2013-11-08T00:05:26.753Z,1383869126.753 [Supervisor](DEBUG): Initializing supervisor.
2013-11-08T00:05:26.756Z,1383869126.756 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-11-08T00:05:26.756Z,1383869126.756 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-11-08T00:05:26.757Z,1383869126.757 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-11-08T00:05:26.760Z,1383869126.760 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-11-08T00:05:26.772Z,1383869126.772 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-11-08T00:05:26.773Z,1383869126.773 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-11-08T00:05:26.774Z,1383869126.774 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-11-08T00:05:26.775Z,1383869126.775 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-11-08T00:05:26.778Z,1383869126.778 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2013-11-08T00:05:26.778Z,1383869126.778 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-11-08T00:05:26.779Z,1383869126.779 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-11-08T00:05:27.070Z,1383869127.070 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-11-08T00:05:27.071Z,1383869127.071 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-11-08T00:05:27.277Z,1383869127.277 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-11-08T00:05:27.277Z,1383869127.277 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-11-08T00:05:27.363Z,1383869127.363 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-11-08T00:05:27.364Z,1383869127.364 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-11-08T00:05:27.486Z,1383869127.486 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-11-08T00:05:27.486Z,1383869127.486 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-11-08T00:05:27.630Z,1383869127.630 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-11-08T00:05:27.630Z,1383869127.630 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-11-08T00:05:27.882Z,1383869127.882 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-11-08T00:05:27.883Z,1383869127.883 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-11-08T00:05:28.056Z,1383869128.056 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-11-08T00:05:28.057Z,1383869128.057 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-11-08T00:05:28.336Z,1383869128.336 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-11-08T00:05:28.337Z,1383869128.337 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-11-08T00:05:28.440Z,1383869128.440 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-11-08T00:05:28.440Z,1383869128.440 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-11-08T00:05:28.893Z,1383869128.893 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-11-08T00:05:28.894Z,1383869128.894 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-11-08T00:05:29.007Z,1383869129.007 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-11-08T00:05:29.007Z,1383869129.007 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-11-08T00:05:29.095Z,1383869129.095 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2013-11-08T00:05:29.196Z,1383869129.196 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2013-11-08T00:05:29.198Z,1383869129.198 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-11-08T00:05:29.199Z,1383869129.199 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-11-08T00:05:29.298Z,1383869129.298 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-11-08T00:05:29.430Z,1383869129.430 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-11-08T00:05:29.533Z,1383869129.533 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-11-08T00:05:29.640Z,1383869129.640 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-11-08T00:05:29.737Z,1383869129.737 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-11-08T00:05:29.855Z,1383869129.855 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-11-08T00:05:29.953Z,1383869129.953 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-11-08T00:05:30.039Z,1383869130.039 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2013-11-08T00:05:30.134Z,1383869130.134 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-11-08T00:05:30.135Z,1383869130.135 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-11-08T00:05:30.136Z,1383869130.136 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-11-08T00:05:30.316Z,1383869130.316 [InternalSim] Loaded
2013-11-08T00:05:30.317Z,1383869130.317 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-11-08T00:05:30.317Z,1383869130.317 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-11-08T00:05:30.318Z,1383869130.318 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-11-08T00:05:30.414Z,1383869130.414 [SBIT](DEBUG): Construct Startup Built In Test.
