2013-11-05T18:43:32.256Z,1383677012.256 [Supervisor](DEBUG): Initializing supervisor.
2013-11-05T18:43:32.258Z,1383677012.258 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-11-05T18:43:32.259Z,1383677012.259 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-11-05T18:43:32.260Z,1383677012.260 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-11-05T18:43:32.263Z,1383677012.263 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-11-05T18:43:32.274Z,1383677012.274 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-11-05T18:43:32.275Z,1383677012.275 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-11-05T18:43:32.276Z,1383677012.276 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-11-05T18:43:32.277Z,1383677012.277 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-11-05T18:43:32.279Z,1383677012.279 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2013-11-05T18:43:32.280Z,1383677012.280 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-11-05T18:43:32.281Z,1383677012.281 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-11-05T18:43:32.557Z,1383677012.557 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-11-05T18:43:32.558Z,1383677012.558 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-11-05T18:43:32.755Z,1383677012.755 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-11-05T18:43:32.756Z,1383677012.756 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-11-05T18:43:32.840Z,1383677012.840 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-11-05T18:43:32.841Z,1383677012.841 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-11-05T18:43:32.957Z,1383677012.957 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-11-05T18:43:32.958Z,1383677012.958 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-11-05T18:43:33.105Z,1383677013.105 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-11-05T18:43:33.105Z,1383677013.105 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-11-05T18:43:33.353Z,1383677013.353 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-11-05T18:43:33.353Z,1383677013.353 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-11-05T18:43:33.520Z,1383677013.520 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-11-05T18:43:33.521Z,1383677013.521 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-11-05T18:43:33.783Z,1383677013.783 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-11-05T18:43:33.784Z,1383677013.784 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-11-05T18:43:33.885Z,1383677013.885 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-11-05T18:43:33.885Z,1383677013.885 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-11-05T18:43:34.313Z,1383677014.313 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-11-05T18:43:34.314Z,1383677014.314 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-11-05T18:43:34.425Z,1383677014.425 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-11-05T18:43:34.425Z,1383677014.425 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-11-05T18:43:34.510Z,1383677014.510 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2013-11-05T18:43:34.611Z,1383677014.611 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2013-11-05T18:43:34.613Z,1383677014.613 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-11-05T18:43:34.614Z,1383677014.614 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-11-05T18:43:34.709Z,1383677014.709 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-11-05T18:43:34.836Z,1383677014.836 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-11-05T18:43:34.936Z,1383677014.936 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-11-05T18:43:35.040Z,1383677015.040 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-11-05T18:43:35.136Z,1383677015.136 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-11-05T18:43:35.250Z,1383677015.250 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-11-05T18:43:35.344Z,1383677015.344 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-11-05T18:43:35.430Z,1383677015.430 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2013-11-05T18:43:35.523Z,1383677015.523 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-11-05T18:43:35.523Z,1383677015.523 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-11-05T18:43:35.525Z,1383677015.525 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-11-05T18:43:35.691Z,1383677015.691 [InternalSim] Loaded
2013-11-05T18:43:35.692Z,1383677015.692 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-11-05T18:43:35.692Z,1383677015.692 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-11-05T18:43:35.693Z,1383677015.693 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-11-05T18:43:35.784Z,1383677015.784 [SBIT](DEBUG): Construct Startup Built In Test.
