2013-11-08T00:05:48.744Z,1383869148.744 [Supervisor](DEBUG): Initializing supervisor.
2013-11-08T00:05:48.746Z,1383869148.746 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-11-08T00:05:48.747Z,1383869148.747 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-11-08T00:05:48.748Z,1383869148.748 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-11-08T00:05:48.751Z,1383869148.751 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-11-08T00:05:48.762Z,1383869148.762 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-11-08T00:05:48.763Z,1383869148.763 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-11-08T00:05:48.764Z,1383869148.764 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-11-08T00:05:48.765Z,1383869148.765 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-11-08T00:05:48.767Z,1383869148.767 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2013-11-08T00:05:48.768Z,1383869148.768 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-11-08T00:05:48.769Z,1383869148.769 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-11-08T00:05:49.045Z,1383869149.045 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-11-08T00:05:49.046Z,1383869149.046 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-11-08T00:05:49.243Z,1383869149.243 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-11-08T00:05:49.243Z,1383869149.243 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-11-08T00:05:49.330Z,1383869149.330 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-11-08T00:05:49.330Z,1383869149.330 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-11-08T00:05:49.447Z,1383869149.447 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-11-08T00:05:49.448Z,1383869149.448 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-11-08T00:05:49.586Z,1383869149.586 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-11-08T00:05:49.587Z,1383869149.587 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-11-08T00:05:49.826Z,1383869149.826 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-11-08T00:05:49.826Z,1383869149.826 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-11-08T00:05:49.993Z,1383869149.993 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-11-08T00:05:49.994Z,1383869149.994 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-11-08T00:05:50.257Z,1383869150.257 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-11-08T00:05:50.258Z,1383869150.258 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-11-08T00:05:50.358Z,1383869150.358 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-11-08T00:05:50.359Z,1383869150.359 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-11-08T00:05:50.786Z,1383869150.786 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-11-08T00:05:50.787Z,1383869150.787 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-11-08T00:05:50.898Z,1383869150.898 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-11-08T00:05:50.898Z,1383869150.898 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-11-08T00:05:50.983Z,1383869150.983 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2013-11-08T00:05:51.084Z,1383869151.084 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2013-11-08T00:05:51.086Z,1383869151.086 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-11-08T00:05:51.087Z,1383869151.087 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-11-08T00:05:51.183Z,1383869151.183 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-11-08T00:05:51.312Z,1383869151.312 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-11-08T00:05:51.412Z,1383869151.412 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-11-08T00:05:51.516Z,1383869151.516 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-11-08T00:05:51.612Z,1383869151.612 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-11-08T00:05:51.727Z,1383869151.727 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-11-08T00:05:51.822Z,1383869151.822 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-11-08T00:05:51.908Z,1383869151.908 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2013-11-08T00:05:52.000Z,1383869152.000 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-11-08T00:05:52.001Z,1383869152.001 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-11-08T00:05:52.002Z,1383869152.002 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-11-08T00:05:52.169Z,1383869152.169 [InternalSim] Loaded
2013-11-08T00:05:52.169Z,1383869152.169 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-11-08T00:05:52.170Z,1383869152.170 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-11-08T00:05:52.170Z,1383869152.170 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-11-08T00:05:52.258Z,1383869152.258 [SBIT](DEBUG): Construct Startup Built In Test.
