2013-09-04T00:19:20.028Z,1378253960.028 [Supervisor](DEBUG): Initializing supervisor.
2013-09-04T00:19:20.032Z,1378253960.032 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-04T00:19:20.033Z,1378253960.033 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-04T00:19:20.036Z,1378253960.036 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-04T00:19:20.040Z,1378253960.040 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-04T00:19:20.051Z,1378253960.051 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-04T00:19:20.052Z,1378253960.052 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-04T00:19:20.053Z,1378253960.053 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-04T00:19:20.056Z,1378253960.056 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-04T00:19:20.057Z,1378253960.057 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-04T00:19:20.061Z,1378253960.061 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-04T00:19:20.372Z,1378253960.372 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-04T00:19:20.373Z,1378253960.373 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-04T00:19:20.590Z,1378253960.590 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-04T00:19:20.591Z,1378253960.591 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-04T00:19:20.689Z,1378253960.689 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-04T00:19:20.691Z,1378253960.691 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-04T00:19:20.814Z,1378253960.814 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-04T00:19:20.815Z,1378253960.815 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-04T00:19:20.970Z,1378253960.970 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-04T00:19:20.972Z,1378253960.972 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-04T00:19:21.239Z,1378253961.239 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-04T00:19:21.240Z,1378253961.240 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-04T00:19:21.423Z,1378253961.423 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-04T00:19:21.425Z,1378253961.425 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-04T00:19:21.720Z,1378253961.720 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-04T00:19:21.722Z,1378253961.722 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-04T00:19:21.840Z,1378253961.840 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-04T00:19:21.840Z,1378253961.840 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-04T00:19:22.299Z,1378253962.299 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-04T00:19:22.300Z,1378253962.300 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-04T00:19:22.425Z,1378253962.425 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-04T00:19:22.426Z,1378253962.426 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-04T00:19:22.522Z,1378253962.522 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-04T00:19:22.526Z,1378253962.526 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-04T00:19:22.637Z,1378253962.637 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-04T00:19:22.780Z,1378253962.780 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-04T00:19:22.886Z,1378253962.886 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-04T00:19:23.002Z,1378253963.002 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-04T00:19:23.110Z,1378253963.110 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-04T00:19:23.242Z,1378253963.242 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-04T00:19:23.351Z,1378253963.351 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-04T00:19:23.449Z,1378253963.449 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-09-04T00:19:23.454Z,1378253963.454 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-04T00:19:23.668Z,1378253963.668 [InternalSim] Loaded
2013-09-04T00:19:23.668Z,1378253963.668 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-04T00:19:23.668Z,1378253963.668 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-04T00:19:23.669Z,1378253963.669 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-04T00:19:23.804Z,1378253963.804 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-04T00:19:23.838Z,1378253963.838 [SBIT] Loaded
2013-09-04T00:19:23.838Z,1378253963.838 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-04T00:19:23.839Z,1378253963.839 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-04T00:19:23.873Z,1378253963.873 [IBIT] Loaded
2013-09-04T00:19:23.873Z,1378253963.873 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-04T00:19:23.875Z,1378253963.875 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-04T00:19:24.006Z,1378253964.006 [CBIT] Loaded
2013-09-04T00:19:24.007Z,1378253964.007 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-04T00:19:24.007Z,1378253964.007 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-04T00:19:24.008Z,1378253964.008 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-04T00:19:25.402Z,1378253965.402 [BuoyancyServo] Loaded
2013-09-04T00:19:25.402Z,1378253965.402 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-04T00:19:25.414Z,1378253965.414 [ElevatorServo] Loaded
2013-09-04T00:19:25.414Z,1378253965.414 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-04T00:19:25.430Z,1378253965.430 [MassServo] Loaded
2013-09-04T00:19:25.430Z,1378253965.430 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-04T00:19:25.441Z,1378253965.441 [RudderServo] Loaded
2013-09-04T00:19:25.442Z,1378253965.442 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-04T00:19:25.453Z,1378253965.453 [ThrusterServo] Loaded
