2013-11-08T00:06:09.875Z,1383869169.875 [Supervisor](DEBUG): Initializing supervisor.
2013-11-08T00:06:09.877Z,1383869169.877 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-11-08T00:06:09.878Z,1383869169.878 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-11-08T00:06:09.879Z,1383869169.879 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-11-08T00:06:09.882Z,1383869169.882 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-11-08T00:06:09.893Z,1383869169.893 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-11-08T00:06:09.894Z,1383869169.894 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-11-08T00:06:09.895Z,1383869169.895 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-11-08T00:06:09.896Z,1383869169.896 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-11-08T00:06:09.898Z,1383869169.898 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2013-11-08T00:06:09.899Z,1383869169.899 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-11-08T00:06:09.900Z,1383869169.900 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-11-08T00:06:10.181Z,1383869170.181 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-11-08T00:06:10.182Z,1383869170.182 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-11-08T00:06:10.380Z,1383869170.380 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-11-08T00:06:10.381Z,1383869170.381 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-11-08T00:06:10.466Z,1383869170.466 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-11-08T00:06:10.467Z,1383869170.467 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-11-08T00:06:10.584Z,1383869170.584 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-11-08T00:06:10.584Z,1383869170.584 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-11-08T00:06:10.724Z,1383869170.724 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-11-08T00:06:10.724Z,1383869170.724 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-11-08T00:06:10.965Z,1383869170.965 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-11-08T00:06:10.965Z,1383869170.965 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-11-08T00:06:11.135Z,1383869171.135 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-11-08T00:06:11.135Z,1383869171.135 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-11-08T00:06:11.401Z,1383869171.401 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-11-08T00:06:11.401Z,1383869171.401 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-11-08T00:06:11.503Z,1383869171.503 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-11-08T00:06:11.503Z,1383869171.503 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-11-08T00:06:11.938Z,1383869171.938 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-11-08T00:06:11.939Z,1383869171.939 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-11-08T00:06:12.052Z,1383869172.052 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-11-08T00:06:12.052Z,1383869172.052 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-11-08T00:06:12.139Z,1383869172.139 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2013-11-08T00:06:12.240Z,1383869172.240 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2013-11-08T00:06:12.242Z,1383869172.242 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-11-08T00:06:12.243Z,1383869172.243 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-11-08T00:06:12.339Z,1383869172.339 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-11-08T00:06:12.467Z,1383869172.467 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-11-08T00:06:12.567Z,1383869172.567 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-11-08T00:06:12.672Z,1383869172.672 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-11-08T00:06:12.768Z,1383869172.768 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-11-08T00:06:12.883Z,1383869172.883 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-11-08T00:06:12.978Z,1383869172.978 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-11-08T00:06:13.063Z,1383869173.063 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2013-11-08T00:06:13.156Z,1383869173.156 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-11-08T00:06:13.157Z,1383869173.157 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-11-08T00:06:13.158Z,1383869173.158 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-11-08T00:06:13.328Z,1383869173.328 [InternalSim] Loaded
2013-11-08T00:06:13.328Z,1383869173.328 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-11-08T00:06:13.329Z,1383869173.329 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-11-08T00:06:13.329Z,1383869173.329 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-11-08T00:06:13.420Z,1383869173.420 [SBIT](DEBUG): Construct Startup Built In Test.
