2013-11-08T00:05:05.741Z,1383869105.741 [Supervisor](DEBUG): Initializing supervisor.
2013-11-08T00:05:05.744Z,1383869105.744 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-11-08T00:05:05.744Z,1383869105.744 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-11-08T00:05:05.745Z,1383869105.745 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-11-08T00:05:05.748Z,1383869105.748 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-11-08T00:05:05.759Z,1383869105.759 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-11-08T00:05:05.760Z,1383869105.760 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-11-08T00:05:05.761Z,1383869105.761 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-11-08T00:05:05.762Z,1383869105.762 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-11-08T00:05:05.765Z,1383869105.765 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2013-11-08T00:05:05.765Z,1383869105.765 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-11-08T00:05:05.766Z,1383869105.766 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-11-08T00:05:06.047Z,1383869106.047 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-11-08T00:05:06.047Z,1383869106.047 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-11-08T00:05:06.246Z,1383869106.246 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-11-08T00:05:06.246Z,1383869106.246 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-11-08T00:05:06.332Z,1383869106.332 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-11-08T00:05:06.333Z,1383869106.333 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-11-08T00:05:06.449Z,1383869106.449 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-11-08T00:05:06.450Z,1383869106.450 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-11-08T00:05:06.589Z,1383869106.589 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-11-08T00:05:06.589Z,1383869106.589 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-11-08T00:05:06.830Z,1383869106.830 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-11-08T00:05:06.831Z,1383869106.831 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-11-08T00:05:06.999Z,1383869106.999 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-11-08T00:05:06.999Z,1383869106.999 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-11-08T00:05:07.263Z,1383869107.263 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-11-08T00:05:07.264Z,1383869107.264 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-11-08T00:05:07.365Z,1383869107.365 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-11-08T00:05:07.365Z,1383869107.365 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-11-08T00:05:07.800Z,1383869107.800 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-11-08T00:05:07.801Z,1383869107.801 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-11-08T00:05:07.914Z,1383869107.914 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-11-08T00:05:07.914Z,1383869107.914 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-11-08T00:05:07.000Z,1383869108.000 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2013-11-08T00:05:08.101Z,1383869108.101 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2013-11-08T00:05:08.103Z,1383869108.103 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-11-08T00:05:08.104Z,1383869108.104 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-11-08T00:05:08.201Z,1383869108.201 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-11-08T00:05:08.329Z,1383869108.329 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-11-08T00:05:08.429Z,1383869108.429 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-11-08T00:05:08.533Z,1383869108.533 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-11-08T00:05:08.629Z,1383869108.629 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-11-08T00:05:08.744Z,1383869108.744 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-11-08T00:05:08.839Z,1383869108.839 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-11-08T00:05:08.925Z,1383869108.925 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2013-11-08T00:05:09.019Z,1383869109.019 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-11-08T00:05:09.020Z,1383869109.020 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-11-08T00:05:09.021Z,1383869109.021 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-11-08T00:05:09.191Z,1383869109.191 [InternalSim] Loaded
2013-11-08T00:05:09.191Z,1383869109.191 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-11-08T00:05:09.192Z,1383869109.192 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-11-08T00:05:09.192Z,1383869109.192 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-11-08T00:05:09.283Z,1383869109.283 [SBIT](DEBUG): Construct Startup Built In Test.
