2013-11-08T00:04:00.784Z,1383869040.784 [Supervisor](DEBUG): Initializing supervisor.
2013-11-08T00:04:00.786Z,1383869040.786 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-11-08T00:04:00.787Z,1383869040.787 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-11-08T00:04:00.788Z,1383869040.788 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-11-08T00:04:00.791Z,1383869040.791 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-11-08T00:04:00.802Z,1383869040.802 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-11-08T00:04:00.803Z,1383869040.803 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-11-08T00:04:00.804Z,1383869040.804 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-11-08T00:04:00.805Z,1383869040.805 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-11-08T00:04:00.807Z,1383869040.807 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2013-11-08T00:04:00.807Z,1383869040.807 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-11-08T00:04:00.809Z,1383869040.809 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-11-08T00:04:01.085Z,1383869041.085 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-11-08T00:04:01.085Z,1383869041.085 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-11-08T00:04:01.282Z,1383869041.282 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-11-08T00:04:01.283Z,1383869041.283 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-11-08T00:04:01.368Z,1383869041.368 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-11-08T00:04:01.369Z,1383869041.369 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-11-08T00:04:01.485Z,1383869041.485 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-11-08T00:04:01.486Z,1383869041.486 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-11-08T00:04:01.633Z,1383869041.633 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-11-08T00:04:01.634Z,1383869041.634 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-11-08T00:04:01.890Z,1383869041.890 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-11-08T00:04:01.890Z,1383869041.890 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-11-08T00:04:02.058Z,1383869042.058 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-11-08T00:04:02.058Z,1383869042.058 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-11-08T00:04:02.320Z,1383869042.320 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-11-08T00:04:02.321Z,1383869042.321 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-11-08T00:04:02.422Z,1383869042.422 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-11-08T00:04:02.423Z,1383869042.423 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-11-08T00:04:02.851Z,1383869042.851 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-11-08T00:04:02.851Z,1383869042.851 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-11-08T00:04:02.962Z,1383869042.962 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-11-08T00:04:02.963Z,1383869042.963 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-11-08T00:04:03.049Z,1383869043.049 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2013-11-08T00:04:03.149Z,1383869043.149 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2013-11-08T00:04:03.151Z,1383869043.151 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-11-08T00:04:03.152Z,1383869043.152 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-11-08T00:04:03.248Z,1383869043.248 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-11-08T00:04:03.376Z,1383869043.376 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-11-08T00:04:03.475Z,1383869043.475 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-11-08T00:04:03.580Z,1383869043.580 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-11-08T00:04:03.675Z,1383869043.675 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-11-08T00:04:03.790Z,1383869043.790 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-11-08T00:04:03.885Z,1383869043.885 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-11-08T00:04:03.972Z,1383869043.972 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2013-11-08T00:04:04.065Z,1383869044.065 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-11-08T00:04:04.065Z,1383869044.065 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-11-08T00:04:04.067Z,1383869044.067 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-11-08T00:04:04.233Z,1383869044.233 [InternalSim] Loaded
2013-11-08T00:04:04.233Z,1383869044.233 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-11-08T00:04:04.234Z,1383869044.234 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-11-08T00:04:04.234Z,1383869044.234 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-11-08T00:04:04.321Z,1383869044.321 [SBIT](DEBUG): Construct Startup Built In Test.