2013-11-08T00:05:52.288Z,1383869152.288 [SBIT] Loaded
2013-11-08T00:05:52.288Z,1383869152.288 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-11-08T00:05:52.289Z,1383869152.289 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-11-08T00:05:52.318Z,1383869152.318 [IBIT] Loaded
2013-11-08T00:05:52.318Z,1383869152.318 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-11-08T00:05:52.320Z,1383869152.320 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-11-08T00:05:52.436Z,1383869152.436 [CBIT] Loaded
2013-11-08T00:05:52.437Z,1383869152.437 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-11-08T00:05:52.437Z,1383869152.437 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-11-08T00:05:52.438Z,1383869152.438 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-11-08T00:05:52.624Z,1383869152.624 [BuoyancyServo] Loaded
2013-11-08T00:05:52.625Z,1383869152.625 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-11-08T00:05:52.636Z,1383869152.636 [ElevatorServo] Loaded
2013-11-08T00:05:52.637Z,1383869152.637 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-11-08T00:05:52.648Z,1383869152.648 [MassServo] Loaded
2013-11-08T00:05:52.648Z,1383869152.648 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-11-08T00:05:52.660Z,1383869152.660 [RudderServo] Loaded
2013-11-08T00:05:52.660Z,1383869152.660 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-11-08T00:05:52.671Z,1383869152.671 [ThrusterServo] Loaded
2013-11-08T00:05:52.672Z,1383869152.672 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-11-08T00:05:52.672Z,1383869152.672 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-11-08T00:05:52.673Z,1383869152.673 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-11-08T00:05:52.707Z,1383869152.707 [DepthRateCalculator] Loaded
2013-11-08T00:05:52.707Z,1383869152.707 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-11-08T00:05:55.281Z,1383869155.281 [HFRadarModelCalc] Loaded
2013-11-08T00:05:55.281Z,1383869155.281 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-11-08T00:05:55.297Z,1383869155.297 [NavChart] Loaded
2013-11-08T00:05:55.298Z,1383869155.298 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-11-08T00:05:55.304Z,1383869155.304 [PitchRateCalculator] Loaded
2013-11-08T00:05:55.304Z,1383869155.304 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-11-08T00:05:55.314Z,1383869155.314 [SpeedCalculator] Loaded
2013-11-08T00:05:55.315Z,1383869155.315 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-11-08T00:05:55.331Z,1383869155.331 [TempGradientCalculator] Loaded
2013-11-08T00:05:55.332Z,1383869155.332 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-11-08T00:05:55.337Z,1383869155.337 [YawRateCalculator] Loaded
2013-11-08T00:05:55.338Z,1383869155.338 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-11-08T00:05:55.384Z,1383869155.384 [Navigation] Loaded
2013-11-08T00:05:55.384Z,1383869155.384 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-11-08T00:05:55.385Z,1383869155.385 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-11-08T00:05:55.386Z,1383869155.386 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-11-08T00:05:55.626Z,1383869155.626 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-11-08T00:05:55.627Z,1383869155.627 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-11-08T00:05:55.650Z,1383869155.650 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-11-08T00:05:55.651Z,1383869155.651 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-11-08T00:05:55.699Z,1383869155.699 [VerticalControl](DEBUG): Construct VerticalControl.
2013-11-08T00:05:55.794Z,1383869155.794 [VerticalControl] Loaded
2013-11-08T00:05:55.794Z,1383869155.794 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-11-08T00:05:55.795Z,1383869155.795 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-11-08T00:05:55.853Z,1383869155.853 [HorizontalControl] Loaded
2013-11-08T00:05:55.854Z,1383869155.854 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-11-08T00:05:55.854Z,1383869155.854 [SpeedControl](DEBUG): Construct SpeedControl.
2013-11-08T00:05:55.856Z,1383869155.856 [SpeedControl] Loaded
2013-11-08T00:05:55.856Z,1383869155.856 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-11-08T00:05:55.857Z,1383869155.857 [LoopControl](DEBUG): Construct LoopControl.
