2013-11-08T00:03:39.307Z,1383869019.307 [Supervisor](DEBUG): Initializing supervisor.
2013-11-08T00:03:39.310Z,1383869019.310 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-11-08T00:03:39.311Z,1383869019.311 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-11-08T00:03:39.312Z,1383869019.312 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-11-08T00:03:39.315Z,1383869019.315 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-11-08T00:03:39.326Z,1383869019.326 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-11-08T00:03:39.327Z,1383869019.327 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-11-08T00:03:39.328Z,1383869019.328 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-11-08T00:03:39.329Z,1383869019.329 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-11-08T00:03:39.331Z,1383869019.331 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2013-11-08T00:03:39.332Z,1383869019.332 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-11-08T00:03:39.333Z,1383869019.333 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-11-08T00:03:39.776Z,1383869019.776 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-11-08T00:03:39.777Z,1383869019.777 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-11-08T00:03:39.980Z,1383869019.980 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-11-08T00:03:39.980Z,1383869019.980 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-11-08T00:03:40.196Z,1383869020.196 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-11-08T00:03:40.197Z,1383869020.197 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-11-08T00:03:40.316Z,1383869020.316 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-11-08T00:03:40.316Z,1383869020.316 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-11-08T00:03:40.457Z,1383869020.457 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-11-08T00:03:40.459Z,1383869020.459 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-11-08T00:03:40.702Z,1383869020.702 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-11-08T00:03:40.702Z,1383869020.702 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-11-08T00:03:40.872Z,1383869020.872 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-11-08T00:03:40.873Z,1383869020.873 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-11-08T00:03:41.141Z,1383869021.141 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-11-08T00:03:41.142Z,1383869021.142 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-11-08T00:03:41.244Z,1383869021.244 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-11-08T00:03:41.245Z,1383869021.245 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-11-08T00:03:41.683Z,1383869021.683 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-11-08T00:03:41.683Z,1383869021.683 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-11-08T00:03:41.796Z,1383869021.796 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-11-08T00:03:41.797Z,1383869021.797 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-11-08T00:03:41.883Z,1383869021.883 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2013-11-08T00:03:41.986Z,1383869021.986 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2013-11-08T00:03:41.988Z,1383869021.988 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-11-08T00:03:41.991Z,1383869021.991 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-11-08T00:03:42.088Z,1383869022.088 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-11-08T00:03:42.218Z,1383869022.218 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-11-08T00:03:42.319Z,1383869022.319 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-11-08T00:03:42.426Z,1383869022.426 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-11-08T00:03:42.523Z,1383869022.523 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-11-08T00:03:42.640Z,1383869022.640 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-11-08T00:03:42.737Z,1383869022.737 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-11-08T00:03:42.824Z,1383869022.824 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2013-11-08T00:03:42.919Z,1383869022.919 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-11-08T00:03:42.920Z,1383869022.920 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-11-08T00:03:42.921Z,1383869022.921 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-11-08T00:03:43.090Z,1383869023.090 [InternalSim] Loaded
2013-11-08T00:03:43.090Z,1383869023.090 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-11-08T00:03:43.091Z,1383869023.091 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-11-08T00:03:43.092Z,1383869023.092 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-11-08T00:03:43.181Z,1383869023.181 [SBIT](DEBUG): Construct Startup Built In Test.
