2013-11-08T00:04:22.156Z,1383869062.156 [Supervisor](DEBUG): Initializing supervisor.
2013-11-08T00:04:22.159Z,1383869062.159 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-11-08T00:04:22.160Z,1383869062.160 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-11-08T00:04:22.161Z,1383869062.161 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-11-08T00:04:22.164Z,1383869062.164 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-11-08T00:04:22.175Z,1383869062.175 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-11-08T00:04:22.176Z,1383869062.176 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-11-08T00:04:22.177Z,1383869062.177 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-11-08T00:04:22.178Z,1383869062.178 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-11-08T00:04:22.181Z,1383869062.181 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2013-11-08T00:04:22.181Z,1383869062.181 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-11-08T00:04:22.182Z,1383869062.182 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-11-08T00:04:22.472Z,1383869062.472 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-11-08T00:04:22.472Z,1383869062.472 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-11-08T00:04:22.684Z,1383869062.684 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-11-08T00:04:22.685Z,1383869062.685 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-11-08T00:04:22.797Z,1383869062.797 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-11-08T00:04:22.798Z,1383869062.798 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-11-08T00:04:22.919Z,1383869062.919 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-11-08T00:04:22.920Z,1383869062.920 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-11-08T00:04:23.063Z,1383869063.063 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-11-08T00:04:23.064Z,1383869063.064 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-11-08T00:04:23.314Z,1383869063.314 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-11-08T00:04:23.314Z,1383869063.314 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-11-08T00:04:23.488Z,1383869063.488 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-11-08T00:04:23.489Z,1383869063.489 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-11-08T00:04:23.766Z,1383869063.766 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-11-08T00:04:23.767Z,1383869063.767 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-11-08T00:04:23.869Z,1383869063.869 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-11-08T00:04:23.870Z,1383869063.870 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-11-08T00:04:24.321Z,1383869064.321 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-11-08T00:04:24.321Z,1383869064.321 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-11-08T00:04:24.434Z,1383869064.434 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-11-08T00:04:24.435Z,1383869064.435 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-11-08T00:04:24.521Z,1383869064.521 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2013-11-08T00:04:24.623Z,1383869064.623 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2013-11-08T00:04:24.625Z,1383869064.625 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-11-08T00:04:24.626Z,1383869064.626 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-11-08T00:04:24.724Z,1383869064.724 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-11-08T00:04:24.856Z,1383869064.856 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-11-08T00:04:24.958Z,1383869064.958 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-11-08T00:04:25.065Z,1383869065.065 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-11-08T00:04:25.162Z,1383869065.162 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-11-08T00:04:25.280Z,1383869065.280 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-11-08T00:04:25.376Z,1383869065.376 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-11-08T00:04:25.462Z,1383869065.462 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2013-11-08T00:04:25.557Z,1383869065.557 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-11-08T00:04:25.557Z,1383869065.557 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-11-08T00:04:25.558Z,1383869065.558 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-11-08T00:04:25.728Z,1383869065.728 [InternalSim] Loaded
2013-11-08T00:04:25.728Z,1383869065.728 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-11-08T00:04:25.729Z,1383869065.729 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-11-08T00:04:25.729Z,1383869065.729 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-11-08T00:04:25.819Z,1383869065.819 [SBIT](DEBUG): Construct Startup Built In Test.