2013-09-04T00:19:25.453Z,1378253965.453 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-04T00:19:25.454Z,1378253965.454 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-04T00:19:25.454Z,1378253965.454 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-04T00:19:25.983Z,1378253965.983 [DepthRateCalculator] Loaded
2013-09-04T00:19:25.984Z,1378253965.984 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-04T00:19:29.628Z,1378253969.628 [HFRadarModelCalc] Loaded
2013-09-04T00:19:29.628Z,1378253969.628 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-04T00:19:29.644Z,1378253969.644 [NavChart] Loaded
2013-09-04T00:19:29.644Z,1378253969.644 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-04T00:19:29.650Z,1378253969.650 [PitchRateCalculator] Loaded
2013-09-04T00:19:29.650Z,1378253969.650 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-04T00:19:29.661Z,1378253969.661 [SpeedCalculator] Loaded
2013-09-04T00:19:29.661Z,1378253969.661 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-04T00:19:29.677Z,1378253969.677 [TempGradientCalculator] Loaded
2013-09-04T00:19:29.678Z,1378253969.678 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-04T00:19:29.683Z,1378253969.683 [YawRateCalculator] Loaded
2013-09-04T00:19:29.683Z,1378253969.683 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-04T00:19:29.729Z,1378253969.729 [Navigation] Loaded
2013-09-04T00:19:29.730Z,1378253969.730 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-04T00:19:29.730Z,1378253969.730 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-04T00:19:29.731Z,1378253969.731 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-04T00:19:30.031Z,1378253970.031 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-04T00:19:30.032Z,1378253970.032 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-04T00:19:30.074Z,1378253970.074 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-04T00:19:30.075Z,1378253970.075 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-04T00:19:30.145Z,1378253970.145 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-04T00:19:30.246Z,1378253970.246 [VerticalControl] Loaded
2013-09-04T00:19:30.247Z,1378253970.247 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-04T00:19:30.247Z,1378253970.247 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-04T00:19:30.313Z,1378253970.313 [HorizontalControl] Loaded
2013-09-04T00:19:30.313Z,1378253970.313 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-04T00:19:30.314Z,1378253970.314 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-04T00:19:30.316Z,1378253970.316 [SpeedControl] Loaded
2013-09-04T00:19:30.320Z,1378253970.320 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-04T00:19:30.321Z,1378253970.321 [LoopControl](DEBUG): Construct LoopControl.
2013-09-04T00:19:30.321Z,1378253970.321 [LoopControl] Loaded
2013-09-04T00:19:30.322Z,1378253970.322 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-04T00:19:30.322Z,1378253970.322 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-04T00:19:30.323Z,1378253970.323 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-04T00:19:30.332Z,1378253970.332 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-04T00:19:30.341Z,1378253970.341 [AsyncPiEstimator] Loaded
2013-09-04T00:19:30.341Z,1378253970.341 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-04T00:19:30.344Z,1378253970.344 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-04T00:19:30.345Z,1378253970.345 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-04T00:19:30.345Z,1378253970.345 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-04T00:19:30.613Z,1378253970.613 [AHRS_sp3003D] Loaded
2013-09-04T00:19:30.613Z,1378253970.613 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-04T00:19:30.888Z,1378253970.888 [Batt_Ocean_Server] Loaded
2013-09-04T00:19:30.893Z,1378253970.893 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-09-04T00:19:30.907Z,1378253970.907 [Depth_Keller] Loaded
2013-09-04T00:19:30.907Z,1378253970.907 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-04T00:19:30.912Z,1378253970.912 [DropWeight] Loaded
2013-09-04T00:19:30.912Z,1378253970.912 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-09-04T00:19:31.115Z,1378253971.115 [DVL_micro] Loaded
2013-09-04T00:19:31.116Z,1378253971.116 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-04T00:19:31.117Z,1378253971.117 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406D54E0
2013-09-04T00:19:31.213Z,1378253971.213 [NAL9602] Loaded
2013-09-04T00:19:31.214Z,1378253971.214 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-04T00:19:31.260Z,1378253971.260 [Onboard] Loaded
2013-09-04T00:19:31.260Z,1378253971.260 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-04T00:19:31.267Z,1378253971.267 [Radio_Freewave] Loaded
2013-09-04T00:19:31.268Z,1378253971.268 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-04T00:19:31.423Z,1378253971.423 [DAT] Loaded
2013-09-04T00:19:31.423Z,1378253971.423 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-04T00:19:31.424Z,1378253971.424 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-04T00:19:31.425Z,1378253971.425 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-04T00:19:31.520Z,1378253971.520 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-04T00:19:31.523Z,1378253971.523 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-04T00:19:31.524Z,1378253971.524 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-04T00:19:31.537Z,1378253971.537 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-04T00:19:31.538Z,1378253971.538 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407324E0
2013-09-04T00:19:31.542Z,1378253971.542 [Supervisor](DEBUG): Running supervisor.