2013-11-08T00:06:13.450Z,1383869173.450 [SBIT] Loaded
2013-11-08T00:06:13.451Z,1383869173.451 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-11-08T00:06:13.451Z,1383869173.451 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-11-08T00:06:13.481Z,1383869173.481 [IBIT] Loaded
2013-11-08T00:06:13.481Z,1383869173.481 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-11-08T00:06:13.484Z,1383869173.484 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-11-08T00:06:13.602Z,1383869173.602 [CBIT] Loaded
2013-11-08T00:06:13.603Z,1383869173.603 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-11-08T00:06:13.603Z,1383869173.603 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-11-08T00:06:13.604Z,1383869173.604 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-11-08T00:06:13.797Z,1383869173.797 [BuoyancyServo] Loaded
2013-11-08T00:06:13.798Z,1383869173.798 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-11-08T00:06:13.810Z,1383869173.810 [ElevatorServo] Loaded
2013-11-08T00:06:13.810Z,1383869173.810 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-11-08T00:06:13.821Z,1383869173.821 [MassServo] Loaded
2013-11-08T00:06:13.822Z,1383869173.822 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-11-08T00:06:13.834Z,1383869173.834 [RudderServo] Loaded
2013-11-08T00:06:13.834Z,1383869173.834 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-11-08T00:06:13.845Z,1383869173.845 [ThrusterServo] Loaded
2013-11-08T00:06:13.845Z,1383869173.845 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-11-08T00:06:13.846Z,1383869173.846 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-11-08T00:06:13.847Z,1383869173.847 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-11-08T00:06:13.882Z,1383869173.882 [DepthRateCalculator] Loaded
2013-11-08T00:06:13.882Z,1383869173.882 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-11-08T00:06:16.467Z,1383869176.467 [HFRadarModelCalc] Loaded
2013-11-08T00:06:16.467Z,1383869176.467 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-11-08T00:06:16.484Z,1383869176.484 [NavChart] Loaded
2013-11-08T00:06:16.484Z,1383869176.484 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-11-08T00:06:16.490Z,1383869176.490 [PitchRateCalculator] Loaded
2013-11-08T00:06:16.490Z,1383869176.490 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-11-08T00:06:16.501Z,1383869176.501 [SpeedCalculator] Loaded
2013-11-08T00:06:16.501Z,1383869176.501 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-11-08T00:06:16.518Z,1383869176.518 [TempGradientCalculator] Loaded
2013-11-08T00:06:16.518Z,1383869176.518 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-11-08T00:06:16.524Z,1383869176.524 [YawRateCalculator] Loaded
2013-11-08T00:06:16.524Z,1383869176.524 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-11-08T00:06:16.572Z,1383869176.572 [Navigation] Loaded
2013-11-08T00:06:16.572Z,1383869176.572 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-11-08T00:06:16.573Z,1383869176.573 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-11-08T00:06:16.573Z,1383869176.573 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-11-08T00:06:16.821Z,1383869176.821 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-11-08T00:06:16.822Z,1383869176.822 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-11-08T00:06:16.846Z,1383869176.846 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-11-08T00:06:16.847Z,1383869176.847 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-11-08T00:06:16.896Z,1383869176.896 [VerticalControl](DEBUG): Construct VerticalControl.
2013-11-08T00:06:16.993Z,1383869176.993 [VerticalControl] Loaded
2013-11-08T00:06:16.993Z,1383869176.993 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-11-08T00:06:16.994Z,1383869176.994 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-11-08T00:06:17.054Z,1383869177.054 [HorizontalControl] Loaded
2013-11-08T00:06:17.054Z,1383869177.054 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-11-08T00:06:17.055Z,1383869177.055 [SpeedControl](DEBUG): Construct SpeedControl.
2013-11-08T00:06:17.056Z,1383869177.056 [SpeedControl] Loaded
2013-11-08T00:06:17.057Z,1383869177.057 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-11-08T00:06:17.057Z,1383869177.057 [LoopControl](DEBUG): Construct LoopControl.