2013-11-08T00:04:25.850Z,1383869065.850 [SBIT] Loaded
2013-11-08T00:04:25.850Z,1383869065.850 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-11-08T00:04:25.851Z,1383869065.851 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-11-08T00:04:25.881Z,1383869065.881 [IBIT] Loaded
2013-11-08T00:04:25.881Z,1383869065.881 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-11-08T00:04:25.883Z,1383869065.883 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-11-08T00:04:26.002Z,1383869066.002 [CBIT] Loaded
2013-11-08T00:04:26.002Z,1383869066.002 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-11-08T00:04:26.003Z,1383869066.003 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-11-08T00:04:26.003Z,1383869066.003 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-11-08T00:04:26.175Z,1383869066.175 [BuoyancyServo] Loaded
2013-11-08T00:04:26.175Z,1383869066.175 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-11-08T00:04:26.187Z,1383869066.187 [ElevatorServo] Loaded
2013-11-08T00:04:26.188Z,1383869066.188 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-11-08T00:04:26.199Z,1383869066.199 [MassServo] Loaded
2013-11-08T00:04:26.200Z,1383869066.200 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-11-08T00:04:26.211Z,1383869066.211 [RudderServo] Loaded
2013-11-08T00:04:26.212Z,1383869066.212 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-11-08T00:04:26.223Z,1383869066.223 [ThrusterServo] Loaded
2013-11-08T00:04:26.223Z,1383869066.223 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-11-08T00:04:26.224Z,1383869066.224 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-11-08T00:04:26.224Z,1383869066.224 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-11-08T00:04:26.260Z,1383869066.260 [DepthRateCalculator] Loaded
2013-11-08T00:04:26.260Z,1383869066.260 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-11-08T00:04:29.184Z,1383869069.184 [HFRadarModelCalc] Loaded
2013-11-08T00:04:29.184Z,1383869069.184 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-11-08T00:04:29.200Z,1383869069.200 [NavChart] Loaded
2013-11-08T00:04:29.201Z,1383869069.201 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-11-08T00:04:29.206Z,1383869069.206 [PitchRateCalculator] Loaded
2013-11-08T00:04:29.207Z,1383869069.207 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-11-08T00:04:29.218Z,1383869069.218 [SpeedCalculator] Loaded
2013-11-08T00:04:29.218Z,1383869069.218 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-11-08T00:04:29.235Z,1383869069.235 [TempGradientCalculator] Loaded
2013-11-08T00:04:29.236Z,1383869069.236 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-11-08T00:04:29.241Z,1383869069.241 [YawRateCalculator] Loaded
2013-11-08T00:04:29.242Z,1383869069.242 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-11-08T00:04:29.290Z,1383869069.290 [Navigation] Loaded
2013-11-08T00:04:29.290Z,1383869069.290 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-11-08T00:04:29.290Z,1383869069.290 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-11-08T00:04:29.291Z,1383869069.291 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-11-08T00:04:29.535Z,1383869069.535 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-11-08T00:04:29.536Z,1383869069.536 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-11-08T00:04:29.560Z,1383869069.560 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-11-08T00:04:29.561Z,1383869069.561 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-11-08T00:04:29.610Z,1383869069.610 [VerticalControl](DEBUG): Construct VerticalControl.
2013-11-08T00:04:29.708Z,1383869069.708 [VerticalControl] Loaded
2013-11-08T00:04:29.708Z,1383869069.708 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-11-08T00:04:29.709Z,1383869069.709 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-11-08T00:04:29.768Z,1383869069.768 [HorizontalControl] Loaded
2013-11-08T00:04:29.768Z,1383869069.768 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-11-08T00:04:29.769Z,1383869069.769 [SpeedControl](DEBUG): Construct SpeedControl.
2013-11-08T00:04:29.771Z,1383869069.771 [SpeedControl] Loaded
2013-11-08T00:04:29.771Z,1383869069.771 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-11-08T00:04:29.772Z,1383869069.772 [LoopControl](DEBUG): Construct LoopControl.