2013-11-08T00:04:04.351Z,1383869044.351 [SBIT] Loaded
2013-11-08T00:04:04.352Z,1383869044.352 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-11-08T00:04:04.352Z,1383869044.352 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-11-08T00:04:04.381Z,1383869044.381 [IBIT] Loaded
2013-11-08T00:04:04.382Z,1383869044.382 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-11-08T00:04:04.384Z,1383869044.384 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-11-08T00:04:04.499Z,1383869044.499 [CBIT] Loaded
2013-11-08T00:04:04.500Z,1383869044.500 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-11-08T00:04:04.500Z,1383869044.500 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-11-08T00:04:04.501Z,1383869044.501 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-11-08T00:04:04.669Z,1383869044.669 [BuoyancyServo] Loaded
2013-11-08T00:04:04.669Z,1383869044.669 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-11-08T00:04:04.681Z,1383869044.681 [ElevatorServo] Loaded
2013-11-08T00:04:04.681Z,1383869044.681 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-11-08T00:04:04.693Z,1383869044.693 [MassServo] Loaded
2013-11-08T00:04:04.693Z,1383869044.693 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-11-08T00:04:04.705Z,1383869044.705 [RudderServo] Loaded
2013-11-08T00:04:04.705Z,1383869044.705 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-11-08T00:04:04.716Z,1383869044.716 [ThrusterServo] Loaded
2013-11-08T00:04:04.716Z,1383869044.716 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-11-08T00:04:04.717Z,1383869044.717 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-11-08T00:04:04.717Z,1383869044.717 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-11-08T00:04:04.752Z,1383869044.752 [DepthRateCalculator] Loaded
2013-11-08T00:04:04.752Z,1383869044.752 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-11-08T00:04:07.348Z,1383869047.348 [HFRadarModelCalc] Loaded
2013-11-08T00:04:07.349Z,1383869047.349 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-11-08T00:04:07.365Z,1383869047.365 [NavChart] Loaded
2013-11-08T00:04:07.365Z,1383869047.365 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-11-08T00:04:07.371Z,1383869047.371 [PitchRateCalculator] Loaded
2013-11-08T00:04:07.371Z,1383869047.371 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-11-08T00:04:07.382Z,1383869047.382 [SpeedCalculator] Loaded
2013-11-08T00:04:07.382Z,1383869047.382 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-11-08T00:04:07.399Z,1383869047.399 [TempGradientCalculator] Loaded
2013-11-08T00:04:07.399Z,1383869047.399 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-11-08T00:04:07.405Z,1383869047.405 [YawRateCalculator] Loaded
2013-11-08T00:04:07.405Z,1383869047.405 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-11-08T00:04:07.452Z,1383869047.452 [Navigation] Loaded
2013-11-08T00:04:07.452Z,1383869047.452 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-11-08T00:04:07.453Z,1383869047.453 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-11-08T00:04:07.453Z,1383869047.453 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-11-08T00:04:07.691Z,1383869047.691 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-11-08T00:04:07.692Z,1383869047.692 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-11-08T00:04:07.716Z,1383869047.716 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-11-08T00:04:07.716Z,1383869047.716 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-11-08T00:04:07.765Z,1383869047.765 [VerticalControl](DEBUG): Construct VerticalControl.
2013-11-08T00:04:07.860Z,1383869047.860 [VerticalControl] Loaded
2013-11-08T00:04:07.860Z,1383869047.860 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-11-08T00:04:07.861Z,1383869047.861 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-11-08T00:04:07.919Z,1383869047.919 [HorizontalControl] Loaded
2013-11-08T00:04:07.919Z,1383869047.919 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-11-08T00:04:07.920Z,1383869047.920 [SpeedControl](DEBUG): Construct SpeedControl.
2013-11-08T00:04:07.922Z,1383869047.922 [SpeedControl] Loaded
2013-11-08T00:04:07.922Z,1383869047.922 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-11-08T00:04:07.923Z,1383869047.923 [LoopControl](DEBUG): Construct LoopControl.