2013-11-08T00:03:43.211Z,1383869023.211 [SBIT] Loaded
2013-11-08T00:03:43.212Z,1383869023.212 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-11-08T00:03:43.212Z,1383869023.212 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-11-08T00:03:43.242Z,1383869023.242 [IBIT] Loaded
2013-11-08T00:03:43.243Z,1383869023.243 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-11-08T00:03:43.245Z,1383869023.245 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-11-08T00:03:43.363Z,1383869023.363 [CBIT] Loaded
2013-11-08T00:03:43.363Z,1383869023.363 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-11-08T00:03:43.364Z,1383869023.364 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-11-08T00:03:43.364Z,1383869023.364 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-11-08T00:03:43.532Z,1383869023.532 [BuoyancyServo] Loaded
2013-11-08T00:03:43.533Z,1383869023.533 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-11-08T00:03:43.545Z,1383869023.545 [ElevatorServo] Loaded
2013-11-08T00:03:43.545Z,1383869023.545 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-11-08T00:03:43.557Z,1383869023.557 [MassServo] Loaded
2013-11-08T00:03:43.557Z,1383869023.557 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-11-08T00:03:43.569Z,1383869023.569 [RudderServo] Loaded
2013-11-08T00:03:43.570Z,1383869023.570 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-11-08T00:03:43.581Z,1383869023.581 [ThrusterServo] Loaded
2013-11-08T00:03:43.581Z,1383869023.581 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-11-08T00:03:43.582Z,1383869023.582 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-11-08T00:03:43.582Z,1383869023.582 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-11-08T00:03:43.617Z,1383869023.617 [DepthRateCalculator] Loaded
2013-11-08T00:03:43.617Z,1383869023.617 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-11-08T00:03:46.284Z,1383869026.284 [HFRadarModelCalc] Loaded
2013-11-08T00:03:46.285Z,1383869026.285 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-11-08T00:03:46.301Z,1383869026.301 [NavChart] Loaded
2013-11-08T00:03:46.301Z,1383869026.301 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-11-08T00:03:46.307Z,1383869026.307 [PitchRateCalculator] Loaded
2013-11-08T00:03:46.307Z,1383869026.307 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-11-08T00:03:46.318Z,1383869026.318 [SpeedCalculator] Loaded
2013-11-08T00:03:46.318Z,1383869026.318 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-11-08T00:03:46.336Z,1383869026.336 [TempGradientCalculator] Loaded
2013-11-08T00:03:46.336Z,1383869026.336 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-11-08T00:03:46.341Z,1383869026.341 [YawRateCalculator] Loaded
2013-11-08T00:03:46.342Z,1383869026.342 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-11-08T00:03:46.389Z,1383869026.389 [Navigation] Loaded
2013-11-08T00:03:46.390Z,1383869026.390 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-11-08T00:03:46.390Z,1383869026.390 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-11-08T00:03:46.391Z,1383869026.391 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-11-08T00:03:46.634Z,1383869026.634 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-11-08T00:03:46.635Z,1383869026.635 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-11-08T00:03:46.659Z,1383869026.659 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-11-08T00:03:46.660Z,1383869026.660 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-11-08T00:03:46.709Z,1383869026.709 [VerticalControl](DEBUG): Construct VerticalControl.
2013-11-08T00:03:46.806Z,1383869026.806 [VerticalControl] Loaded
2013-11-08T00:03:46.807Z,1383869026.807 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-11-08T00:03:46.807Z,1383869026.807 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-11-08T00:03:46.867Z,1383869026.867 [HorizontalControl] Loaded
2013-11-08T00:03:46.867Z,1383869026.867 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-11-08T00:03:46.868Z,1383869026.868 [SpeedControl](DEBUG): Construct SpeedControl.
2013-11-08T00:03:46.870Z,1383869026.870 [SpeedControl] Loaded
2013-11-08T00:03:46.870Z,1383869026.870 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-11-08T00:03:46.871Z,1383869026.871 [LoopControl](DEBUG): Construct LoopControl.