2013-11-05T18:43:35.814Z,1383677015.814 [SBIT] Loaded
2013-11-05T18:43:35.814Z,1383677015.814 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-11-05T18:43:35.815Z,1383677015.815 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-11-05T18:43:35.844Z,1383677015.844 [IBIT] Loaded
2013-11-05T18:43:35.844Z,1383677015.844 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-11-05T18:43:35.846Z,1383677015.846 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-11-05T18:43:35.962Z,1383677015.962 [CBIT] Loaded
2013-11-05T18:43:35.963Z,1383677015.963 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-11-05T18:43:35.963Z,1383677015.963 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-11-05T18:43:35.964Z,1383677015.964 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-11-05T18:43:36.132Z,1383677016.132 [BuoyancyServo] Loaded
2013-11-05T18:43:36.132Z,1383677016.132 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-11-05T18:43:36.144Z,1383677016.144 [ElevatorServo] Loaded
2013-11-05T18:43:36.145Z,1383677016.145 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-11-05T18:43:36.156Z,1383677016.156 [MassServo] Loaded
2013-11-05T18:43:36.156Z,1383677016.156 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-11-05T18:43:36.168Z,1383677016.168 [RudderServo] Loaded
2013-11-05T18:43:36.168Z,1383677016.168 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-11-05T18:43:36.179Z,1383677016.179 [ThrusterServo] Loaded
2013-11-05T18:43:36.180Z,1383677016.180 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-11-05T18:43:36.180Z,1383677016.180 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-11-05T18:43:36.181Z,1383677016.181 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-11-05T18:43:36.216Z,1383677016.216 [DepthRateCalculator] Loaded
2013-11-05T18:43:36.216Z,1383677016.216 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-11-05T18:43:38.814Z,1383677018.814 [HFRadarModelCalc] Loaded
2013-11-05T18:43:38.814Z,1383677018.814 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-11-05T18:43:38.830Z,1383677018.830 [NavChart] Loaded
2013-11-05T18:43:38.831Z,1383677018.831 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-11-05T18:43:38.836Z,1383677018.836 [PitchRateCalculator] Loaded
2013-11-05T18:43:38.837Z,1383677018.837 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-11-05T18:43:38.848Z,1383677018.848 [SpeedCalculator] Loaded
2013-11-05T18:43:38.848Z,1383677018.848 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-11-05T18:43:38.865Z,1383677018.865 [TempGradientCalculator] Loaded
2013-11-05T18:43:38.865Z,1383677018.865 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-11-05T18:43:38.870Z,1383677018.870 [YawRateCalculator] Loaded
2013-11-05T18:43:38.871Z,1383677018.871 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-11-05T18:43:38.917Z,1383677018.917 [Navigation] Loaded
2013-11-05T18:43:38.918Z,1383677018.918 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-11-05T18:43:38.918Z,1383677018.918 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-11-05T18:43:38.919Z,1383677018.919 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-11-05T18:43:39.161Z,1383677019.161 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-11-05T18:43:39.162Z,1383677019.162 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-11-05T18:43:39.186Z,1383677019.186 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-11-05T18:43:39.187Z,1383677019.187 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-11-05T18:43:39.235Z,1383677019.235 [VerticalControl](DEBUG): Construct VerticalControl.
2013-11-05T18:43:39.331Z,1383677019.331 [VerticalControl] Loaded
2013-11-05T18:43:39.331Z,1383677019.331 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-11-05T18:43:39.332Z,1383677019.332 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-11-05T18:43:39.391Z,1383677019.391 [HorizontalControl] Loaded
2013-11-05T18:43:39.391Z,1383677019.391 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-11-05T18:43:39.392Z,1383677019.392 [SpeedControl](DEBUG): Construct SpeedControl.
2013-11-05T18:43:39.393Z,1383677019.393 [SpeedControl] Loaded
2013-11-05T18:43:39.394Z,1383677019.394 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-11-05T18:43:39.394Z,1383677019.394 [LoopControl](DEBUG): Construct LoopControl.