2013-11-08T00:04:07.923Z,1383869047.923 [LoopControl] Loaded
2013-11-08T00:04:07.924Z,1383869047.924 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-11-08T00:04:07.924Z,1383869047.924 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-11-08T00:04:07.925Z,1383869047.925 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-11-08T00:04:07.930Z,1383869047.930 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-11-08T00:04:07.935Z,1383869047.935 [AsyncPiEstimator] Loaded
2013-11-08T00:04:07.935Z,1383869047.935 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-11-08T00:04:07.937Z,1383869047.937 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-11-08T00:04:07.937Z,1383869047.937 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-11-08T00:04:07.938Z,1383869047.938 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-11-08T00:04:08.154Z,1383869048.154 [AHRS_sp3003D] Loaded
2013-11-08T00:04:08.154Z,1383869048.154 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-11-08T00:04:08.229Z,1383869048.229 [DataOverHttps] Loaded
2013-11-08T00:04:08.229Z,1383869048.229 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2013-11-08T00:04:08.243Z,1383869048.243 [Depth_Keller] Loaded
2013-11-08T00:04:08.243Z,1383869048.243 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-11-08T00:04:08.429Z,1383869048.429 [DVL_micro] Loaded
2013-11-08T00:04:08.429Z,1383869048.429 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-11-08T00:04:08.430Z,1383869048.430 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 408554E0
2013-11-08T00:04:08.521Z,1383869048.521 [NAL9602] Loaded
2013-11-08T00:04:08.521Z,1383869048.521 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-11-08T00:04:08.563Z,1383869048.563 [Onboard] Loaded
2013-11-08T00:04:08.563Z,1383869048.563 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-11-08T00:04:08.570Z,1383869048.570 [Radio_Freewave] Loaded
2013-11-08T00:04:08.570Z,1383869048.570 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-11-08T00:04:08.717Z,1383869048.717 [DAT] Loaded
2013-11-08T00:04:08.717Z,1383869048.717 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-11-08T00:04:08.717Z,1383869048.717 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-11-08T00:04:08.718Z,1383869048.718 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-11-08T00:04:08.818Z,1383869048.818 [CTD_NeilBrown] Loaded
2013-11-08T00:04:08.818Z,1383869048.818 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-11-08T00:04:08.819Z,1383869048.819 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408B24E0
2013-11-08T00:04:08.852Z,1383869048.852 [WetLabsBB2FL] Loaded
2013-11-08T00:04:08.852Z,1383869048.852 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-11-08T00:04:08.853Z,1383869048.853 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 408E24E0
2013-11-08T00:04:08.854Z,1383869048.854 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-11-08T00:04:08.856Z,1383869048.856 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-11-08T00:04:08.857Z,1383869048.857 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-11-08T00:04:08.864Z,1383869048.864 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-11-08T00:04:08.866Z,1383869048.866 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 409124E0
2013-11-08T00:04:08.870Z,1383869048.870 [Supervisor](DEBUG): Running supervisor.
2013-11-08T00:04:08.871Z,1383869048.871 [CommandLine](INFO): Thread ID is 9764
2013-11-08T00:04:08.873Z,1383869048.873 [controlThread](INFO): Thread ID is 9763
2013-11-08T00:04:08.874Z,1383869048.874 [controlThread](DEBUG): Initializing ControlThread
2013-11-08T00:04:08.874Z,1383869048.874 [CycleStarter](INFO): Thread ID is 9762
2013-11-08T00:04:08.875Z,1383869048.875 [InternalSim](DEBUG):  InternalSim initializing...
2013-11-08T00:04:08.909Z,1383869048.909 [logger](INFO): Thread ID is 9765
2013-11-08T00:04:08.930Z,1383869048.930 [SBIT](INFO): Initialize SBIT Component.
2013-11-08T00:04:08.931Z,1383869048.931 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10713
2013-11-08T00:04:08.931Z,1383869048.931 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-11-08T00:04:08.931Z,1383869048.931 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-11-08T00:04:08.932Z,1383869048.932 [IBIT](INFO): Initialize IBIT Component.
2013-11-08T00:04:08.933Z,1383869048.933 [CBIT](DEBUG): Initialize CBIT Component.
2013-11-08T00:04:08.933Z,1383869048.933 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-11-08T00:04:08.943Z,1383869048.943 [AsyncPiEstimator](INFO): Thread ID is 9832
2013-11-08T00:04:08.943Z,1383869048.943 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-11-08T00:04:08.963Z,1383869048.963 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:04:08.964Z,1383869048.964 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-11-08T00:04:08.964Z,1383869048.964 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-11-08T00:04:08.965Z,1383869048.965 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-11-08T00:04:08.965Z,1383869048.965 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-11-08T00:04:08.966Z,1383869048.966 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-11-08T00:04:08.966Z,1383869048.966 [Navigation](DEBUG): Initializing Navigation.
2013-11-08T00:04:08.967Z,1383869048.967 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-11-08T00:04:08.968Z,1383869048.968 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-11-08T00:04:08.969Z,1383869048.969 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-11-08T00:04:08.969Z,1383869048.969 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-11-08T00:04:08.976Z,1383869048.976 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-11-08T00:04:08.983Z,1383869048.983 [DVL_micro](INFO): Thread ID is 9833
2013-11-08T00:04:08.992Z,1383869048.992 [DVL_micro](INFO): Initializing
2013-11-08T00:04:08.992Z,1383869048.992 [DVL_micro](INFO): start:Powering up
2013-11-08T00:04:08.993Z,1383869048.993 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:04:08.994Z,1383869048.994 [DVL_micro](INFO): Cycling power to configure device.