2013-11-08T00:04:29.772Z,1383869069.772 [LoopControl] Loaded
2013-11-08T00:04:29.773Z,1383869069.773 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-11-08T00:04:29.773Z,1383869069.773 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-11-08T00:04:29.774Z,1383869069.774 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-11-08T00:04:29.779Z,1383869069.779 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-11-08T00:04:29.784Z,1383869069.784 [AsyncPiEstimator] Loaded
2013-11-08T00:04:29.785Z,1383869069.785 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-11-08T00:04:29.786Z,1383869069.786 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-11-08T00:04:29.786Z,1383869069.786 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-11-08T00:04:29.787Z,1383869069.787 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-11-08T00:04:30.011Z,1383869070.011 [AHRS_sp3003D] Loaded
2013-11-08T00:04:30.011Z,1383869070.011 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-11-08T00:04:30.087Z,1383869070.087 [DataOverHttps] Loaded
2013-11-08T00:04:30.088Z,1383869070.088 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2013-11-08T00:04:30.101Z,1383869070.101 [Depth_Keller] Loaded
2013-11-08T00:04:30.102Z,1383869070.102 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-11-08T00:04:30.290Z,1383869070.290 [DVL_micro] Loaded
2013-11-08T00:04:30.291Z,1383869070.291 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-11-08T00:04:30.292Z,1383869070.292 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 408554E0
2013-11-08T00:04:30.384Z,1383869070.384 [NAL9602] Loaded
2013-11-08T00:04:30.384Z,1383869070.384 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-11-08T00:04:30.427Z,1383869070.427 [Onboard] Loaded
2013-11-08T00:04:30.428Z,1383869070.428 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-11-08T00:04:30.434Z,1383869070.434 [Radio_Freewave] Loaded
2013-11-08T00:04:30.435Z,1383869070.435 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-11-08T00:04:30.584Z,1383869070.584 [DAT] Loaded
2013-11-08T00:04:30.585Z,1383869070.585 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-11-08T00:04:30.585Z,1383869070.585 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-11-08T00:04:30.586Z,1383869070.586 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-11-08T00:04:30.688Z,1383869070.688 [CTD_NeilBrown] Loaded
2013-11-08T00:04:30.688Z,1383869070.688 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-11-08T00:04:30.689Z,1383869070.689 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408B24E0
2013-11-08T00:04:30.723Z,1383869070.723 [WetLabsBB2FL] Loaded
2013-11-08T00:04:30.723Z,1383869070.723 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-11-08T00:04:30.724Z,1383869070.724 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 408E24E0
2013-11-08T00:04:30.725Z,1383869070.725 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-11-08T00:04:30.728Z,1383869070.728 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-11-08T00:04:30.729Z,1383869070.729 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-11-08T00:04:30.736Z,1383869070.736 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-11-08T00:04:30.737Z,1383869070.737 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 409124E0
2013-11-08T00:04:30.741Z,1383869070.741 [Supervisor](DEBUG): Running supervisor.
2013-11-08T00:04:30.743Z,1383869070.743 [CommandLine](INFO): Thread ID is 9863
2013-11-08T00:04:30.745Z,1383869070.745 [controlThread](INFO): Thread ID is 9862
2013-11-08T00:04:30.745Z,1383869070.745 [controlThread](DEBUG): Initializing ControlThread
2013-11-08T00:04:30.746Z,1383869070.746 [CycleStarter](INFO): Thread ID is 9861
2013-11-08T00:04:30.746Z,1383869070.746 [InternalSim](DEBUG):  InternalSim initializing...
2013-11-08T00:04:30.781Z,1383869070.781 [logger](INFO): Thread ID is 9864
2013-11-08T00:04:30.805Z,1383869070.805 [SBIT](INFO): Initialize SBIT Component.
2013-11-08T00:04:30.806Z,1383869070.806 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10713
2013-11-08T00:04:30.806Z,1383869070.806 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-11-08T00:04:30.806Z,1383869070.806 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-11-08T00:04:30.807Z,1383869070.807 [IBIT](INFO): Initialize IBIT Component.
2013-11-08T00:04:30.808Z,1383869070.808 [CBIT](DEBUG): Initialize CBIT Component.
2013-11-08T00:04:30.808Z,1383869070.808 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-11-08T00:04:30.821Z,1383869070.821 [AsyncPiEstimator](INFO): Thread ID is 9931
2013-11-08T00:04:30.821Z,1383869070.821 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-11-08T00:04:30.833Z,1383869070.833 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:04:30.834Z,1383869070.834 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-11-08T00:04:30.834Z,1383869070.834 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-11-08T00:04:30.835Z,1383869070.835 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-11-08T00:04:30.835Z,1383869070.835 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-11-08T00:04:30.836Z,1383869070.836 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-11-08T00:04:30.836Z,1383869070.836 [Navigation](DEBUG): Initializing Navigation.
2013-11-08T00:04:30.836Z,1383869070.836 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-11-08T00:04:30.838Z,1383869070.838 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-11-08T00:04:30.839Z,1383869070.839 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-11-08T00:04:30.839Z,1383869070.839 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-11-08T00:04:30.849Z,1383869070.849 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-11-08T00:04:30.853Z,1383869070.853 [DVL_micro](INFO): Thread ID is 9932
2013-11-08T00:04:30.862Z,1383869070.862 [DVL_micro](INFO): Initializing
2013-11-08T00:04:30.862Z,1383869070.862 [DVL_micro](INFO): start:Powering up
2013-11-08T00:04:30.863Z,1383869070.863 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:04:30.864Z,1383869070.864 [DVL_micro](INFO): Cycling power to configure device.