2013-11-08T00:05:30.446Z,1383869130.446 [SBIT] Loaded
2013-11-08T00:05:30.446Z,1383869130.446 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-11-08T00:05:30.447Z,1383869130.447 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-11-08T00:05:30.477Z,1383869130.477 [IBIT] Loaded
2013-11-08T00:05:30.478Z,1383869130.478 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-11-08T00:05:30.480Z,1383869130.480 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-11-08T00:05:30.603Z,1383869130.603 [CBIT] Loaded
2013-11-08T00:05:30.604Z,1383869130.604 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-11-08T00:05:30.604Z,1383869130.604 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-11-08T00:05:30.605Z,1383869130.605 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-11-08T00:05:30.783Z,1383869130.783 [BuoyancyServo] Loaded
2013-11-08T00:05:30.783Z,1383869130.783 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-11-08T00:05:30.796Z,1383869130.796 [ElevatorServo] Loaded
2013-11-08T00:05:30.796Z,1383869130.796 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-11-08T00:05:30.808Z,1383869130.808 [MassServo] Loaded
2013-11-08T00:05:30.808Z,1383869130.808 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-11-08T00:05:30.820Z,1383869130.820 [RudderServo] Loaded
2013-11-08T00:05:30.821Z,1383869130.821 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-11-08T00:05:30.832Z,1383869130.832 [ThrusterServo] Loaded
2013-11-08T00:05:30.832Z,1383869130.832 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-11-08T00:05:30.833Z,1383869130.833 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-11-08T00:05:30.834Z,1383869130.834 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-11-08T00:05:30.871Z,1383869130.871 [DepthRateCalculator] Loaded
2013-11-08T00:05:30.871Z,1383869130.871 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-11-08T00:05:34.005Z,1383869134.005 [HFRadarModelCalc] Loaded
2013-11-08T00:05:34.005Z,1383869134.005 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-11-08T00:05:34.022Z,1383869134.022 [NavChart] Loaded
2013-11-08T00:05:34.023Z,1383869134.023 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-11-08T00:05:34.029Z,1383869134.029 [PitchRateCalculator] Loaded
2013-11-08T00:05:34.029Z,1383869134.029 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-11-08T00:05:34.041Z,1383869134.041 [SpeedCalculator] Loaded
2013-11-08T00:05:34.041Z,1383869134.041 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-11-08T00:05:34.059Z,1383869134.059 [TempGradientCalculator] Loaded
2013-11-08T00:05:34.059Z,1383869134.059 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-11-08T00:05:34.065Z,1383869134.065 [YawRateCalculator] Loaded
2013-11-08T00:05:34.066Z,1383869134.066 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-11-08T00:05:34.116Z,1383869134.116 [Navigation] Loaded
2013-11-08T00:05:34.116Z,1383869134.116 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-11-08T00:05:34.117Z,1383869134.117 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-11-08T00:05:34.118Z,1383869134.118 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-11-08T00:05:34.384Z,1383869134.384 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-11-08T00:05:34.384Z,1383869134.384 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-11-08T00:05:34.410Z,1383869134.410 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-11-08T00:05:34.411Z,1383869134.411 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-11-08T00:05:34.465Z,1383869134.465 [VerticalControl](DEBUG): Construct VerticalControl.
2013-11-08T00:05:34.565Z,1383869134.565 [VerticalControl] Loaded
2013-11-08T00:05:34.566Z,1383869134.566 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-11-08T00:05:34.566Z,1383869134.566 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-11-08T00:05:34.628Z,1383869134.628 [HorizontalControl] Loaded
2013-11-08T00:05:34.629Z,1383869134.629 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-11-08T00:05:34.629Z,1383869134.629 [SpeedControl](DEBUG): Construct SpeedControl.
2013-11-08T00:05:34.631Z,1383869134.631 [SpeedControl] Loaded
2013-11-08T00:05:34.631Z,1383869134.631 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-11-08T00:05:34.632Z,1383869134.632 [LoopControl](DEBUG): Construct LoopControl.