2013-11-08T00:05:09.314Z,1383869109.314 [SBIT] Loaded
2013-11-08T00:05:09.315Z,1383869109.315 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-11-08T00:05:09.315Z,1383869109.315 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-11-08T00:05:09.345Z,1383869109.345 [IBIT] Loaded
2013-11-08T00:05:09.345Z,1383869109.345 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-11-08T00:05:09.347Z,1383869109.347 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-11-08T00:05:09.466Z,1383869109.466 [CBIT] Loaded
2013-11-08T00:05:09.466Z,1383869109.466 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-11-08T00:05:09.466Z,1383869109.466 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-11-08T00:05:09.467Z,1383869109.467 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-11-08T00:05:09.638Z,1383869109.638 [BuoyancyServo] Loaded
2013-11-08T00:05:09.638Z,1383869109.638 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-11-08T00:05:09.650Z,1383869109.650 [ElevatorServo] Loaded
2013-11-08T00:05:09.650Z,1383869109.650 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-11-08T00:05:09.662Z,1383869109.662 [MassServo] Loaded
2013-11-08T00:05:09.663Z,1383869109.663 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-11-08T00:05:09.674Z,1383869109.674 [RudderServo] Loaded
2013-11-08T00:05:09.675Z,1383869109.675 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-11-08T00:05:09.686Z,1383869109.686 [ThrusterServo] Loaded
2013-11-08T00:05:09.686Z,1383869109.686 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-11-08T00:05:09.687Z,1383869109.687 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-11-08T00:05:09.687Z,1383869109.687 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-11-08T00:05:09.722Z,1383869109.722 [DepthRateCalculator] Loaded
2013-11-08T00:05:09.722Z,1383869109.722 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-11-08T00:05:12.337Z,1383869112.337 [HFRadarModelCalc] Loaded
2013-11-08T00:05:12.337Z,1383869112.337 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-11-08T00:05:12.353Z,1383869112.353 [NavChart] Loaded
2013-11-08T00:05:12.353Z,1383869112.353 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-11-08T00:05:12.359Z,1383869112.359 [PitchRateCalculator] Loaded
2013-11-08T00:05:12.359Z,1383869112.359 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-11-08T00:05:12.370Z,1383869112.370 [SpeedCalculator] Loaded
2013-11-08T00:05:12.371Z,1383869112.371 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-11-08T00:05:12.388Z,1383869112.388 [TempGradientCalculator] Loaded
2013-11-08T00:05:12.388Z,1383869112.388 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-11-08T00:05:12.394Z,1383869112.394 [YawRateCalculator] Loaded
2013-11-08T00:05:12.394Z,1383869112.394 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-11-08T00:05:12.441Z,1383869112.441 [Navigation] Loaded
2013-11-08T00:05:12.442Z,1383869112.442 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-11-08T00:05:12.442Z,1383869112.442 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-11-08T00:05:12.443Z,1383869112.443 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-11-08T00:05:12.688Z,1383869112.688 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-11-08T00:05:12.689Z,1383869112.689 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-11-08T00:05:12.713Z,1383869112.713 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-11-08T00:05:12.713Z,1383869112.713 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-11-08T00:05:12.763Z,1383869112.763 [VerticalControl](DEBUG): Construct VerticalControl.
2013-11-08T00:05:12.860Z,1383869112.860 [VerticalControl] Loaded
2013-11-08T00:05:12.860Z,1383869112.860 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-11-08T00:05:12.861Z,1383869112.861 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-11-08T00:05:12.921Z,1383869112.921 [HorizontalControl] Loaded
2013-11-08T00:05:12.921Z,1383869112.921 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-11-08T00:05:12.922Z,1383869112.922 [SpeedControl](DEBUG): Construct SpeedControl.
2013-11-08T00:05:12.924Z,1383869112.924 [SpeedControl] Loaded
2013-11-08T00:05:12.924Z,1383869112.924 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-11-08T00:05:12.925Z,1383869112.925 [LoopControl](DEBUG): Construct LoopControl.