2013-11-08T00:03:46.871Z,1383869026.871 [LoopControl] Loaded
2013-11-08T00:03:46.872Z,1383869026.872 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-11-08T00:03:46.872Z,1383869026.872 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-11-08T00:03:46.873Z,1383869026.873 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-11-08T00:03:46.878Z,1383869026.878 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-11-08T00:03:46.883Z,1383869026.883 [AsyncPiEstimator] Loaded
2013-11-08T00:03:46.883Z,1383869026.883 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-11-08T00:03:46.885Z,1383869026.885 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-11-08T00:03:46.885Z,1383869026.885 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-11-08T00:03:46.886Z,1383869026.886 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-11-08T00:03:47.106Z,1383869027.106 [AHRS_sp3003D] Loaded
2013-11-08T00:03:47.106Z,1383869027.106 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-11-08T00:03:47.182Z,1383869027.182 [DataOverHttps] Loaded
2013-11-08T00:03:47.182Z,1383869027.182 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2013-11-08T00:03:47.196Z,1383869027.196 [Depth_Keller] Loaded
2013-11-08T00:03:47.196Z,1383869027.196 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-11-08T00:03:47.385Z,1383869027.385 [DVL_micro] Loaded
2013-11-08T00:03:47.386Z,1383869027.386 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-11-08T00:03:47.387Z,1383869027.387 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 408554E0
2013-11-08T00:03:47.479Z,1383869027.479 [NAL9602] Loaded
2013-11-08T00:03:47.479Z,1383869027.479 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-11-08T00:03:47.522Z,1383869027.522 [Onboard] Loaded
2013-11-08T00:03:47.522Z,1383869027.522 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-11-08T00:03:47.529Z,1383869027.529 [Radio_Freewave] Loaded
2013-11-08T00:03:47.529Z,1383869027.529 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-11-08T00:03:47.678Z,1383869027.678 [DAT] Loaded
2013-11-08T00:03:47.679Z,1383869027.679 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-11-08T00:03:47.679Z,1383869027.679 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-11-08T00:03:47.680Z,1383869027.680 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-11-08T00:03:47.782Z,1383869027.782 [CTD_NeilBrown] Loaded
2013-11-08T00:03:47.782Z,1383869027.782 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-11-08T00:03:47.783Z,1383869027.783 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408B24E0
2013-11-08T00:03:47.817Z,1383869027.817 [WetLabsBB2FL] Loaded
2013-11-08T00:03:47.817Z,1383869027.817 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-11-08T00:03:47.818Z,1383869027.818 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 408E24E0
2013-11-08T00:03:47.819Z,1383869027.819 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-11-08T00:03:47.821Z,1383869027.821 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-11-08T00:03:47.822Z,1383869027.822 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-11-08T00:03:47.829Z,1383869027.829 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-11-08T00:03:47.831Z,1383869027.831 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 409124E0
2013-11-08T00:03:47.835Z,1383869027.835 [Supervisor](DEBUG): Running supervisor.
2013-11-08T00:03:47.836Z,1383869027.836 [CommandLine](INFO): Thread ID is 9665
2013-11-08T00:03:47.838Z,1383869027.838 [controlThread](INFO): Thread ID is 9664
2013-11-08T00:03:47.839Z,1383869027.839 [controlThread](DEBUG): Initializing ControlThread
2013-11-08T00:03:47.839Z,1383869027.839 [CycleStarter](INFO): Thread ID is 9663
2013-11-08T00:03:47.840Z,1383869027.840 [InternalSim](DEBUG):  InternalSim initializing...
2013-11-08T00:03:47.875Z,1383869027.875 [logger](INFO): Thread ID is 9666
2013-11-08T00:03:47.898Z,1383869027.898 [SBIT](INFO): Initialize SBIT Component.
2013-11-08T00:03:47.898Z,1383869027.898 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10713
2013-11-08T00:03:47.899Z,1383869027.899 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-11-08T00:03:47.899Z,1383869027.899 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-11-08T00:03:47.899Z,1383869027.899 [IBIT](INFO): Initialize IBIT Component.
2013-11-08T00:03:47.900Z,1383869027.900 [CBIT](DEBUG): Initialize CBIT Component.
2013-11-08T00:03:47.900Z,1383869027.900 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-11-08T00:03:47.910Z,1383869027.910 [AsyncPiEstimator](INFO): Thread ID is 9733
2013-11-08T00:03:47.910Z,1383869027.910 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-11-08T00:03:47.929Z,1383869027.929 [DVL_micro](INFO): Thread ID is 9734
2013-11-08T00:03:47.931Z,1383869027.931 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:03:47.931Z,1383869027.931 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-11-08T00:03:47.932Z,1383869027.932 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-11-08T00:03:47.932Z,1383869027.932 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-11-08T00:03:47.933Z,1383869027.933 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-11-08T00:03:47.933Z,1383869027.933 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-11-08T00:03:47.934Z,1383869027.934 [Navigation](DEBUG): Initializing Navigation.
2013-11-08T00:03:47.934Z,1383869027.934 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-11-08T00:03:47.936Z,1383869027.936 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-11-08T00:03:47.936Z,1383869027.936 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-11-08T00:03:47.937Z,1383869027.937 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-11-08T00:03:47.952Z,1383869027.952 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-11-08T00:03:47.958Z,1383869027.958 [DVL_micro](INFO): Initializing
2013-11-08T00:03:47.958Z,1383869027.958 [DVL_micro](INFO): start:Powering up
2013-11-08T00:03:47.959Z,1383869027.959 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:03:47.960Z,1383869027.960 [DVL_micro](INFO): Cycling power to configure device.