2013-11-05T18:43:39.395Z,1383677019.395 [LoopControl] Loaded
2013-11-05T18:43:39.395Z,1383677019.395 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-11-05T18:43:39.396Z,1383677019.396 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-11-05T18:43:39.396Z,1383677019.396 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-11-05T18:43:39.402Z,1383677019.402 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-11-05T18:43:39.407Z,1383677019.407 [AsyncPiEstimator] Loaded
2013-11-05T18:43:39.407Z,1383677019.407 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-11-05T18:43:39.409Z,1383677019.409 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-11-05T18:43:39.409Z,1383677019.409 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-11-05T18:43:39.410Z,1383677019.410 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-11-05T18:43:39.627Z,1383677019.627 [AHRS_sp3003D] Loaded
2013-11-05T18:43:39.628Z,1383677019.628 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-11-05T18:43:39.698Z,1383677019.698 [DataOverHttps] Loaded
2013-11-05T18:43:39.699Z,1383677019.699 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2013-11-05T18:43:39.712Z,1383677019.712 [Depth_Keller] Loaded
2013-11-05T18:43:39.712Z,1383677019.712 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-11-05T18:43:39.898Z,1383677019.898 [DVL_micro] Loaded
2013-11-05T18:43:39.899Z,1383677019.899 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-11-05T18:43:39.900Z,1383677019.900 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4085C4E0
2013-11-05T18:43:39.941Z,1383677019.941 [Onboard] Loaded
2013-11-05T18:43:39.942Z,1383677019.942 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-11-05T18:43:39.948Z,1383677019.948 [Radio_Freewave] Loaded
2013-11-05T18:43:39.949Z,1383677019.949 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-11-05T18:43:40.096Z,1383677020.096 [DAT] Loaded
2013-11-05T18:43:40.096Z,1383677020.096 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-11-05T18:43:40.097Z,1383677020.097 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-11-05T18:43:40.098Z,1383677020.098 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-11-05T18:43:40.198Z,1383677020.198 [CTD_NeilBrown] Loaded
2013-11-05T18:43:40.198Z,1383677020.198 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-11-05T18:43:40.199Z,1383677020.199 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408B94E0
2013-11-05T18:43:40.233Z,1383677020.233 [WetLabsBB2FL] Loaded
2013-11-05T18:43:40.233Z,1383677020.233 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-11-05T18:43:40.234Z,1383677020.234 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 408E94E0
2013-11-05T18:43:40.235Z,1383677020.235 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-11-05T18:43:40.237Z,1383677020.237 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-11-05T18:43:40.238Z,1383677020.238 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-11-05T18:43:40.245Z,1383677020.245 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-11-05T18:43:40.246Z,1383677020.246 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 409194E0
2013-11-05T18:43:40.251Z,1383677020.251 [Supervisor](DEBUG): Running supervisor.
2013-11-05T18:43:40.252Z,1383677020.252 [CommandLine](INFO): Thread ID is 1408
2013-11-05T18:43:40.254Z,1383677020.254 [controlThread](INFO): Thread ID is 1407
2013-11-05T18:43:40.254Z,1383677020.254 [controlThread](DEBUG): Initializing ControlThread
2013-11-05T18:43:40.255Z,1383677020.255 [CycleStarter](INFO): Thread ID is 1406
2013-11-05T18:43:40.255Z,1383677020.255 [InternalSim](DEBUG):  InternalSim initializing...
2013-11-05T18:43:40.290Z,1383677020.290 [SBIT](INFO): Initialize SBIT Component.
2013-11-05T18:43:40.290Z,1383677020.290 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10713
2013-11-05T18:43:40.291Z,1383677020.291 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-11-05T18:43:40.291Z,1383677020.291 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-11-05T18:43:40.292Z,1383677020.292 [IBIT](INFO): Initialize IBIT Component.
2013-11-05T18:43:40.293Z,1383677020.293 [CBIT](DEBUG): Initialize CBIT Component.
2013-11-05T18:43:40.293Z,1383677020.293 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-11-05T18:43:40.293Z,1383677020.293 [logger](INFO): Thread ID is 1409
2013-11-05T18:43:40.318Z,1383677020.318 [AsyncPiEstimator](INFO): Thread ID is 1476
2013-11-05T18:43:40.318Z,1383677020.318 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-11-05T18:43:40.327Z,1383677020.327 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-05T18:43:40.328Z,1383677020.328 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-11-05T18:43:40.328Z,1383677020.328 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-11-05T18:43:40.329Z,1383677020.329 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-11-05T18:43:40.329Z,1383677020.329 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-11-05T18:43:40.330Z,1383677020.330 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-11-05T18:43:40.330Z,1383677020.330 [Navigation](DEBUG): Initializing Navigation.