2013-11-08T00:05:12.925Z,1383869112.925 [LoopControl] Loaded
2013-11-08T00:05:12.925Z,1383869112.925 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-11-08T00:05:12.926Z,1383869112.926 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-11-08T00:05:12.927Z,1383869112.927 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-11-08T00:05:12.932Z,1383869112.932 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-11-08T00:05:12.937Z,1383869112.937 [AsyncPiEstimator] Loaded
2013-11-08T00:05:12.937Z,1383869112.937 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-11-08T00:05:12.939Z,1383869112.939 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-11-08T00:05:12.939Z,1383869112.939 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-11-08T00:05:12.940Z,1383869112.940 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-11-08T00:05:13.160Z,1383869113.160 [AHRS_sp3003D] Loaded
2013-11-08T00:05:13.160Z,1383869113.160 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-11-08T00:05:13.236Z,1383869113.236 [DataOverHttps] Loaded
2013-11-08T00:05:13.236Z,1383869113.236 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2013-11-08T00:05:13.250Z,1383869113.250 [Depth_Keller] Loaded
2013-11-08T00:05:13.250Z,1383869113.250 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-11-08T00:05:13.439Z,1383869113.439 [DVL_micro] Loaded
2013-11-08T00:05:13.439Z,1383869113.439 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-11-08T00:05:13.441Z,1383869113.441 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 408554E0
2013-11-08T00:05:13.533Z,1383869113.533 [NAL9602] Loaded
2013-11-08T00:05:13.534Z,1383869113.534 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-11-08T00:05:13.576Z,1383869113.576 [Onboard] Loaded
2013-11-08T00:05:13.576Z,1383869113.576 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-11-08T00:05:13.583Z,1383869113.583 [Radio_Freewave] Loaded
2013-11-08T00:05:13.583Z,1383869113.583 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-11-08T00:05:13.733Z,1383869113.733 [DAT] Loaded
2013-11-08T00:05:13.733Z,1383869113.733 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-11-08T00:05:13.734Z,1383869113.734 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-11-08T00:05:13.735Z,1383869113.735 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-11-08T00:05:13.837Z,1383869113.837 [CTD_NeilBrown] Loaded
2013-11-08T00:05:13.838Z,1383869113.838 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-11-08T00:05:13.839Z,1383869113.839 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408B24E0
2013-11-08T00:05:13.872Z,1383869113.872 [WetLabsBB2FL] Loaded
2013-11-08T00:05:13.873Z,1383869113.873 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-11-08T00:05:13.874Z,1383869113.874 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 408E24E0
2013-11-08T00:05:13.874Z,1383869113.874 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-11-08T00:05:13.877Z,1383869113.877 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-11-08T00:05:13.878Z,1383869113.878 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-11-08T00:05:13.885Z,1383869113.885 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-11-08T00:05:13.886Z,1383869113.886 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 409124E0
2013-11-08T00:05:13.890Z,1383869113.890 [Supervisor](DEBUG): Running supervisor.
2013-11-08T00:05:13.891Z,1383869113.891 [CommandLine](INFO): Thread ID is 362
2013-11-08T00:05:13.894Z,1383869113.894 [controlThread](INFO): Thread ID is 361
2013-11-08T00:05:13.894Z,1383869113.894 [controlThread](DEBUG): Initializing ControlThread
2013-11-08T00:05:13.894Z,1383869113.894 [CycleStarter](INFO): Thread ID is 360
2013-11-08T00:05:13.895Z,1383869113.895 [InternalSim](DEBUG):  InternalSim initializing...
2013-11-08T00:05:13.930Z,1383869113.930 [logger](INFO): Thread ID is 364
2013-11-08T00:05:13.951Z,1383869113.951 [SBIT](INFO): Initialize SBIT Component.
2013-11-08T00:05:13.952Z,1383869113.952 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10713
2013-11-08T00:05:13.952Z,1383869113.952 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-11-08T00:05:13.952Z,1383869113.952 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-11-08T00:05:13.953Z,1383869113.953 [IBIT](INFO): Initialize IBIT Component.
2013-11-08T00:05:13.954Z,1383869113.954 [CBIT](DEBUG): Initialize CBIT Component.
2013-11-08T00:05:13.954Z,1383869113.954 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-11-08T00:05:13.964Z,1383869113.964 [AsyncPiEstimator](INFO): Thread ID is 432
2013-11-08T00:05:13.964Z,1383869113.964 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-11-08T00:05:13.984Z,1383869113.984 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:05:13.985Z,1383869113.985 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-11-08T00:05:13.985Z,1383869113.985 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-11-08T00:05:13.986Z,1383869113.986 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-11-08T00:05:13.986Z,1383869113.986 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-11-08T00:05:13.987Z,1383869113.987 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-11-08T00:05:13.987Z,1383869113.987 [Navigation](DEBUG): Initializing Navigation.
2013-11-08T00:05:13.987Z,1383869113.987 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-11-08T00:05:13.989Z,1383869113.989 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-11-08T00:05:13.990Z,1383869113.990 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-11-08T00:05:13.990Z,1383869113.990 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-11-08T00:05:13.997Z,1383869113.997 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-11-08T00:05:14.004Z,1383869114.004 [DVL_micro](INFO): Thread ID is 433
2013-11-08T00:05:14.012Z,1383869114.012 [DVL_micro](INFO): Initializing
2013-11-08T00:05:14.013Z,1383869114.013 [DVL_micro](INFO): start:Powering up
2013-11-08T00:05:14.014Z,1383869114.014 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:05:14.014Z,1383869114.014 [DVL_micro](INFO): Cycling power to configure device.
