INFO): Thread ID is 817
2013-09-04T00:10:31.380Z,1378253431.380 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-04T00:10:31.396Z,1378253431.396 [DVL_micro](INFO): Thread ID is 818
2013-09-04T00:10:31.526Z,1378253431.526 [NavChartDb](INFO): Thread ID is 819
2013-09-04T00:10:31.590Z,1378253431.590 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-04T00:10:31.591Z,1378253431.591 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-04T00:10:31.592Z,1378253431.592 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-04T00:10:31.592Z,1378253431.592 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-04T00:10:31.592Z,1378253431.592 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-04T00:10:31.592Z,1378253431.592 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-04T00:10:31.593Z,1378253431.593 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-04T00:10:31.593Z,1378253431.593 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-04T00:10:31.593Z,1378253431.593 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-04T00:10:31.615Z,1378253431.615 [SBIT](INFO): Initialize SBIT Component.
2013-09-04T00:10:31.616Z,1378253431.616 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-09-04T00:10:31.616Z,1378253431.616 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-04T00:10:31.617Z,1378253431.617 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-04T00:10:31.617Z,1378253431.617 [IBIT](INFO): Initialize IBIT Component.
2013-09-04T00:10:31.618Z,1378253431.618 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-04T00:10:31.618Z,1378253431.618 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-09-04T00:10:31.619Z,1378253431.619 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-04T00:10:31.630Z,1378253431.630 [DVL_micro](INFO): Initializing
2013-09-04T00:10:31.630Z,1378253431.630 [DVL_micro](INFO): start:Powering up
2013-09-04T00:10:31.631Z,1378253431.631 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-04T00:10:31.633Z,1378253431.633 [DVL_micro](INFO): Cycling power to configure device.
2013-09-04T00:10:31.645Z,1378253431.645 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-04T00:10:31.645Z,1378253431.645 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-04T00:10:31.646Z,1378253431.646 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-04T00:10:31.646Z,1378253431.646 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-04T00:10:31.646Z,1378253431.646 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-04T00:10:31.647Z,1378253431.647 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-04T00:10:31.647Z,1378253431.647 [Navigation](DEBUG): Initializing Navigation.
2013-09-04T00:10:31.648Z,1378253431.648 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-04T00:10:31.650Z,1378253431.650 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-04T00:10:31.650Z,1378253431.650 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-04T00:10:31.651Z,1378253431.651 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-04T00:10:33.485Z,1378253433.485 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-09-04T00:10:33.518Z,1378253433.518 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-04T00:10:33.555Z,1378253433.555 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-04T00:10:33.594Z,1378253433.594 [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>


2013-09-04T00:10:33.603Z,1378253433.603 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-04T00:10:33.654Z,1378253433.654 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-04T00:10:33.656Z,1378253433.656 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-04T00:10:33.691Z,1378253433.691 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-04T00:10:33.703Z,1378253433.703 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-04T00:10:33.703Z,1378253433.703 [DVL_micro](INFO): Querying output modes
2013-09-04T00:10:33.704Z,1378253433.704 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-04T00:10:33.715Z,1378253433.715 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-09-04T00:10:33.715Z,1378253433.715 [DVL_micro](INFO): NQ1 output enabled
2013-09-04T00:10:33.715Z,1378253433.715 [DVL_micro](INFO): RSSI output enabled
2013-09-04T00:10:33.715Z,1378253433.715 [DVL_micro](INFO): ADCP output enabled
2013-09-04T00:10:33.716Z,1378253433.716 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-04T00:10:33.720Z,1378253433.720 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-04T00:10:33.723Z,1378253433.723 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-04T00:10:33.727Z,1378253433.727 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-04T00:10:33.740Z,1378253433.740 [DVL_micro](INFO): pause:Powering down
2013-09-04T00:10:33.745Z,1378253433.745 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-04T00:10:33.781Z,1378253433.781 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-04T00:10:33.801Z,1378253433.801 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-04T00:10:33.805Z,1378253433.805 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-04T00:10:33.821Z,1378253433.821 [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>


2013-09-04T00:10:33.825Z,1378253433.825 [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,
2013-09-04T00:10:33.891Z,1378253433.891 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-04T00:10:34.084Z,1378253434.084 [Radio_Freewave](INFO): Powering up
2013-09-04T00:10:34.093Z,1378253434.093 [DAT](INFO): Powering up
2013-09-04T00:10:34.093Z,1378253434.093 [DAT](DEBUG): Initializing DAT.