2013-11-08T00:06:17.058Z,1383869177.058 [LoopControl] Loaded
2013-11-08T00:06:17.058Z,1383869177.058 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-11-08T00:06:17.059Z,1383869177.059 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-11-08T00:06:17.059Z,1383869177.059 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-11-08T00:06:17.065Z,1383869177.065 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-11-08T00:06:17.070Z,1383869177.070 [AsyncPiEstimator] Loaded
2013-11-08T00:06:17.070Z,1383869177.070 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-11-08T00:06:17.071Z,1383869177.071 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-11-08T00:06:17.072Z,1383869177.072 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-11-08T00:06:17.073Z,1383869177.073 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-11-08T00:06:17.293Z,1383869177.293 [AHRS_sp3003D] Loaded
2013-11-08T00:06:17.294Z,1383869177.294 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-11-08T00:06:17.369Z,1383869177.369 [DataOverHttps] Loaded
2013-11-08T00:06:17.369Z,1383869177.369 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2013-11-08T00:06:17.383Z,1383869177.383 [Depth_Keller] Loaded
2013-11-08T00:06:17.383Z,1383869177.383 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-11-08T00:06:17.573Z,1383869177.573 [DVL_micro] Loaded
2013-11-08T00:06:17.573Z,1383869177.573 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-11-08T00:06:17.574Z,1383869177.574 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 408554E0
2013-11-08T00:06:17.667Z,1383869177.667 [NAL9602] Loaded
2013-11-08T00:06:17.668Z,1383869177.668 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-11-08T00:06:17.710Z,1383869177.710 [Onboard] Loaded
2013-11-08T00:06:17.711Z,1383869177.711 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-11-08T00:06:17.717Z,1383869177.717 [Radio_Freewave] Loaded
2013-11-08T00:06:17.718Z,1383869177.718 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-11-08T00:06:17.867Z,1383869177.867 [DAT] Loaded
2013-11-08T00:06:17.867Z,1383869177.867 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-11-08T00:06:17.868Z,1383869177.868 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-11-08T00:06:17.868Z,1383869177.868 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-11-08T00:06:17.971Z,1383869177.971 [CTD_NeilBrown] Loaded
2013-11-08T00:06:17.972Z,1383869177.972 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-11-08T00:06:17.973Z,1383869177.973 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408B24E0
2013-11-08T00:06:18.006Z,1383869178.006 [WetLabsBB2FL] Loaded
2013-11-08T00:06:18.006Z,1383869178.006 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-11-08T00:06:18.008Z,1383869178.008 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 408E24E0
2013-11-08T00:06:18.008Z,1383869178.008 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-11-08T00:06:18.011Z,1383869178.011 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-11-08T00:06:18.012Z,1383869178.012 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-11-08T00:06:18.019Z,1383869178.019 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-11-08T00:06:18.020Z,1383869178.020 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 409124E0
2013-11-08T00:06:18.024Z,1383869178.024 [Supervisor](DEBUG): Running supervisor.
2013-11-08T00:06:18.025Z,1383869178.025 [CommandLine](INFO): Thread ID is 661
2013-11-08T00:06:18.028Z,1383869178.028 [controlThread](INFO): Thread ID is 660
2013-11-08T00:06:18.028Z,1383869178.028 [controlThread](DEBUG): Initializing ControlThread
2013-11-08T00:06:18.028Z,1383869178.028 [CycleStarter](INFO): Thread ID is 659
2013-11-08T00:06:18.029Z,1383869178.029 [InternalSim](DEBUG):  InternalSim initializing...
2013-11-08T00:06:18.063Z,1383869178.063 [logger](INFO): Thread ID is 662
2013-11-08T00:06:18.088Z,1383869178.088 [SBIT](INFO): Initialize SBIT Component.
2013-11-08T00:06:18.088Z,1383869178.088 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10713
2013-11-08T00:06:18.088Z,1383869178.088 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-11-08T00:06:18.089Z,1383869178.089 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-11-08T00:06:18.089Z,1383869178.089 [IBIT](INFO): Initialize IBIT Component.
2013-11-08T00:06:18.090Z,1383869178.090 [CBIT](DEBUG): Initialize CBIT Component.
2013-11-08T00:06:18.090Z,1383869178.090 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-11-08T00:06:18.103Z,1383869178.103 [AsyncPiEstimator](INFO): Thread ID is 733
2013-11-08T00:06:18.103Z,1383869178.103 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-11-08T00:06:18.116Z,1383869178.116 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:06:18.116Z,1383869178.116 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-11-08T00:06:18.117Z,1383869178.117 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-11-08T00:06:18.117Z,1383869178.117 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-11-08T00:06:18.117Z,1383869178.117 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-11-08T00:06:18.118Z,1383869178.118 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-11-08T00:06:18.118Z,1383869178.118 [Navigation](DEBUG): Initializing Navigation.
2013-11-08T00:06:18.119Z,1383869178.119 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-11-08T00:06:18.120Z,1383869178.120 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-11-08T00:06:18.121Z,1383869178.121 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-11-08T00:06:18.121Z,1383869178.121 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-11-08T00:06:18.131Z,1383869178.131 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-11-08T00:06:18.135Z,1383869178.135 [DVL_micro](INFO): Thread ID is 734
2013-11-08T00:06:18.144Z,1383869178.144 [DVL_micro](INFO): Initializing
2013-11-08T00:06:18.144Z,1383869178.144 [DVL_micro](INFO): start:Powering up
2013-11-08T00:06:18.145Z,1383869178.145 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:06:18.146Z,1383869178.146 [DVL_micro](INFO): Cycling power to configure device.