2013-11-08T00:04:30.878Z,1383869070.878 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:04:30.881Z,1383869070.881 [CTD_NeilBrown](INFO): Thread ID is 9933
2013-11-08T00:04:30.881Z,1383869070.881 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-11-08T00:04:30.901Z,1383869070.901 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-11-08T00:04:30.905Z,1383869070.905 [WetLabsBB2FL](INFO): Thread ID is 9934
2013-11-08T00:04:30.906Z,1383869070.906 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:04:30.945Z,1383869070.945 [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>


2013-11-08T00:04:30.946Z,1383869070.946 [NavChartDb](INFO): Thread ID is 9935
2013-11-08T00:04:30.950Z,1383869070.950 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-11-08T00:04:30.951Z,1383869070.951 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-11-08T00:04:30.951Z,1383869070.951 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-11-08T00:04:30.952Z,1383869070.952 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-11-08T00:04:30.952Z,1383869070.952 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-11-08T00:04:30.953Z,1383869070.953 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-11-08T00:04:30.956Z,1383869070.956 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-11-08T00:04:30.964Z,1383869070.964 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-11-08T00:04:30.964Z,1383869070.964 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-11-08T00:04:30.965Z,1383869070.965 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-11-08T00:04:31.026Z,1383869071.026 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-11-08T00:04:31.028Z,1383869071.028 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:04:31.045Z,1383869071.045 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:04:31.061Z,1383869071.061 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:04:31.064Z,1383869071.064 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:04:31.071Z,1383869071.071 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-11-08T00:04:31.122Z,1383869071.122 [Default:D.SetSpeed](DEBUG): Construct.
2013-11-08T00:04:31.134Z,1383869071.134 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:04:31.139Z,1383869071.139 [Default:F.Wait](DEBUG): Construct Wait.
2013-11-08T00:04:31.161Z,1383869071.161 [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>


2013-11-08T00:04:31.165Z,1383869071.165 [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,
2013-11-08T00:04:31.225Z,1383869071.225 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-11-08T00:04:31.247Z,1383869071.247 [DataOverHttps](INFO): tcpConnect
2013-11-08T00:04:31.430Z,1383869071.430 [Radio_Freewave](INFO): Powering up
2013-11-08T00:04:31.451Z,1383869071.451 [DAT](INFO): Powering up
2013-11-08T00:04:31.451Z,1383869071.451 [DAT](DEBUG): Initializing DAT.
2013-11-08T00:04:31.650Z,1383869071.650 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:31.658Z,1383869071.658 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-11-08T00:04:31.664Z,1383869071.664 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:31.670Z,1383869071.670 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-11-08T00:04:31.676Z,1383869071.676 [MassServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:31.706Z,1383869071.706 [MassServo](DEBUG): Initializing MassServo.
2013-11-08T00:04:31.711Z,1383869071.711 [RudderServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:31.718Z,1383869071.718 [RudderServo](DEBUG): Initializing RudderServo.
2013-11-08T00:04:31.760Z,1383869071.760 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:31.766Z,1383869071.766 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-11-08T00:04:32.003Z,1383869072.003 [DataOverHttps](INFO): tcpConnecting
2013-11-08T00:04:32.003Z,1383869072.003 [DataOverHttps](INFO): sslConnect
2013-11-08T00:04:32.007Z,1383869072.007 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:04:32.593Z,1383869072.593 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:04:32.968Z,1383869072.968 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:04:32.968Z,1383869072.968 [DVL_micro](INFO): Querying output modes
2013-11-08T00:04:32.969Z,1383869072.969 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-11-08T00:04:32.980Z,1383869072.980 [DVL_micro](DEBUG): cmdResponse: 01
2013-11-08T00:04:32.980Z,1383869072.980 [DVL_micro](INFO): NQ1 output enabled
2013-11-08T00:04:32.980Z,1383869072.980 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-11-08T00:04:32.992Z,1383869072.992 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-11-08T00:04:32.997Z,1383869072.997 [DVL_micro](INFO): pause:Powering down
2013-11-08T00:04:34.740Z,1383869074.740 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:04:34.742Z,1383869074.742 [DataOverHttps](INFO): dataWrite
2013-11-08T00:04:34.743Z,1383869074.743 [DataOverHttps](INFO): dataWriting
2013-11-08T00:04:34.744Z,1383869074.744 [DataOverHttps](INFO): Wrote 206 bytes.