2013-09-04T00:10:34.284Z,1378253434.284 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-04T00:10:34.292Z,1378253434.292 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-04T00:10:34.306Z,1378253434.306 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-04T00:10:34.312Z,1378253434.312 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-04T00:10:34.330Z,1378253434.330 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-04T00:10:34.336Z,1378253434.336 [MassServo](DEBUG): Initializing MassServo.
2013-09-04T00:10:34.342Z,1378253434.342 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-04T00:10:34.348Z,1378253434.348 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-04T00:10:34.354Z,1378253434.354 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-04T00:10:34.386Z,1378253434.386 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-04T00:10:34.616Z,1378253434.616 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xA409A04236
2013-09-04T00:10:34.616Z,1378253434.616 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-09-04T00:10:34.616Z,1378253434.616 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-09-04T00:10:34.617Z,1378253434.617 [AHRS_sp3003D](ERROR): Hardware Fault
2013-09-04T00:10:34.672Z,1378253434.672 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-09-04T00:10:34.857Z,1378253434.857 [AHRS_sp3003D](INFO): Powering down
2013-09-04T00:10:34.949Z,1378253434.949 [DVL_micro](INFO): RSSI unrequested
2013-09-04T00:10:34.949Z,1378253434.949 [DVL_micro](INFO): ADCP unrequested
2013-09-04T00:10:34.950Z,1378253434.950 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-04T00:10:34.950Z,1378253434.950 [DVL_micro](INFO): resume:Powering up
2013-09-04T00:10:34.950Z,1378253434.950 [DVL_micro](INFO): Cycling power to configure device.
2013-09-04T00:10:36.199Z,1378253436.199 [NAL9602](INFO): Powering up NAL9602
2013-09-04T00:10:36.342Z,1378253436.342 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-09-04T00:10:36.342Z,1378253436.342 [AHRS_sp3003D] No Fault, FailCount= 1
2013-09-04T00:10:36.595Z,1378253436.595 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-04T00:10:36.956Z,1378253436.956 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-04T00:10:36.956Z,1378253436.956 [DVL_micro](INFO): Querying output modes
2013-09-04T00:10:36.957Z,1378253436.957 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-04T00:10:36.968Z,1378253436.968 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-09-04T00:10:36.969Z,1378253436.969 [DVL_micro](INFO): NQ1 output enabled
2013-09-04T00:10:36.969Z,1378253436.969 [DVL_micro](INFO): RSSI output enabled
2013-09-04T00:10:36.969Z,1378253436.969 [DVL_micro](INFO): ADCP output enabled
2013-09-04T00:10:36.969Z,1378253436.969 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-04T00:10:36.980Z,1378253436.980 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-04T00:10:36.983Z,1378253436.983 [DVL_micro](INFO): pause:Powering down
2013-09-04T00:10:46.980Z,1378253446.980 [NAL9602](INFO): NAL9602 initialized
2013-09-04T00:10:47.021Z,1378253447.021 [SBIT](IMPORTANT): Beginning Startup BIT
2013-09-04T00:10:47.027Z,1378253447.027 [CBIT](IMPORTANT): Beginning GF scan
2013-09-04T00:10:53.638Z,1378253453.638 [DAT](INFO): Init failed - response: 
2013-09-04T00:10:53.638Z,1378253453.638 [DAT](FAULT): DAT failed to initialize
2013-09-04T00:10:53.638Z,1378253453.638 [DAT] Communications Fault, FailCount= 1
2013-09-04T00:10:53.638Z,1378253453.638 [DAT](ERROR): Communications Fault
2013-09-04T00:10:53.706Z,1378253453.706 [CBIT](ERROR): Communications Fault in component: DAT
2013-09-04T00:10:54.049Z,1378253454.049 [DAT](INFO): Powering down
2013-09-04T00:10:54.948Z,1378253454.948 [CBIT](INFO): Clearing failed state for component DAT
2013-09-04T00:10:54.948Z,1378253454.948 [DAT] No Fault, FailCount= 1
2013-09-04T00:10:57.287Z,1378253457.287 [DAT](INFO): Powering up
2013-09-04T00:10:57.291Z,1378253457.291 [DAT](DEBUG): Initializing DAT.