2013-11-08T00:06:18.161Z,1383869178.161 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:06:18.187Z,1383869178.187 [CTD_NeilBrown](INFO): Thread ID is 735
2013-11-08T00:06:18.188Z,1383869178.188 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-11-08T00:06:18.192Z,1383869178.192 [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>


2013-11-08T00:06:18.193Z,1383869178.193 [WetLabsBB2FL](INFO): Thread ID is 736
2013-11-08T00:06:18.194Z,1383869178.194 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:06:18.199Z,1383869178.199 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-11-08T00:06:18.222Z,1383869178.222 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-11-08T00:06:18.231Z,1383869178.231 [NavChartDb](INFO): Thread ID is 737
2013-11-08T00:06:18.234Z,1383869178.234 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-11-08T00:06:18.235Z,1383869178.235 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-11-08T00:06:18.235Z,1383869178.235 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-11-08T00:06:18.236Z,1383869178.236 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-11-08T00:06:18.236Z,1383869178.236 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-11-08T00:06:18.236Z,1383869178.236 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-11-08T00:06:18.236Z,1383869178.236 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-11-08T00:06:18.237Z,1383869178.237 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-11-08T00:06:18.237Z,1383869178.237 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-11-08T00:06:18.322Z,1383869178.322 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-11-08T00:06:18.328Z,1383869178.328 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:06:18.335Z,1383869178.335 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:06:18.352Z,1383869178.352 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:06:18.363Z,1383869178.363 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:06:18.390Z,1383869178.390 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-11-08T00:06:18.414Z,1383869178.414 [Default:D.SetSpeed](DEBUG): Construct.
2013-11-08T00:06:18.417Z,1383869178.417 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:06:18.431Z,1383869178.431 [Default:F.Wait](DEBUG): Construct Wait.
2013-11-08T00:06:18.447Z,1383869178.447 [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>


2013-11-08T00:06:18.451Z,1383869178.451 [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,
2013-11-08T00:06:18.519Z,1383869178.519 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-11-08T00:06:18.533Z,1383869178.533 [DataOverHttps](INFO): tcpConnect
2013-11-08T00:06:18.736Z,1383869178.736 [Radio_Freewave](INFO): Powering up
2013-11-08T00:06:18.745Z,1383869178.745 [DAT](INFO): Powering up
2013-11-08T00:06:18.745Z,1383869178.745 [DAT](DEBUG): Initializing DAT.
2013-11-08T00:06:18.990Z,1383869178.990 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:06:18.996Z,1383869178.996 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-11-08T00:06:19.021Z,1383869179.021 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:06:19.023Z,1383869179.023 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-11-08T00:06:19.033Z,1383869179.033 [MassServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:06:19.040Z,1383869179.040 [MassServo](DEBUG): Initializing MassServo.
2013-11-08T00:06:19.046Z,1383869179.046 [RudderServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:06:19.088Z,1383869179.088 [RudderServo](DEBUG): Initializing RudderServo.
2013-11-08T00:06:19.107Z,1383869179.107 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:06:19.112Z,1383869179.112 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-11-08T00:06:19.329Z,1383869179.329 [DataOverHttps](INFO): tcpConnecting
2013-11-08T00:06:19.330Z,1383869179.330 [DataOverHttps](INFO): sslConnect
2013-11-08T00:06:19.333Z,1383869179.333 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:06:19.912Z,1383869179.912 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:06:20.262Z,1383869180.262 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:06:20.263Z,1383869180.263 [DVL_micro](INFO): Querying output modes
2013-11-08T00:06:20.263Z,1383869180.263 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-11-08T00:06:20.274Z,1383869180.274 [DVL_micro](DEBUG): cmdResponse: 01
2013-11-08T00:06:20.274Z,1383869180.274 [DVL_micro](INFO): NQ1 output enabled
2013-11-08T00:06:20.274Z,1383869180.274 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-11-08T00:06:20.286Z,1383869180.286 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-11-08T00:06:20.292Z,1383869180.292 [DVL_micro](INFO): pause:Powering down
2013-11-08T00:06:22.046Z,1383869182.046 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:06:22.049Z,1383869182.049 [DataOverHttps](INFO): dataWrite
2013-11-08T00:06:22.049Z,1383869182.049 [DataOverHttps](INFO): dataWriting
2013-11-08T00:06:22.050Z,1383869182.050 [DataOverHttps](INFO): Wrote 206 bytes.