2013-11-08T00:03:47.971Z,1383869027.971 [CTD_NeilBrown](INFO): Thread ID is 9735
2013-11-08T00:03:47.971Z,1383869027.971 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-11-08T00:03:47.972Z,1383869027.972 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:03:47.975Z,1383869027.975 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-11-08T00:03:47.976Z,1383869027.976 [WetLabsBB2FL](INFO): Thread ID is 9736
2013-11-08T00:03:47.986Z,1383869027.986 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:03:48.028Z,1383869028.028 [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>


2013-11-08T00:03:48.030Z,1383869028.030 [NavChartDb](INFO): Thread ID is 9737
2013-11-08T00:03:48.035Z,1383869028.035 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-11-08T00:03:48.036Z,1383869028.036 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-11-08T00:03:48.036Z,1383869028.036 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-11-08T00:03:48.037Z,1383869028.037 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-11-08T00:03:48.037Z,1383869028.037 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-11-08T00:03:48.037Z,1383869028.037 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-11-08T00:03:48.037Z,1383869028.037 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-11-08T00:03:48.038Z,1383869028.038 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-11-08T00:03:48.038Z,1383869028.038 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-11-08T00:03:48.040Z,1383869028.040 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-11-08T00:03:48.144Z,1383869028.144 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-11-08T00:03:48.158Z,1383869028.158 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:03:48.162Z,1383869028.162 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:03:48.170Z,1383869028.170 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:03:48.208Z,1383869028.208 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:03:48.223Z,1383869028.223 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-11-08T00:03:48.237Z,1383869028.237 [Default:D.SetSpeed](DEBUG): Construct.
2013-11-08T00:03:48.251Z,1383869028.251 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:03:48.268Z,1383869028.268 [Default:F.Wait](DEBUG): Construct Wait.
2013-11-08T00:03:48.272Z,1383869028.272 [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>


2013-11-08T00:03:48.276Z,1383869028.276 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,DataOverHttps,Depth_Keller,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,LogSplitter,
2013-11-08T00:03:48.351Z,1383869028.351 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-11-08T00:03:48.368Z,1383869028.368 [DataOverHttps](INFO): tcpConnect
2013-11-08T00:03:48.567Z,1383869028.567 [Radio_Freewave](INFO): Powering up
2013-11-08T00:03:48.572Z,1383869028.572 [DAT](INFO): Powering up
2013-11-08T00:03:48.573Z,1383869028.573 [DAT](DEBUG): Initializing DAT.
2013-11-08T00:03:48.775Z,1383869028.775 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:03:48.799Z,1383869028.799 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-11-08T00:03:48.806Z,1383869028.806 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:03:48.811Z,1383869028.811 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-11-08T00:03:48.818Z,1383869028.818 [MassServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:03:48.843Z,1383869028.843 [MassServo](DEBUG): Initializing MassServo.
2013-11-08T00:03:48.849Z,1383869028.849 [RudderServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:03:48.855Z,1383869028.855 [RudderServo](DEBUG): Initializing RudderServo.
2013-11-08T00:03:48.862Z,1383869028.862 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:03:48.867Z,1383869028.867 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-11-08T00:03:49.105Z,1383869029.105 [DataOverHttps](INFO): tcpConnecting
2013-11-08T00:03:49.105Z,1383869029.105 [DataOverHttps](INFO): sslConnect
2013-11-08T00:03:49.109Z,1383869029.109 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:03:49.687Z,1383869029.687 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:03:50.073Z,1383869030.073 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:03:50.074Z,1383869030.074 [DVL_micro](INFO): Querying output modes
2013-11-08T00:03:50.074Z,1383869030.074 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-11-08T00:03:50.085Z,1383869030.085 [DVL_micro](DEBUG): cmdResponse: 01
2013-11-08T00:03:50.085Z,1383869030.085 [DVL_micro](INFO): NQ1 output enabled
2013-11-08T00:03:50.086Z,1383869030.086 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-11-08T00:03:50.098Z,1383869030.098 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-11-08T00:03:50.118Z,1383869030.118 [DVL_micro](INFO): pause:Powering down
2013-11-08T00:03:51.834Z,1383869031.834 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:03:51.837Z,1383869031.837 [DataOverHttps](INFO): dataWrite
2013-11-08T00:03:51.837Z,1383869031.837 [DataOverHttps](INFO): dataWriting
2013-11-08T00:03:51.838Z,1383869031.838 [DataOverHttps](INFO): Wrote 206 bytes.