2013-11-05T18:43:40.330Z,1383677020.330 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-11-05T18:43:40.332Z,1383677020.332 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-11-05T18:43:40.332Z,1383677020.332 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-11-05T18:43:40.333Z,1383677020.333 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-11-05T18:43:40.336Z,1383677020.336 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-11-05T18:43:40.350Z,1383677020.350 [DVL_micro](INFO): Thread ID is 1477
2013-11-05T18:43:40.359Z,1383677020.359 [DVL_micro](INFO): Initializing
2013-11-05T18:43:40.359Z,1383677020.359 [DVL_micro](INFO): start:Powering up
2013-11-05T18:43:40.360Z,1383677020.360 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-05T18:43:40.361Z,1383677020.361 [DVL_micro](INFO): Cycling power to configure device.
2013-11-05T18:43:40.378Z,1383677020.378 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-05T18:43:40.382Z,1383677020.382 [CTD_NeilBrown](INFO): Thread ID is 1478
2013-11-05T18:43:40.383Z,1383677020.383 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-11-05T18:43:40.388Z,1383677020.388 [WetLabsBB2FL](INFO): Thread ID is 1479
2013-11-05T18:43:40.388Z,1383677020.388 [WetLabsBB2FL](INFO): Powering down
2013-11-05T18:43:40.414Z,1383677020.414 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-11-05T18:43:40.439Z,1383677020.439 [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>


2013-11-05T18:43:40.441Z,1383677020.441 [NavChartDb](INFO): Thread ID is 1480
2013-11-05T18:43:40.443Z,1383677020.443 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-11-05T18:43:40.444Z,1383677020.444 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-11-05T18:43:40.444Z,1383677020.444 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-11-05T18:43:40.445Z,1383677020.445 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-11-05T18:43:40.445Z,1383677020.445 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-11-05T18:43:40.445Z,1383677020.445 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-11-05T18:43:40.446Z,1383677020.446 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-11-05T18:43:40.446Z,1383677020.446 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-11-05T18:43:40.446Z,1383677020.446 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-11-05T18:43:40.462Z,1383677020.462 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-11-05T18:43:40.537Z,1383677020.537 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-11-05T18:43:40.547Z,1383677020.547 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-11-05T18:43:40.556Z,1383677020.556 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-05T18:43:40.564Z,1383677020.564 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-11-05T18:43:40.579Z,1383677020.579 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-05T18:43:40.586Z,1383677020.586 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-11-05T18:43:40.635Z,1383677020.635 [Default:D.SetSpeed](DEBUG): Construct.
2013-11-05T18:43:40.643Z,1383677020.643 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-05T18:43:40.662Z,1383677020.662 [Default:F.Wait](DEBUG): Construct Wait.
2013-11-05T18:43:40.665Z,1383677020.665 [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>


2013-11-05T18:43:40.670Z,1383677020.670 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,DataOverHttps,Depth_Keller,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,LogSplitter,
2013-11-05T18:43:40.740Z,1383677020.740 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-11-05T18:43:40.868Z,1383677020.868 [Radio_Freewave](INFO): Powering up
2013-11-05T18:43:40.882Z,1383677020.882 [DAT](INFO): Powering up
2013-11-05T18:43:40.883Z,1383677020.883 [DAT](DEBUG): Initializing DAT.
2013-11-05T18:43:41.058Z,1383677021.058 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-11-05T18:43:41.063Z,1383677021.063 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-11-05T18:43:41.075Z,1383677021.075 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-11-05T18:43:41.083Z,1383677021.083 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-11-05T18:43:41.089Z,1383677021.089 [MassServo](DEBUG): Initializing EZServoServo.