2013-11-08T00:05:34.633Z,1383869134.633 [LoopControl] Loaded
2013-11-08T00:05:34.633Z,1383869134.633 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-11-08T00:05:34.633Z,1383869134.633 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-11-08T00:05:34.634Z,1383869134.634 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-11-08T00:05:34.640Z,1383869134.640 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-11-08T00:05:34.645Z,1383869134.645 [AsyncPiEstimator] Loaded
2013-11-08T00:05:34.645Z,1383869134.645 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-11-08T00:05:34.646Z,1383869134.646 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-11-08T00:05:34.647Z,1383869134.647 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-11-08T00:05:34.648Z,1383869134.648 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-11-08T00:05:34.880Z,1383869134.880 [AHRS_sp3003D] Loaded
2013-11-08T00:05:34.881Z,1383869134.881 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-11-08T00:05:34.956Z,1383869134.956 [DataOverHttps] Loaded
2013-11-08T00:05:34.956Z,1383869134.956 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2013-11-08T00:05:34.970Z,1383869134.970 [Depth_Keller] Loaded
2013-11-08T00:05:34.970Z,1383869134.970 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-11-08T00:05:35.169Z,1383869135.169 [DVL_micro] Loaded
2013-11-08T00:05:35.169Z,1383869135.169 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-11-08T00:05:35.171Z,1383869135.171 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 408554E0
2013-11-08T00:05:35.267Z,1383869135.267 [NAL9602] Loaded
2013-11-08T00:05:35.268Z,1383869135.268 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-11-08T00:05:35.312Z,1383869135.312 [Onboard] Loaded
2013-11-08T00:05:35.313Z,1383869135.313 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-11-08T00:05:35.319Z,1383869135.319 [Radio_Freewave] Loaded
2013-11-08T00:05:35.320Z,1383869135.320 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-11-08T00:05:35.477Z,1383869135.477 [DAT] Loaded
2013-11-08T00:05:35.477Z,1383869135.477 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-11-08T00:05:35.478Z,1383869135.478 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-11-08T00:05:35.478Z,1383869135.478 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-11-08T00:05:35.586Z,1383869135.586 [CTD_NeilBrown] Loaded
2013-11-08T00:05:35.587Z,1383869135.587 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-11-08T00:05:35.588Z,1383869135.588 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408B24E0
2013-11-08T00:05:35.623Z,1383869135.623 [WetLabsBB2FL] Loaded
2013-11-08T00:05:35.623Z,1383869135.623 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-11-08T00:05:35.624Z,1383869135.624 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 408E24E0
2013-11-08T00:05:35.625Z,1383869135.625 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-11-08T00:05:35.627Z,1383869135.627 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-11-08T00:05:35.629Z,1383869135.629 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-11-08T00:05:35.636Z,1383869135.636 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-11-08T00:05:35.637Z,1383869135.637 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 409124E0
2013-11-08T00:05:35.641Z,1383869135.641 [Supervisor](DEBUG): Running supervisor.
2013-11-08T00:05:35.643Z,1383869135.643 [CommandLine](INFO): Thread ID is 463
2013-11-08T00:05:35.645Z,1383869135.645 [controlThread](INFO): Thread ID is 462
2013-11-08T00:05:35.645Z,1383869135.645 [controlThread](DEBUG): Initializing ControlThread
2013-11-08T00:05:35.646Z,1383869135.646 [CycleStarter](INFO): Thread ID is 461
2013-11-08T00:05:35.646Z,1383869135.646 [InternalSim](DEBUG):  InternalSim initializing...
2013-11-08T00:05:35.681Z,1383869135.681 [logger](INFO): Thread ID is 464
2013-11-08T00:05:35.705Z,1383869135.705 [SBIT](INFO): Initialize SBIT Component.
2013-11-08T00:05:35.705Z,1383869135.705 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10713
2013-11-08T00:05:35.706Z,1383869135.706 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-11-08T00:05:35.706Z,1383869135.706 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-11-08T00:05:35.707Z,1383869135.707 [IBIT](INFO): Initialize IBIT Component.
2013-11-08T00:05:35.707Z,1383869135.707 [CBIT](DEBUG): Initialize CBIT Component.
2013-11-08T00:05:35.708Z,1383869135.708 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-11-08T00:05:35.717Z,1383869135.717 [AsyncPiEstimator](INFO): Thread ID is 531
2013-11-08T00:05:35.718Z,1383869135.718 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-11-08T00:05:35.735Z,1383869135.735 [DVL_micro](INFO): Thread ID is 532
2013-11-08T00:05:35.738Z,1383869135.738 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:05:35.739Z,1383869135.739 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-11-08T00:05:35.739Z,1383869135.739 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-11-08T00:05:35.739Z,1383869135.739 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-11-08T00:05:35.740Z,1383869135.740 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-11-08T00:05:35.740Z,1383869135.740 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-11-08T00:05:35.741Z,1383869135.741 [Navigation](DEBUG): Initializing Navigation.