2013-09-04T00:19:31.543Z,1378253971.543 [CommandLine](INFO): Thread ID is 760
2013-09-04T00:19:31.547Z,1378253971.547 [controlThread](INFO): Thread ID is 759
2013-09-04T00:19:31.547Z,1378253971.547 [controlThread](DEBUG): Initializing ControlThread
2013-09-04T00:19:31.547Z,1378253971.547 [CycleStarter](INFO): Thread ID is 758
2013-09-04T00:19:31.548Z,1378253971.548 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-04T00:19:31.628Z,1378253971.628 [logger](INFO): Thread ID is 761
2013-09-04T00:19:31.702Z,1378253971.702 [AsyncPiEstimator](INFO): Thread ID is 822
2013-09-04T00:19:31.703Z,1378253971.703 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-04T00:19:31.713Z,1378253971.713 [SBIT](INFO): Initialize SBIT Component.
2013-09-04T00:19:31.714Z,1378253971.714 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10573
2013-09-04T00:19:31.714Z,1378253971.714 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-04T00:19:31.714Z,1378253971.714 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-04T00:19:31.718Z,1378253971.718 [IBIT](INFO): Initialize IBIT Component.
2013-09-04T00:19:31.719Z,1378253971.719 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-04T00:19:31.719Z,1378253971.719 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-09-04T00:19:31.720Z,1378253971.720 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-04T00:19:31.721Z,1378253971.721 [DVL_micro](INFO): Thread ID is 823
2013-09-04T00:19:31.744Z,1378253971.744 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-04T00:19:31.744Z,1378253971.744 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-04T00:19:31.745Z,1378253971.745 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-04T00:19:31.745Z,1378253971.745 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-04T00:19:31.745Z,1378253971.745 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-04T00:19:31.746Z,1378253971.746 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-04T00:19:31.746Z,1378253971.746 [Navigation](DEBUG): Initializing Navigation.
2013-09-04T00:19:31.747Z,1378253971.747 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-04T00:19:31.749Z,1378253971.749 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-04T00:19:31.749Z,1378253971.749 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-04T00:19:31.750Z,1378253971.750 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-04T00:19:31.784Z,1378253971.784 [NavChartDb](INFO): Thread ID is 824
2013-09-04T00:19:31.788Z,1378253971.788 [DVL_micro](INFO): Initializing
2013-09-04T00:19:31.788Z,1378253971.788 [DVL_micro](INFO): start:Powering up
2013-09-04T00:19:31.789Z,1378253971.789 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-04T00:19:31.790Z,1378253971.790 [DVL_micro](INFO): Cycling power to configure device.
2013-09-04T00:19:31.800Z,1378253971.800 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-04T00:19:31.801Z,1378253971.801 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-04T00:19:31.801Z,1378253971.801 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-04T00:19:31.802Z,1378253971.802 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-04T00:19:31.802Z,1378253971.802 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-04T00:19:31.802Z,1378253971.802 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-04T00:19:31.802Z,1378253971.802 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-04T00:19:31.803Z,1378253971.803 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-04T00:19:31.803Z,1378253971.803 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-04T00:19:33.678Z,1378253973.678 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-09-04T00:19:33.721Z,1378253973.721 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-04T00:19:33.770Z,1378253973.770 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-04T00:19:33.792Z,1378253973.792 [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>


2013-09-04T00:19:33.793Z,1378253973.793 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-04T00:19:33.882Z,1378253973.882 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-04T00:19:33.882Z,1378253973.882 [DVL_micro](INFO): Querying output modes
2013-09-04T00:19:33.883Z,1378253973.883 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-04T00:19:33.892Z,1378253973.892 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-04T00:19:33.894Z,1378253973.894 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-09-04T00:19:33.894Z,1378253973.894 [DVL_micro](INFO): NQ1 output enabled
2013-09-04T00:19:33.894Z,1378253973.894 [DVL_micro](INFO): RSSI output enabled
2013-09-04T00:19:33.894Z,1378253973.894 [DVL_micro](INFO): ADCP output enabled
2013-09-04T00:19:33.895Z,1378253973.895 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-04T00:19:33.902Z,1378253973.902 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-04T00:19:33.905Z,1378253973.905 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-04T00:19:33.906Z,1378253973.906 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-04T00:19:33.911Z,1378253973.911 [DVL_micro](INFO): pause:Powering down
2013-09-04T00:19:33.946Z,1378253973.946 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-04T00:19:33.949Z,1378253973.949 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-04T00:19:33.967Z,1378253973.967 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-04T00:19:33.996Z,1378253973.996 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-04T00:19:33.999Z,1378253973.999 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-04T00:19:34.016Z,1378253974.016 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-04T00:19:34.020Z,1378253974.020 [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>


2013-09-04T00:19:34.024Z,1378253974.024 [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,
2013-09-04T00:19:34.098Z,1378253974.098 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-04T00:19:34.315Z,1378253974.315 [Radio_Freewave](INFO): Powering up
2013-09-04T00:19:34.324Z,1378253974.324 [DAT](INFO): Powering up
2013-09-04T00:19:34.324Z,1378253974.324 [DAT](DEBUG): Initializing DAT.