2013-11-05T18:43:41.115Z,1383677021.115 [MassServo](DEBUG): Initializing MassServo.
2013-11-05T18:43:41.129Z,1383677021.129 [RudderServo](DEBUG): Initializing EZServoServo.
2013-11-05T18:43:41.135Z,1383677021.135 [RudderServo](DEBUG): Initializing RudderServo.
2013-11-05T18:43:41.148Z,1383677021.148 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-11-05T18:43:41.151Z,1383677021.151 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-11-05T18:43:42.469Z,1383677022.469 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-05T18:43:42.469Z,1383677022.469 [DVL_micro](INFO): Querying output modes
2013-11-05T18:43:42.470Z,1383677022.470 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-11-05T18:43:42.481Z,1383677022.481 [DVL_micro](DEBUG): cmdResponse: 01
2013-11-05T18:43:42.481Z,1383677022.481 [DVL_micro](INFO): NQ1 output enabled
2013-11-05T18:43:42.481Z,1383677022.481 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-11-05T18:43:42.493Z,1383677022.493 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-11-05T18:43:42.506Z,1383677022.506 [DVL_micro](INFO): pause:Powering down
2013-11-05T18:43:56.068Z,1383677036.068 [SBIT](IMPORTANT): Beginning Startup BIT
2013-11-05T18:43:56.070Z,1383677036.070 [CBIT](IMPORTANT): Beginning GF scan
2013-11-05T18:44:01.477Z,1383677041.477 [DAT](INFO): Powering down
2013-11-05T18:44:23.564Z,1383677063.564 [CBIT](IMPORTANT): No ground fault detected
2013-11-05T18:44:34.538Z,1383677074.538 [CommandLine](IMPORTANT): got command show variable dataOver
2013-11-05T18:44:34.550Z,1383677074.550 [CommandLine](INFO): DataOverHttps.loadAtStartup (bool)
2013-11-05T18:44:34.550Z,1383677074.550 [CommandLine](INFO): DataOverHttps.power (watt)
2013-11-05T18:44:34.551Z,1383677074.551 [CommandLine](INFO): DataOverHttps.connectionTimeout (second)
2013-11-05T18:44:34.551Z,1383677074.551 [CommandLine](INFO): DataOverHttps.period (second)
2013-11-05T18:44:34.551Z,1383677074.551 [CommandLine](INFO): DataOverHttps.timeout (minute)
2013-11-05T18:44:34.569Z,1383677074.569 [CommandLine](INFO): DataOverHttps.sendDataToShore (bool)
2013-11-05T18:44:34.574Z,1383677074.574 [CommandLine](INFO): DataOverHttps.platform_communications (bool)
2013-11-05T18:44:34.582Z,1383677074.582 [CommandLine](INFO): DataOverHttps.durationOfLastRun (second)
2013-11-05T18:44:41.412Z,1383677081.412 [CommandLine](IMPORTANT): got command get DataOverHttps.sendDataToShore 
2013-11-05T18:44:41.413Z,1383677081.413 [CommandLine](IMPORTANT): DataOverHttps.sendDataToShore 1 bool
2013-11-05T18:44:50.027Z,1383677090.027 [SBIT](IMPORTANT): SBIT PASSED
2013-11-05T18:44:50.425Z,1383677090.425 [MissionManager](IMPORTANT): Started mission Startup
2013-11-05T18:44:50.425Z,1383677090.425 [Startup] Running Loop=1
2013-11-05T18:44:50.425Z,1383677090.425 [Startup](INFO): Aggregate::initialize Startup
2013-11-05T18:44:50.425Z,1383677090.425 [Startup:A.GoToSurface] Running Loop=1
2013-11-05T18:44:50.425Z,1383677090.425 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-11-05T18:44:50.431Z,1383677090.431 [Startup:StartupSatComms] Running Loop=1
2013-11-05T18:44:50.431Z,1383677090.431 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-11-05T18:44:50.432Z,1383677090.432 [Startup:StartupSatComms:A] Running Loop=1
2013-11-05T18:44:50.467Z,1383677090.467 [CommandLine](IMPORTANT): got command get DataOverHttps.loadAtStartup
2013-11-05T18:44:50.467Z,1383677090.467 [CommandLine](IMPORTANT): DataOverHttps.loadAtStartup 1 bool
2013-11-05T18:44:50.829Z,1383677090.829 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-11-05T18:45:45.303Z,1383677145.303 [CommandLine](IMPORTANT): got command quit