2013-11-08T00:05:35.741Z,1383869135.741 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-11-08T00:05:35.743Z,1383869135.743 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-11-08T00:05:35.744Z,1383869135.744 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-11-08T00:05:35.744Z,1383869135.744 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-11-08T00:05:35.751Z,1383869135.751 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-11-08T00:05:35.764Z,1383869135.764 [DVL_micro](INFO): Initializing
2013-11-08T00:05:35.764Z,1383869135.764 [DVL_micro](INFO): start:Powering up
2013-11-08T00:05:35.769Z,1383869135.769 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:05:35.770Z,1383869135.770 [DVL_micro](INFO): Cycling power to configure device.
2013-11-08T00:05:35.777Z,1383869135.777 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:05:35.779Z,1383869135.779 [CTD_NeilBrown](INFO): Thread ID is 533
2013-11-08T00:05:35.779Z,1383869135.779 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-11-08T00:05:35.781Z,1383869135.781 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-11-08T00:05:35.783Z,1383869135.783 [WetLabsBB2FL](INFO): Thread ID is 534
2013-11-08T00:05:35.783Z,1383869135.783 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:05:35.835Z,1383869135.835 [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>


2013-11-08T00:05:35.837Z,1383869135.837 [NavChartDb](INFO): Thread ID is 535
2013-11-08T00:05:35.839Z,1383869135.839 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-11-08T00:05:35.840Z,1383869135.840 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-11-08T00:05:35.840Z,1383869135.840 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-11-08T00:05:35.841Z,1383869135.841 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-11-08T00:05:35.841Z,1383869135.841 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-11-08T00:05:35.841Z,1383869135.841 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-11-08T00:05:35.842Z,1383869135.842 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-11-08T00:05:35.842Z,1383869135.842 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-11-08T00:05:35.842Z,1383869135.842 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-11-08T00:05:35.860Z,1383869135.860 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-11-08T00:05:35.945Z,1383869135.945 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-11-08T00:05:35.948Z,1383869135.948 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:05:35.963Z,1383869135.963 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:05:35.971Z,1383869135.971 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:05:36.007Z,1383869136.007 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:05:36.034Z,1383869136.034 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-11-08T00:05:36.044Z,1383869136.044 [Default:D.SetSpeed](DEBUG): Construct.
2013-11-08T00:05:36.058Z,1383869136.058 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:05:36.063Z,1383869136.063 [Default:F.Wait](DEBUG): Construct Wait.
2013-11-08T00:05:36.066Z,1383869136.066 [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>


2013-11-08T00:05:36.094Z,1383869136.094 [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,
2013-11-08T00:05:36.142Z,1383869136.142 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-11-08T00:05:36.152Z,1383869136.152 [DataOverHttps](INFO): tcpConnect
2013-11-08T00:05:36.350Z,1383869136.350 [Radio_Freewave](INFO): Powering up
2013-11-08T00:05:36.359Z,1383869136.359 [DAT](INFO): Powering up
2013-11-08T00:05:36.360Z,1383869136.360 [DAT](DEBUG): Initializing DAT.
2013-11-08T00:05:36.570Z,1383869136.570 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:36.595Z,1383869136.595 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-11-08T00:05:36.621Z,1383869136.621 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:36.647Z,1383869136.647 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-11-08T00:05:36.654Z,1383869136.654 [MassServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:36.662Z,1383869136.662 [MassServo](DEBUG): Initializing MassServo.
2013-11-08T00:05:36.668Z,1383869136.668 [RudderServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:36.674Z,1383869136.674 [RudderServo](DEBUG): Initializing RudderServo.
2013-11-08T00:05:36.681Z,1383869136.681 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:36.707Z,1383869136.707 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-11-08T00:05:36.928Z,1383869136.928 [DataOverHttps](INFO): tcpConnecting
2013-11-08T00:05:36.928Z,1383869136.928 [DataOverHttps](INFO): sslConnect
2013-11-08T00:05:36.932Z,1383869136.932 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:05:37.506Z,1383869137.506 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:05:37.900Z,1383869137.900 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:05:37.901Z,1383869137.901 [DVL_micro](INFO): Querying output modes
2013-11-08T00:05:37.901Z,1383869137.901 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-11-08T00:05:37.912Z,1383869137.912 [DVL_micro](DEBUG): cmdResponse: 01
2013-11-08T00:05:37.913Z,1383869137.913 [DVL_micro](INFO): NQ1 output enabled
2013-11-08T00:05:37.913Z,1383869137.913 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-11-08T00:05:37.924Z,1383869137.924 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-11-08T00:05:37.930Z,1383869137.930 [DVL_micro](INFO): pause:Powering down
2013-11-08T00:05:39.560Z,1383869139.560 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:05:39.563Z,1383869139.563 [DataOverHttps](INFO): dataWrite
2013-11-08T00:05:39.563Z,1383869139.563 [DataOverHttps](INFO): dataWriting
2013-11-08T00:05:39.565Z,1383869139.565 [DataOverHttps](INFO): Wrote 206 bytes.