2013-11-08T00:05:55.858Z,1383869155.858 [LoopControl] Loaded
2013-11-08T00:05:55.858Z,1383869155.858 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-11-08T00:05:55.858Z,1383869155.858 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-11-08T00:05:55.859Z,1383869155.859 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-11-08T00:05:55.865Z,1383869155.865 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-11-08T00:05:55.869Z,1383869155.869 [AsyncPiEstimator] Loaded
2013-11-08T00:05:55.870Z,1383869155.870 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-11-08T00:05:55.871Z,1383869155.871 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-11-08T00:05:55.872Z,1383869155.872 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-11-08T00:05:55.872Z,1383869155.872 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-11-08T00:05:56.088Z,1383869156.088 [AHRS_sp3003D] Loaded
2013-11-08T00:05:56.089Z,1383869156.089 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-11-08T00:05:56.164Z,1383869156.164 [DataOverHttps] Loaded
2013-11-08T00:05:56.164Z,1383869156.164 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2013-11-08T00:05:56.178Z,1383869156.178 [Depth_Keller] Loaded
2013-11-08T00:05:56.179Z,1383869156.179 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-11-08T00:05:56.365Z,1383869156.365 [DVL_micro] Loaded
2013-11-08T00:05:56.365Z,1383869156.365 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-11-08T00:05:56.366Z,1383869156.366 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 408554E0
2013-11-08T00:05:56.457Z,1383869156.457 [NAL9602] Loaded
2013-11-08T00:05:56.457Z,1383869156.457 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-11-08T00:05:56.499Z,1383869156.499 [Onboard] Loaded
2013-11-08T00:05:56.499Z,1383869156.499 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-11-08T00:05:56.506Z,1383869156.506 [Radio_Freewave] Loaded
2013-11-08T00:05:56.506Z,1383869156.506 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-11-08T00:05:56.653Z,1383869156.653 [DAT] Loaded
2013-11-08T00:05:56.653Z,1383869156.653 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-11-08T00:05:56.653Z,1383869156.653 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-11-08T00:05:56.654Z,1383869156.654 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-11-08T00:05:56.754Z,1383869156.754 [CTD_NeilBrown] Loaded
2013-11-08T00:05:56.754Z,1383869156.754 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-11-08T00:05:56.756Z,1383869156.756 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408B24E0
2013-11-08T00:05:56.788Z,1383869156.788 [WetLabsBB2FL] Loaded
2013-11-08T00:05:56.789Z,1383869156.789 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-11-08T00:05:56.790Z,1383869156.790 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 408E24E0
2013-11-08T00:05:56.790Z,1383869156.790 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-11-08T00:05:56.793Z,1383869156.793 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-11-08T00:05:56.794Z,1383869156.794 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-11-08T00:05:56.801Z,1383869156.801 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-11-08T00:05:56.802Z,1383869156.802 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 409124E0
2013-11-08T00:05:56.806Z,1383869156.806 [Supervisor](DEBUG): Running supervisor.
2013-11-08T00:05:56.807Z,1383869156.807 [CommandLine](INFO): Thread ID is 562
2013-11-08T00:05:56.810Z,1383869156.810 [controlThread](INFO): Thread ID is 561
2013-11-08T00:05:56.810Z,1383869156.810 [controlThread](DEBUG): Initializing ControlThread
2013-11-08T00:05:56.810Z,1383869156.810 [CycleStarter](INFO): Thread ID is 560
2013-11-08T00:05:56.811Z,1383869156.811 [InternalSim](DEBUG):  InternalSim initializing...
2013-11-08T00:05:56.845Z,1383869156.845 [SBIT](INFO): Initialize SBIT Component.
2013-11-08T00:05:56.846Z,1383869156.846 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10713
2013-11-08T00:05:56.846Z,1383869156.846 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-11-08T00:05:56.846Z,1383869156.846 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-11-08T00:05:56.847Z,1383869156.847 [logger](INFO): Thread ID is 563
2013-11-08T00:05:56.870Z,1383869156.870 [IBIT](INFO): Initialize IBIT Component.
2013-11-08T00:05:56.870Z,1383869156.870 [CBIT](DEBUG): Initialize CBIT Component.
2013-11-08T00:05:56.871Z,1383869156.871 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-11-08T00:05:56.882Z,1383869156.882 [AsyncPiEstimator](INFO): Thread ID is 630
2013-11-08T00:05:56.883Z,1383869156.883 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-11-08T00:05:56.895Z,1383869156.895 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:05:56.896Z,1383869156.896 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-11-08T00:05:56.896Z,1383869156.896 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-11-08T00:05:56.897Z,1383869156.897 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-11-08T00:05:56.897Z,1383869156.897 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-11-08T00:05:56.898Z,1383869156.898 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-11-08T00:05:56.898Z,1383869156.898 [Navigation](DEBUG): Initializing Navigation.
2013-11-08T00:05:56.898Z,1383869156.898 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-11-08T00:05:56.900Z,1383869156.900 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-11-08T00:05:56.901Z,1383869156.901 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-11-08T00:05:56.901Z,1383869156.901 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-11-08T00:05:56.908Z,1383869156.908 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-11-08T00:05:56.918Z,1383869156.918 [DVL_micro](INFO): Thread ID is 631
2013-11-08T00:05:56.927Z,1383869156.927 [DVL_micro](INFO): Initializing
2013-11-08T00:05:56.927Z,1383869156.927 [DVL_micro](INFO): start:Powering up
2013-11-08T00:05:56.928Z,1383869156.928 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:05:56.929Z,1383869156.929 [DVL_micro](INFO): Cycling power to configure device.