2013-11-08T00:04:09.006Z,1383869049.006 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:04:09.012Z,1383869049.012 [CTD_NeilBrown](INFO): Thread ID is 9834
2013-11-08T00:04:09.012Z,1383869049.012 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-11-08T00:04:09.027Z,1383869049.027 [WetLabsBB2FL](INFO): Thread ID is 9835
2013-11-08T00:04:09.028Z,1383869049.028 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-11-08T00:04:09.037Z,1383869049.037 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:04:09.061Z,1383869049.061 [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>


2013-11-08T00:04:09.073Z,1383869049.073 [NavChartDb](INFO): Thread ID is 9836
2013-11-08T00:04:09.075Z,1383869049.075 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-11-08T00:04:09.076Z,1383869049.076 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-11-08T00:04:09.076Z,1383869049.076 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-11-08T00:04:09.077Z,1383869049.077 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-11-08T00:04:09.077Z,1383869049.077 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-11-08T00:04:09.077Z,1383869049.077 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-11-08T00:04:09.077Z,1383869049.077 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-11-08T00:04:09.078Z,1383869049.078 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-11-08T00:04:09.078Z,1383869049.078 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-11-08T00:04:09.091Z,1383869049.091 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-11-08T00:04:09.176Z,1383869049.176 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-11-08T00:04:09.178Z,1383869049.178 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:04:09.182Z,1383869049.182 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:04:09.202Z,1383869049.202 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:04:09.205Z,1383869049.205 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:04:09.244Z,1383869049.244 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-11-08T00:04:09.261Z,1383869049.261 [Default:D.SetSpeed](DEBUG): Construct.
2013-11-08T00:04:09.269Z,1383869049.269 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:04:09.285Z,1383869049.285 [Default:F.Wait](DEBUG): Construct Wait.
2013-11-08T00:04:09.289Z,1383869049.289 [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>


2013-11-08T00:04:09.295Z,1383869049.295 [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,
2013-11-08T00:04:09.363Z,1383869049.363 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-11-08T00:04:09.390Z,1383869049.390 [DataOverHttps](INFO): tcpConnect
2013-11-08T00:04:09.400Z,1383869049.400 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-11-08T00:04:09.483Z,1383869049.483 [Radio_Freewave](INFO): Powering up
2013-11-08T00:04:09.492Z,1383869049.492 [DAT](INFO): Powering up
2013-11-08T00:04:09.493Z,1383869049.493 [DAT](DEBUG): Initializing DAT.
2013-11-08T00:04:09.704Z,1383869049.704 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:09.728Z,1383869049.728 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-11-08T00:04:09.734Z,1383869049.734 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:09.740Z,1383869049.740 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-11-08T00:04:09.762Z,1383869049.762 [MassServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:09.768Z,1383869049.768 [MassServo](DEBUG): Initializing MassServo.
2013-11-08T00:04:09.774Z,1383869049.774 [RudderServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:09.780Z,1383869049.780 [RudderServo](DEBUG): Initializing RudderServo.
2013-11-08T00:04:09.786Z,1383869049.786 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:09.792Z,1383869049.792 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-11-08T00:04:09.961Z,1383869049.961 [DataOverHttps](INFO): tcpConnecting
2013-11-08T00:04:09.962Z,1383869049.962 [DataOverHttps](INFO): sslConnect
2013-11-08T00:04:09.974Z,1383869049.974 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:04:10.401Z,1383869050.401 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:04:11.122Z,1383869051.122 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:04:11.122Z,1383869051.122 [DVL_micro](INFO): Querying output modes
2013-11-08T00:04:11.123Z,1383869051.123 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-11-08T00:04:11.134Z,1383869051.134 [DVL_micro](DEBUG): cmdResponse: 01
2013-11-08T00:04:11.134Z,1383869051.134 [DVL_micro](INFO): NQ1 output enabled
2013-11-08T00:04:11.134Z,1383869051.134 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-11-08T00:04:11.146Z,1383869051.146 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-11-08T00:04:11.151Z,1383869051.151 [DVL_micro](INFO): pause:Powering down
2013-11-08T00:04:12.522Z,1383869052.522 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:04:12.525Z,1383869052.525 [DataOverHttps](INFO): dataWrite
2013-11-08T00:04:12.525Z,1383869052.525 [DataOverHttps](INFO): dataWriting
2013-11-08T00:04:12.527Z,1383869052.527 [DataOverHttps](INFO): Wrote 206 bytes.