2013-11-08T00:05:14.024Z,1383869114.024 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:05:14.040Z,1383869114.040 [CTD_NeilBrown](INFO): Thread ID is 434
2013-11-08T00:05:14.040Z,1383869114.040 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-11-08T00:05:14.049Z,1383869114.049 [WetLabsBB2FL](INFO): Thread ID is 435
2013-11-08T00:05:14.049Z,1383869114.049 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:05:14.050Z,1383869114.050 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-11-08T00:05:14.085Z,1383869114.085 [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>


2013-11-08T00:05:14.086Z,1383869114.086 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-11-08T00:05:14.088Z,1383869114.088 [NavChartDb](INFO): Thread ID is 436
2013-11-08T00:05:14.090Z,1383869114.090 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-11-08T00:05:14.092Z,1383869114.092 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-11-08T00:05:14.092Z,1383869114.092 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-11-08T00:05:14.092Z,1383869114.092 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-11-08T00:05:14.093Z,1383869114.093 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-11-08T00:05:14.093Z,1383869114.093 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-11-08T00:05:14.093Z,1383869114.093 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-11-08T00:05:14.093Z,1383869114.093 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-11-08T00:05:14.094Z,1383869114.094 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-11-08T00:05:14.197Z,1383869114.197 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-11-08T00:05:14.199Z,1383869114.199 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:05:14.206Z,1383869114.206 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:05:14.223Z,1383869114.223 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:05:14.230Z,1383869114.230 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:05:14.265Z,1383869114.265 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-11-08T00:05:14.302Z,1383869114.302 [Default:D.SetSpeed](DEBUG): Construct.
2013-11-08T00:05:14.305Z,1383869114.305 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:05:14.322Z,1383869114.322 [Default:F.Wait](DEBUG): Construct Wait.
2013-11-08T00:05:14.326Z,1383869114.326 [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>


2013-11-08T00:05:14.330Z,1383869114.330 [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,
2013-11-08T00:05:14.395Z,1383869114.395 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-11-08T00:05:14.414Z,1383869114.414 [DataOverHttps](INFO): tcpConnect
2013-11-08T00:05:14.672Z,1383869114.672 [Radio_Freewave](INFO): Powering up
2013-11-08T00:05:14.678Z,1383869114.678 [DAT](INFO): Powering up
2013-11-08T00:05:14.678Z,1383869114.678 [DAT](DEBUG): Initializing DAT.
2013-11-08T00:05:14.879Z,1383869114.879 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:14.885Z,1383869114.885 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-11-08T00:05:14.891Z,1383869114.891 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:14.919Z,1383869114.919 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-11-08T00:05:14.925Z,1383869114.925 [MassServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:14.941Z,1383869114.941 [MassServo](DEBUG): Initializing MassServo.
2013-11-08T00:05:14.962Z,1383869114.962 [RudderServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:14.969Z,1383869114.969 [RudderServo](DEBUG): Initializing RudderServo.
2013-11-08T00:05:14.974Z,1383869114.974 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:14.981Z,1383869114.981 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-11-08T00:05:15.210Z,1383869115.210 [DataOverHttps](INFO): tcpConnecting
2013-11-08T00:05:15.210Z,1383869115.210 [DataOverHttps](INFO): sslConnect
2013-11-08T00:05:15.214Z,1383869115.214 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:05:15.792Z,1383869115.792 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:05:16.155Z,1383869116.155 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:05:16.155Z,1383869116.155 [DVL_micro](INFO): Querying output modes
2013-11-08T00:05:16.156Z,1383869116.156 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-11-08T00:05:16.166Z,1383869116.166 [DVL_micro](DEBUG): cmdResponse: 01
2013-11-08T00:05:16.167Z,1383869116.167 [DVL_micro](INFO): NQ1 output enabled
2013-11-08T00:05:16.167Z,1383869116.167 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-11-08T00:05:16.179Z,1383869116.179 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-11-08T00:05:16.184Z,1383869116.184 [DVL_micro](INFO): pause:Powering down
2013-11-08T00:05:17.891Z,1383869117.891 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:05:17.893Z,1383869117.893 [DataOverHttps](INFO): dataWrite
2013-11-08T00:05:17.894Z,1383869117.894 [DataOverHttps](INFO): dataWriting
2013-11-08T00:05:17.895Z,1383869117.895 [DataOverHttps](INFO): Wrote 206 bytes.