2013-11-08T00:05:56.936Z,1383869156.936 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:05:56.947Z,1383869156.947 [CTD_NeilBrown](INFO): Thread ID is 632
2013-11-08T00:05:56.947Z,1383869156.947 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-11-08T00:05:56.955Z,1383869156.955 [WetLabsBB2FL](INFO): Thread ID is 633
2013-11-08T00:05:56.955Z,1383869156.955 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:05:56.960Z,1383869156.960 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-11-08T00:05:56.996Z,1383869156.996 [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>


2013-11-08T00:05:56.998Z,1383869156.998 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-11-08T00:05:57.004Z,1383869157.004 [NavChartDb](INFO): Thread ID is 634
2013-11-08T00:05:57.007Z,1383869157.007 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-11-08T00:05:57.007Z,1383869157.007 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-11-08T00:05:57.008Z,1383869157.008 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-11-08T00:05:57.008Z,1383869157.008 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-11-08T00:05:57.008Z,1383869157.008 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-11-08T00:05:57.009Z,1383869157.009 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-11-08T00:05:57.009Z,1383869157.009 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-11-08T00:05:57.009Z,1383869157.009 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-11-08T00:05:57.009Z,1383869157.009 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-11-08T00:05:57.108Z,1383869157.108 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-11-08T00:05:57.122Z,1383869157.122 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:05:57.125Z,1383869157.125 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:05:57.133Z,1383869157.133 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:05:57.149Z,1383869157.149 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:05:57.176Z,1383869157.176 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-11-08T00:05:57.202Z,1383869157.202 [Default:D.SetSpeed](DEBUG): Construct.
2013-11-08T00:05:57.211Z,1383869157.211 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:05:57.225Z,1383869157.225 [Default:F.Wait](DEBUG): Construct Wait.
2013-11-08T00:05:57.229Z,1383869157.229 [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>


2013-11-08T00:05:57.238Z,1383869157.238 [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,
2013-11-08T00:05:57.309Z,1383869157.309 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-11-08T00:05:57.320Z,1383869157.320 [DataOverHttps](INFO): tcpConnect
2013-11-08T00:05:57.503Z,1383869157.503 [Radio_Freewave](INFO): Powering up
2013-11-08T00:05:57.509Z,1383869157.509 [DAT](INFO): Powering up
2013-11-08T00:05:57.509Z,1383869157.509 [DAT](DEBUG): Initializing DAT.
2013-11-08T00:05:57.724Z,1383869157.724 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:57.727Z,1383869157.727 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-11-08T00:05:57.742Z,1383869157.742 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:57.747Z,1383869157.747 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-11-08T00:05:57.768Z,1383869157.768 [MassServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:57.775Z,1383869157.775 [MassServo](DEBUG): Initializing MassServo.
2013-11-08T00:05:57.782Z,1383869157.782 [RudderServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:57.784Z,1383869157.784 [RudderServo](DEBUG): Initializing RudderServo.
2013-11-08T00:05:57.827Z,1383869157.827 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:05:57.835Z,1383869157.835 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-11-08T00:05:58.068Z,1383869158.068 [DataOverHttps](INFO): tcpConnecting
2013-11-08T00:05:58.069Z,1383869158.069 [DataOverHttps](INFO): sslConnect
2013-11-08T00:05:58.072Z,1383869158.072 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:05:58.667Z,1383869158.667 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:05:59.069Z,1383869159.069 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:05:59.070Z,1383869159.070 [DVL_micro](INFO): Querying output modes
2013-11-08T00:05:59.070Z,1383869159.070 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-11-08T00:05:59.081Z,1383869159.081 [DVL_micro](DEBUG): cmdResponse: 01
2013-11-08T00:05:59.081Z,1383869159.081 [DVL_micro](INFO): NQ1 output enabled
2013-11-08T00:05:59.082Z,1383869159.082 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-11-08T00:05:59.093Z,1383869159.093 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-11-08T00:05:59.099Z,1383869159.099 [DVL_micro](INFO): pause:Powering down
2013-11-08T00:06:00.797Z,1383869160.797 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:06:00.800Z,1383869160.800 [DataOverHttps](INFO): dataWrite
2013-11-08T00:06:00.800Z,1383869160.800 [DataOverHttps](INFO): dataWriting
2013-11-08T00:06:00.802Z,1383869160.802 [DataOverHttps](INFO): Wrote 206 bytes.