2013-11-08T00:04:12.949Z,1383869052.949 [DataOverHttps](INFO): dataRead
2013-11-08T00:04:13.407Z,1383869053.407 [DataOverHttps](INFO): dataRead
2013-11-08T00:04:13.409Z,1383869053.409 [DataOverHttps](INFO): Received command:restart app
2013-11-08T00:04:13.411Z,1383869053.411 [DataOverHttps](IMPORTANT): SBD MTMSN=20131108T000436
2013-11-08T00:04:13.411Z,1383869053.411 [DataOverHttps](INFO): disconnect
2013-11-08T00:04:13.422Z,1383869053.422 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.014625
2013-11-08T00:04:13.477Z,1383869053.477 [CommandLine](IMPORTANT): got command restart application
2013-11-08T00:04:14.048Z,1383869054.048 [NAL9602](INFO): Powering up NAL9602
2013-11-08T00:04:14.531Z,1383869054.531 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-11-08T00:04:14.531Z,1383869054.531 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-11-08T00:04:18.785Z,1383869058.785 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-11-08T00:04:19.138Z,1383869059.138 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:04:19.150Z,1383869059.150 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-11-08T00:04:19.323Z,1383869059.323 [CTD_NeilBrown](INFO): Powering down
2013-11-08T00:04:19.338Z,1383869059.338 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-11-08T00:04:19.575Z,1383869059.575 [DVL_micro](INFO): uninitialize:Powering down
2013-11-08T00:04:19.583Z,1383869059.583 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-11-08T00:04:19.611Z,1383869059.611 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-11-08T00:04:19.624Z,1383869059.624 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-11-08T00:04:19.676Z,1383869059.676 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-11-08T00:04:19.677Z,1383869059.677 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-11-08T00:04:19.948Z,1383869059.948 [controlThread](DEBUG): Uninitializing ControlThread
2013-11-08T00:04:19.949Z,1383869059.949 [AHRS_sp3003D](INFO): Powering down
2013-11-08T00:04:20.036Z,1383869060.036 [DataOverHttps](INFO): disconnect
2013-11-08T00:04:20.036Z,1383869060.036 [NAL9602](INFO): Powering down
2013-11-08T00:04:20.056Z,1383869060.056 [DAT](INFO): Powering down
2013-11-08T00:04:20.196Z,1383869060.196 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:04:20.197Z,1383869060.197 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-11-08T00:04:20.202Z,1383869060.202 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-11-08T00:04:20.202Z,1383869060.202 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-11-08T00:04:20.202Z,1383869060.202 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-11-08T00:04:20.203Z,1383869060.203 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-11-08T00:04:20.203Z,1383869060.203 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-11-08T00:04:20.203Z,1383869060.203 [BuoyancyServo](INFO): Powering down
2013-11-08T00:04:20.216Z,1383869060.216 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-11-08T00:04:20.216Z,1383869060.216 [ElevatorServo](INFO): Powering down
2013-11-08T00:04:20.236Z,1383869060.236 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-11-08T00:04:20.236Z,1383869060.236 [MassServo](INFO): Powering down
2013-11-08T00:04:20.246Z,1383869060.246 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-11-08T00:04:20.247Z,1383869060.247 [RudderServo](INFO): Powering down
2013-11-08T00:04:20.248Z,1383869060.248 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-11-08T00:04:20.248Z,1383869060.248 [ThrusterServo](INFO): Powering down
2013-11-08T00:04:20.249Z,1383869060.249 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-11-08T00:04:20.249Z,1383869060.249 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-11-08T00:04:20.249Z,1383869060.249 [CBIT](DEBUG): Uninitialize CBIT Component.