2013-11-08T00:03:52.286Z,1383869032.286 [DataOverHttps](INFO): dataRead
2013-11-08T00:03:52.711Z,1383869032.711 [DataOverHttps](INFO): dataRead
2013-11-08T00:03:52.713Z,1383869032.713 [DataOverHttps](INFO): Received command:restart app
2013-11-08T00:03:52.715Z,1383869032.715 [DataOverHttps](IMPORTANT): SBD MTMSN=20131108T000415
2013-11-08T00:03:52.715Z,1383869032.715 [DataOverHttps](INFO): disconnect
2013-11-08T00:03:52.719Z,1383869032.719 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006713
2013-11-08T00:03:52.734Z,1383869032.734 [NAL9602](INFO): Powering up NAL9602
2013-11-08T00:03:52.745Z,1383869032.745 [CommandLine](IMPORTANT): got command restart application
2013-11-08T00:03:53.895Z,1383869033.895 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-11-08T00:03:53.895Z,1383869033.895 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-11-08T00:03:57.544Z,1383869037.544 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-11-08T00:03:57.737Z,1383869037.737 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:03:57.749Z,1383869037.749 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-11-08T00:03:57.817Z,1383869037.817 [CTD_NeilBrown](INFO): Powering down
2013-11-08T00:03:57.829Z,1383869037.829 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-11-08T00:03:58.158Z,1383869038.158 [DVL_micro](INFO): uninitialize:Powering down
2013-11-08T00:03:58.173Z,1383869038.173 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-11-08T00:03:58.246Z,1383869038.246 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-11-08T00:03:58.263Z,1383869038.263 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-11-08T00:03:58.282Z,1383869038.282 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-11-08T00:03:58.284Z,1383869038.284 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-11-08T00:03:58.459Z,1383869038.459 [controlThread](DEBUG): Uninitializing ControlThread
2013-11-08T00:03:58.459Z,1383869038.459 [AHRS_sp3003D](INFO): Powering down
2013-11-08T00:03:58.546Z,1383869038.546 [DataOverHttps](INFO): disconnect
2013-11-08T00:03:58.547Z,1383869038.547 [NAL9602](INFO): Powering down
2013-11-08T00:03:58.567Z,1383869038.567 [DAT](INFO): Powering down
2013-11-08T00:03:58.707Z,1383869038.707 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:03:58.707Z,1383869038.707 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-11-08T00:03:58.712Z,1383869038.712 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-11-08T00:03:58.713Z,1383869038.713 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-11-08T00:03:58.713Z,1383869038.713 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-11-08T00:03:58.713Z,1383869038.713 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-11-08T00:03:58.714Z,1383869038.714 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-11-08T00:03:58.714Z,1383869038.714 [BuoyancyServo](INFO): Powering down
2013-11-08T00:03:58.727Z,1383869038.727 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-11-08T00:03:58.727Z,1383869038.727 [ElevatorServo](INFO): Powering down
2013-11-08T00:03:58.747Z,1383869038.747 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-11-08T00:03:58.747Z,1383869038.747 [MassServo](INFO): Powering down
2013-11-08T00:03:58.766Z,1383869038.766 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-11-08T00:03:58.767Z,1383869038.767 [RudderServo](INFO): Powering down
2013-11-08T00:03:58.767Z,1383869038.767 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-11-08T00:03:58.768Z,1383869038.768 [ThrusterServo](INFO): Powering down
2013-11-08T00:03:58.768Z,1383869038.768 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-11-08T00:03:58.769Z,1383869038.769 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-11-08T00:03:58.769Z,1383869038.769 [CBIT](DEBUG): Uninitialize CBIT Component.