2013-09-04T00:19:34.524Z,1378253974.524 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-04T00:19:34.547Z,1378253974.547 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-04T00:19:34.571Z,1378253974.571 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-04T00:19:34.579Z,1378253974.579 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-04T00:19:34.586Z,1378253974.586 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-04T00:19:34.591Z,1378253974.591 [MassServo](DEBUG): Initializing MassServo.
2013-09-04T00:19:34.597Z,1378253974.597 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-04T00:19:34.603Z,1378253974.603 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-04T00:19:34.609Z,1378253974.609 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-04T00:19:34.623Z,1378253974.623 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-04T00:19:36.340Z,1378253976.340 [NAL9602](INFO): Powering up NAL9602
2013-09-04T00:19:46.970Z,1378253986.970 [NAL9602](INFO): NAL9602 initialized
2013-09-04T00:19:47.364Z,1378253987.364 [SBIT](IMPORTANT): Beginning Startup BIT
2013-09-04T00:19:47.373Z,1378253987.373 [CBIT](IMPORTANT): Beginning GF scan
2013-09-04T00:19:53.921Z,1378253993.921 [DAT](INFO): Init failed - response: 
2013-09-04T00:19:53.921Z,1378253993.921 [DAT](FAULT): DAT failed to initialize
2013-09-04T00:19:53.921Z,1378253993.921 [DAT] Communications Fault, FailCount= 1
2013-09-04T00:19:53.921Z,1378253993.921 [DAT](ERROR): Communications Fault
2013-09-04T00:19:54.009Z,1378253994.009 [CBIT](ERROR): Communications Fault in component: DAT
2013-09-04T00:19:54.347Z,1378253994.347 [DAT](INFO): Powering down
2013-09-04T00:19:55.287Z,1378253995.287 [CBIT](INFO): Clearing failed state for component DAT
2013-09-04T00:19:55.287Z,1378253995.287 [DAT] No Fault, FailCount= 1
2013-09-04T00:19:57.584Z,1378253997.584 [DAT](INFO): Powering up
2013-09-04T00:19:57.584Z,1378253997.584 [DAT](DEBUG): Initializing DAT.
2013-09-04T00:20:14.342Z,1378254014.342 [CBIT](IMPORTANT): No ground fault detected
2013-09-04T00:20:17.504Z,1378254017.504 [DAT](INFO): Powering down
2013-09-04T00:20:34.564Z,1378254034.564 [CommandLine](IMPORTANT): got command @ /etc/rc.d/init.d/settime stop
2013-09-04T00:20:40.951Z,1378254040.951 [SBIT](IMPORTANT): SBIT PASSED
2013-09-04T00:20:41.352Z,1378254041.352 [MissionManager](IMPORTANT): Started mission Startup
2013-09-04T00:20:41.352Z,1378254041.352 [Startup] Running Loop=1
2013-09-04T00:20:41.352Z,1378254041.352 [Startup](INFO): Aggregate::initialize Startup
2013-09-04T00:20:41.352Z,1378254041.352 [Startup:A.GoToSurface] Running Loop=1
2013-09-04T00:20:41.352Z,1378254041.352 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-09-04T00:20:41.359Z,1378254041.359 [Startup:StartupSatComms] Running Loop=1
2013-09-04T00:20:41.359Z,1378254041.359 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-09-04T00:20:41.359Z,1378254041.359 [Startup:StartupSatComms:A] Running Loop=1
2013-09-04T00:20:41.717Z,1378254041.717 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-09-04T00:20:43.602Z,1378254043.602 [CommandLine](IMPORTANT): got command @ /etc/rc.d/init.d/settime start
2013-09-04T00:21:41.364