2013-11-05T18:45:46.353Z,1383677146.353 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-11-05T18:45:46.353Z,1383677146.353 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-11-05T18:45:46.417Z,1383677146.417 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-11-05T18:45:46.738Z,1383677146.738 [WetLabsBB2FL](INFO): Powering down
2013-11-05T18:45:46.749Z,1383677146.749 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-11-05T18:45:46.942Z,1383677146.942 [CTD_NeilBrown](INFO): Powering down
2013-11-05T18:45:46.958Z,1383677146.958 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-11-05T18:45:46.982Z,1383677146.982 [DVL_micro](INFO): uninitialize:Powering down
2013-11-05T18:45:47.005Z,1383677147.005 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-11-05T18:45:47.322Z,1383677147.322 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-11-05T18:45:47.327Z,1383677147.327 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-11-05T18:45:47.407Z,1383677147.407 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-11-05T18:45:47.409Z,1383677147.409 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-11-05T18:45:47.526Z,1383677147.526 [controlThread](DEBUG): Uninitializing ControlThread
2013-11-05T18:45:47.527Z,1383677147.527 [AHRS_sp3003D](INFO): Powering down
2013-11-05T18:45:47.616Z,1383677147.616 [DAT](INFO): Powering down
2013-11-05T18:45:47.617Z,1383677147.617 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-05T18:45:47.617Z,1383677147.617 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-11-05T18:45:47.622Z,1383677147.622 [Startup] Stopped
2013-11-05T18:45:47.622Z,1383677147.622 [Startup](INFO): Aggregate::uninitialize Startup
2013-11-05T18:45:47.622Z,1383677147.622 [Startup:A.GoToSurface] Stopped
2013-11-05T18:45:47.622Z,1383677147.622 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-11-05T18:45:47.622Z,1383677147.622 [Startup:StartupSatComms] Stopped
2013-11-05T18:45:47.622Z,1383677147.622 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-11-05T18:45:47.622Z,1383677147.622 [Startup:StartupSatComms:A] Stopped
2013-11-05T18:45:47.624Z,1383677147.624 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-11-05T18:45:47.624Z,1383677147.624 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-11-05T18:45:47.624Z,1383677147.624 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-11-05T18:45:47.624Z,1383677147.624 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-11-05T18:45:47.625Z,1383677147.625 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-11-05T18:45:47.625Z,1383677147.625 [BuoyancyServo](INFO): Powering down
2013-11-05T18:45:47.639Z,1383677147.639 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-11-05T18:45:47.639Z,1383677147.639 [ElevatorServo](INFO): Powering down
2013-11-05T18:45:47.640Z,1383677147.640 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-11-05T18:45:47.640Z,1383677147.640 [MassServo](INFO): Powering down
2013-11-05T18:45:47.641Z,1383677147.641 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-11-05T18:45:47.641Z,1383677147.641 [RudderServo](INFO): Powering down
2013-11-05T18:45:47.642Z,1383677147.642 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-11-05T18:45:47.642Z,1383677147.642 [ThrusterServo](INFO): Powering down
2013-11-05T18:45:47.643Z,1383677147.643 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-11-05T18:45:47.643Z,1383677147.643 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-11-05T18:45:47.643Z,1383677147.643 [CBIT](DEBUG): Uninitialize CBIT Component.