2013-11-08T00:05:39.973Z,1383869139.973 [DataOverHttps](INFO): dataRead
2013-11-08T00:05:40.406Z,1383869140.406 [DataOverHttps](INFO): dataRead
2013-11-08T00:05:40.408Z,1383869140.408 [DataOverHttps](INFO): Received command:restart app
2013-11-08T00:05:40.410Z,1383869140.410 [DataOverHttps](IMPORTANT): SBD MTMSN=20131108T000603
2013-11-08T00:05:40.410Z,1383869140.410 [DataOverHttps](INFO): disconnect
2013-11-08T00:05:40.413Z,1383869140.413 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006612
2013-11-08T00:05:40.426Z,1383869140.426 [NAL9602](INFO): Powering up NAL9602
2013-11-08T00:05:40.464Z,1383869140.464 [CommandLine](IMPORTANT): got command restart application
2013-11-08T00:05:41.510Z,1383869141.510 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-11-08T00:05:41.510Z,1383869141.510 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-11-08T00:05:45.880Z,1383869145.880 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-11-08T00:05:45.901Z,1383869145.901 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:05:45.921Z,1383869145.921 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-11-08T00:05:46.005Z,1383869146.005 [CTD_NeilBrown](INFO): Powering down
2013-11-08T00:05:46.017Z,1383869146.017 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-11-08T00:05:46.374Z,1383869146.374 [DVL_micro](INFO): uninitialize:Powering down
2013-11-08T00:05:46.381Z,1383869146.381 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-11-08T00:05:46.386Z,1383869146.386 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-11-08T00:05:46.406Z,1383869146.406 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-11-08T00:05:46.438Z,1383869146.438 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-11-08T00:05:46.440Z,1383869146.440 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-11-08T00:05:46.503Z,1383869146.503 [controlThread](DEBUG): Uninitializing ControlThread
2013-11-08T00:05:46.503Z,1383869146.503 [AHRS_sp3003D](INFO): Powering down
2013-11-08T00:05:46.590Z,1383869146.590 [DataOverHttps](INFO): disconnect
2013-11-08T00:05:46.591Z,1383869146.591 [NAL9602](INFO): Powering down
2013-11-08T00:05:46.610Z,1383869146.610 [DAT](INFO): Powering down
2013-11-08T00:05:46.750Z,1383869146.750 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:05:46.751Z,1383869146.751 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-11-08T00:05:46.756Z,1383869146.756 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-11-08T00:05:46.756Z,1383869146.756 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-11-08T00:05:46.756Z,1383869146.756 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-11-08T00:05:46.757Z,1383869146.757 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-11-08T00:05:46.757Z,1383869146.757 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-11-08T00:05:46.757Z,1383869146.757 [BuoyancyServo](INFO): Powering down
2013-11-08T00:05:46.770Z,1383869146.770 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-11-08T00:05:46.770Z,1383869146.770 [ElevatorServo](INFO): Powering down
2013-11-08T00:05:46.790Z,1383869146.790 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-11-08T00:05:46.790Z,1383869146.790 [MassServo](INFO): Powering down
2013-11-08T00:05:46.791Z,1383869146.791 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-11-08T00:05:46.791Z,1383869146.791 [RudderServo](INFO): Powering down
2013-11-08T00:05:46.792Z,1383869146.792 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-11-08T00:05:46.792Z,1383869146.792 [ThrusterServo](INFO): Powering down
2013-11-08T00:05:46.793Z,1383869146.793 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-11-08T00:05:46.793Z,1383869146.793 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-11-08T00:05:46.793Z,1383869146.793 [CBIT](DEBUG): Uninitialize CBIT Component.