2013-11-08T00:05:18.332Z,1383869118.332 [DataOverHttps](INFO): dataRead
2013-11-08T00:05:18.760Z,1383869118.760 [DataOverHttps](INFO): dataRead
2013-11-08T00:05:18.763Z,1383869118.763 [DataOverHttps](INFO): Received command:restart app
2013-11-08T00:05:18.764Z,1383869118.764 [DataOverHttps](IMPORTANT): SBD MTMSN=20131108T000541
2013-11-08T00:05:18.764Z,1383869118.764 [DataOverHttps](INFO): disconnect
2013-11-08T00:05:18.768Z,1383869118.768 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006912
2013-11-08T00:05:18.772Z,1383869118.772 [NAL9602](INFO): Powering up NAL9602
2013-11-08T00:05:18.799Z,1383869118.799 [CommandLine](IMPORTANT): got command restart application
2013-11-08T00:05:19.948Z,1383869119.948 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-11-08T00:05:19.948Z,1383869119.948 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-11-08T00:05:23.726Z,1383869123.726 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-11-08T00:05:23.779Z,1383869123.779 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:05:23.790Z,1383869123.790 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-11-08T00:05:23.903Z,1383869123.903 [CTD_NeilBrown](INFO): Powering down
2013-11-08T00:05:23.915Z,1383869123.915 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-11-08T00:05:24.223Z,1383869124.223 [DVL_micro](INFO): uninitialize:Powering down
2013-11-08T00:05:24.239Z,1383869124.239 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-11-08T00:05:24.299Z,1383869124.299 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-11-08T00:05:24.320Z,1383869124.320 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-11-08T00:05:24.340Z,1383869124.340 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-11-08T00:05:24.341Z,1383869124.341 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-11-08T00:05:24.460Z,1383869124.460 [controlThread](DEBUG): Uninitializing ControlThread
2013-11-08T00:05:24.461Z,1383869124.461 [AHRS_sp3003D](INFO): Powering down
2013-11-08T00:05:24.548Z,1383869124.548 [DataOverHttps](INFO): disconnect
2013-11-08T00:05:24.548Z,1383869124.548 [NAL9602](INFO): Powering down
2013-11-08T00:05:24.568Z,1383869124.568 [DAT](INFO): Powering down
2013-11-08T00:05:24.708Z,1383869124.708 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:05:24.709Z,1383869124.709 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-11-08T00:05:24.714Z,1383869124.714 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-11-08T00:05:24.714Z,1383869124.714 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-11-08T00:05:24.714Z,1383869124.714 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-11-08T00:05:24.715Z,1383869124.715 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-11-08T00:05:24.715Z,1383869124.715 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-11-08T00:05:24.715Z,1383869124.715 [BuoyancyServo](INFO): Powering down
2013-11-08T00:05:24.728Z,1383869124.728 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-11-08T00:05:24.728Z,1383869124.728 [ElevatorServo](INFO): Powering down
2013-11-08T00:05:24.748Z,1383869124.748 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-11-08T00:05:24.748Z,1383869124.748 [MassServo](INFO): Powering down
2013-11-08T00:05:24.749Z,1383869124.749 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-11-08T00:05:24.749Z,1383869124.749 [RudderServo](INFO): Powering down
2013-11-08T00:05:24.750Z,1383869124.750 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-11-08T00:05:24.750Z,1383869124.750 [ThrusterServo](INFO): Powering down
2013-11-08T00:05:24.751Z,1383869124.751 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-11-08T00:05:24.751Z,1383869124.751 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-11-08T00:05:24.752Z,1383869124.752 [CBIT](DEBUG): Uninitialize CBIT Component.