2013-11-08T00:06:01.238Z,1383869161.238 [DataOverHttps](INFO): dataRead
2013-11-08T00:06:01.683Z,1383869161.683 [DataOverHttps](INFO): dataRead
2013-11-08T00:06:01.685Z,1383869161.685 [DataOverHttps](INFO): Received command:restart app
2013-11-08T00:06:01.687Z,1383869161.687 [DataOverHttps](IMPORTANT): SBD MTMSN=20131108T000624
2013-11-08T00:06:01.687Z,1383869161.687 [DataOverHttps](INFO): disconnect
2013-11-08T00:06:01.690Z,1383869161.690 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006612
2013-11-08T00:06:01.695Z,1383869161.695 [NAL9602](INFO): Powering up NAL9602
2013-11-08T00:06:01.713Z,1383869161.713 [CommandLine](IMPORTANT): got command restart application
2013-11-08T00:06:02.867Z,1383869162.867 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-11-08T00:06:02.867Z,1383869162.867 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-11-08T00:06:06.460Z,1383869166.460 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-11-08T00:06:06.701Z,1383869166.701 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:06:06.717Z,1383869166.717 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-11-08T00:06:06.773Z,1383869166.773 [CTD_NeilBrown](INFO): Powering down
2013-11-08T00:06:06.781Z,1383869166.781 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-11-08T00:06:07.146Z,1383869167.146 [DVL_micro](INFO): uninitialize:Powering down
2013-11-08T00:06:07.162Z,1383869167.162 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-11-08T00:06:07.218Z,1383869167.218 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-11-08T00:06:07.231Z,1383869167.231 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-11-08T00:06:07.270Z,1383869167.270 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-11-08T00:06:07.272Z,1383869167.272 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-11-08T00:06:07.619Z,1383869167.619 [controlThread](DEBUG): Uninitializing ControlThread
2013-11-08T00:06:07.620Z,1383869167.620 [AHRS_sp3003D](INFO): Powering down
2013-11-08T00:06:07.707Z,1383869167.707 [DataOverHttps](INFO): disconnect
2013-11-08T00:06:07.707Z,1383869167.707 [NAL9602](INFO): Powering down
2013-11-08T00:06:07.727Z,1383869167.727 [DAT](INFO): Powering down
2013-11-08T00:06:07.867Z,1383869167.867 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:06:07.868Z,1383869167.868 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-11-08T00:06:07.872Z,1383869167.872 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-11-08T00:06:07.873Z,1383869167.873 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-11-08T00:06:07.873Z,1383869167.873 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-11-08T00:06:07.873Z,1383869167.873 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-11-08T00:06:07.874Z,1383869167.874 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-11-08T00:06:07.874Z,1383869167.874 [BuoyancyServo](INFO): Powering down
2013-11-08T00:06:07.887Z,1383869167.887 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-11-08T00:06:07.887Z,1383869167.887 [ElevatorServo](INFO): Powering down
2013-11-08T00:06:07.907Z,1383869167.907 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-11-08T00:06:07.907Z,1383869167.907 [MassServo](INFO): Powering down
2013-11-08T00:06:07.908Z,1383869167.908 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-11-08T00:06:07.908Z,1383869167.908 [RudderServo](INFO): Powering down
2013-11-08T00:06:07.909Z,1383869167.909 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-11-08T00:06:07.909Z,1383869167.909 [ThrusterServo](INFO): Powering down
2013-11-08T00:06:07.910Z,1383869167.910 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-11-08T00:06:07.910Z,1383869167.910 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-11-08T00:06:07.910Z,1383869167.910 [CBIT](DEBUG): Uninitialize CBIT Component.