2013-09-04T00:11:03.525Z,1378253463.525 [CommandLine](IMPORTANT): got command @ /etc/rc.d/init.d/settime restart
2013-09-04T00:11:13.417Z,1378253473.417 [CBIT](IMPORTANT): No ground fault detected
2013-09-04T00:11:17.366Z,1378253477.366 [DAT](INFO): Powering down
2013-09-04T00:11:40.411Z,1378253500.411 [SBIT](IMPORTANT): SBIT PASSED
2013-09-04T00:11:40.791Z,1378253500.791 [MissionManager](IMPORTANT): Started mission Startup
2013-09-04T00:11:40.791Z,1378253500.791 [Startup] Running Loop=1
2013-09-04T00:11:40.791Z,1378253500.791 [Startup](INFO): Aggregate::initialize Startup
2013-09-04T00:11:40.791Z,1378253500.791 [Startup:A.GoToSurface] Running Loop=1
2013-09-04T00:11:40.791Z,1378253500.791 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-09-04T00:11:40.797Z,1378253500.797 [Startup:StartupSatComms] Running Loop=1
2013-09-04T00:11:40.797Z,1378253500.797 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-09-04T00:11:40.797Z,1378253500.797 [Startup:StartupSatComms:A] Running Loop=1
2013-09-04T00:11:41.192Z,1378253501.192 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-09-04T00:11:54.387Z,1378253514.387 [Batt_Ocean_Server](INFO): Bus busy reported for battery bank#11 STATUS: 65535
2013-09-04T00:12:41.237Z,1378253561.237 [Startup:StartupSatComms:A](INFO): Timed out from 2013-09-04T00:11:40.8Z
2013-09-04T00:12:41.237Z,1378253561.237 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-09-04T00:12:41.237Z,1378253561.237 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-09-04T00:12:41.238Z,1378253561.238 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-09-04T00:12:41.238Z,1378253561.238 [Startup:StartupSatComms:A] Stopped
2013-09-04T00:12:41.238Z,1378253561.238 [Startup:StartupSatComms:B] Running Loop=1
2013-09-04T00:12:41.591Z,1378253561.591 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-09-04T00:13:41.501Z,1378253621.501 [Startup:StartupSatComms:B](INFO): Timed out from 2013-09-04T00:12:41.2Z
2013-09-04T00:13:41.502Z,1378253621.502 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-09-04T00:13:41.502Z,1378253621.502 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-09-04T00:13:41.502Z,1378253621.502 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-09-04T00:13:41.502Z,1378253621.502 [Startup:StartupSatComms:B] Stopped
2013-09-04T00:13:41.502Z,1378253621.502 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-09-04T00:13:41.502Z,1378253621.502 [Startup:StartupSatComms] Stopped
2013-09-04T00:13:41.502Z,1378253621.502 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-09-04T00:13:41.503Z,1378253621.503 [Startup](INFO): Completed Startup
2013-09-04T00:13:41.503Z,1378253621.503 [Startup] Stopped
2013-09-04T00:13:41.503Z,1378253621.503 [Startup](INFO): Aggregate::uninitialize Startup
2013-09-04T00:13:41.504Z,1378253621.504 [Startup:A.GoToSurface] Stopped
2013-09-04T00:13:41.504Z,1378253621.504 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-09-04T0