2013-11-08T00:06:22.475Z,1383869182.475 [DataOverHttps](INFO): dataRead
2013-11-08T00:06:22.876Z,1383869182.876 [DataOverHttps](INFO): dataRead
2013-11-08T00:06:22.878Z,1383869182.878 [DataOverHttps](INFO): Received command:restart app
2013-11-08T00:06:22.879Z,1383869182.879 [DataOverHttps](IMPORTANT): SBD MTMSN=20131108T000645
2013-11-08T00:06:22.880Z,1383869182.880 [DataOverHttps](INFO): disconnect
2013-11-08T00:06:22.891Z,1383869182.891 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.014624
2013-11-08T00:06:22.907Z,1383869182.907 [NAL9602](INFO): Powering up NAL9602
2013-11-08T00:06:22.934Z,1383869182.934 [CommandLine](IMPORTANT): got command restart application
2013-11-08T00:06:24.092Z,1383869184.092 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-11-08T00:06:24.092Z,1383869184.092 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-11-08T00:06:27.862Z,1383869187.862 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-11-08T00:06:28.250Z,1383869188.250 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:06:28.258Z,1383869188.258 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-11-08T00:06:28.459Z,1383869188.459 [CTD_NeilBrown](INFO): Powering down
2013-11-08T00:06:28.479Z,1383869188.479 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-11-08T00:06:28.743Z,1383869188.743 [DVL_micro](INFO): uninitialize:Powering down
2013-11-08T00:06:28.755Z,1383869188.755 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-11-08T00:06:28.771Z,1383869188.771 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-11-08T00:06:28.776Z,1383869188.776 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-11-08T00:06:28.824Z,1383869188.824 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-11-08T00:06:28.826Z,1383869188.826 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-11-08T00:06:28.952Z,1383869188.952 [controlThread](DEBUG): Uninitializing ControlThread
2013-11-08T00:06:28.953Z,1383869188.953 [AHRS_sp3003D](INFO): Powering down
2013-11-08T00:06:29.040Z,1383869189.040 [DataOverHttps](INFO): disconnect
2013-11-08T00:06:29.040Z,1383869189.040 [NAL9602](INFO): Powering down
2013-11-08T00:06:29.060Z,1383869189.060 [DAT](INFO): Powering down
2013-11-08T00:06:29.196Z,1383869189.196 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:06:29.197Z,1383869189.197 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-11-08T00:06:29.202Z,1383869189.202 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-11-08T00:06:29.203Z,1383869189.203 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-11-08T00:06:29.203Z,1383869189.203 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-11-08T00:06:29.203Z,1383869189.203 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-11-08T00:06:29.204Z,1383869189.204 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-11-08T00:06:29.204Z,1383869189.204 [BuoyancyServo](INFO): Powering down
2013-11-08T00:06:29.216Z,1383869189.216 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-11-08T00:06:29.216Z,1383869189.216 [ElevatorServo](INFO): Powering down
2013-11-08T00:06:29.236Z,1383869189.236 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-11-08T00:06:29.236Z,1383869189.236 [MassServo](INFO): Powering down
2013-11-08T00:06:29.237Z,1383869189.237 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-11-08T00:06:29.237Z,1383869189.237 [RudderServo](INFO): Powering down
2013-11-08T00:06:29.238Z,1383869189.238 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-11-08T00:06:29.238Z,1383869189.238 [ThrusterServo](INFO): Powering down
2013-11-08T00:06:29.239Z,1383869189.239 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-11-08T00:06:29.239Z,1383869189.239 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-11-08T00:06:29.240Z,1383869189.240 [CBIT](DEBUG): Uninitialize CBIT Component.