2013-11-08T00:04:35.153Z,1383869075.153 [DataOverHttps](INFO): dataRead
2013-11-08T00:04:35.605Z,1383869075.605 [DataOverHttps](INFO): dataRead
2013-11-08T00:04:35.608Z,1383869075.608 [DataOverHttps](INFO): Received command:restart app
2013-11-08T00:04:35.609Z,1383869075.609 [DataOverHttps](IMPORTANT): SBD MTMSN=20131108T000458
2013-11-08T00:04:35.609Z,1383869075.609 [DataOverHttps](INFO): disconnect
2013-11-08T00:04:35.613Z,1383869075.613 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006712
2013-11-08T00:04:35.636Z,1383869075.636 [NAL9602](INFO): Powering up NAL9602
2013-11-08T00:04:35.656Z,1383869075.656 [CommandLine](IMPORTANT): got command restart application
2013-11-08T00:04:36.797Z,1383869076.797 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-11-08T00:04:36.797Z,1383869076.797 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-11-08T00:04:40.675Z,1383869080.675 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-11-08T00:04:41.000Z,1383869081.000 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:04:41.016Z,1383869081.016 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-11-08T00:04:41.124Z,1383869081.124 [CTD_NeilBrown](INFO): Powering down
2013-11-08T00:04:41.136Z,1383869081.136 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-11-08T00:04:41.453Z,1383869081.453 [DVL_micro](INFO): uninitialize:Powering down
2013-11-08T00:04:41.461Z,1383869081.461 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-11-08T00:04:41.489Z,1383869081.489 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-11-08T00:04:41.502Z,1383869081.502 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-11-08T00:04:41.542Z,1383869081.542 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-11-08T00:04:41.543Z,1383869081.543 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-11-08T00:04:41.634Z,1383869081.634 [controlThread](DEBUG): Uninitializing ControlThread
2013-11-08T00:04:41.635Z,1383869081.635 [AHRS_sp3003D](INFO): Powering down
2013-11-08T00:04:41.722Z,1383869081.722 [DataOverHttps](INFO): disconnect
2013-11-08T00:04:41.722Z,1383869081.722 [NAL9602](INFO): Powering down
2013-11-08T00:04:41.742Z,1383869081.742 [DAT](INFO): Powering down
2013-11-08T00:04:41.878Z,1383869081.878 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:04:41.878Z,1383869081.878 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-11-08T00:04:41.883Z,1383869081.883 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-11-08T00:04:41.884Z,1383869081.884 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-11-08T00:04:41.884Z,1383869081.884 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-11-08T00:04:41.884Z,1383869081.884 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-11-08T00:04:41.885Z,1383869081.885 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-11-08T00:04:41.885Z,1383869081.885 [BuoyancyServo](INFO): Powering down
2013-11-08T00:04:41.897Z,1383869081.897 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-11-08T00:04:41.898Z,1383869081.898 [ElevatorServo](INFO): Powering down
2013-11-08T00:04:41.918Z,1383869081.918 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-11-08T00:04:41.918Z,1383869081.918 [MassServo](INFO): Powering down
2013-11-08T00:04:41.919Z,1383869081.919 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-11-08T00:04:41.919Z,1383869081.919 [RudderServo](INFO): Powering down
2013-11-08T00:04:41.920Z,1383869081.920 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-11-08T00:04:41.920Z,1383869081.920 [ThrusterServo](INFO): Powering down
2013-11-08T00:04:41.921Z,1383869081.921 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-11-08T00:04:41.921Z,1383869081.921 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-11-08T00:04:41.921Z,1383869081.921 [CBIT](DEBUG): Uninitialize CBIT Component.