2012-10-08T21:47:58.266Z,1349732878.266 [Supervisor](DEBUG): Initializing supervisor.
2012-10-08T21:47:58.269Z,1349732878.269 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-08T21:47:58.269Z,1349732878.269 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-08T21:47:58.270Z,1349732878.270 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-08T21:47:58.274Z,1349732878.274 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-08T21:47:58.284Z,1349732878.284 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-08T21:47:58.285Z,1349732878.285 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-08T21:47:58.286Z,1349732878.286 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-08T21:47:58.286Z,1349732878.286 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-08T21:47:58.287Z,1349732878.287 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-08T21:47:58.624Z,1349732878.624 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-08T21:47:58.625Z,1349732878.625 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-08T21:47:58.802Z,1349732878.802 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-08T21:47:58.802Z,1349732878.802 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-08T21:47:58.886Z,1349732878.886 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-08T21:47:58.887Z,1349732878.887 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-08T21:47:59.082Z,1349732879.082 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-08T21:47:59.083Z,1349732879.083 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-08T21:47:59.213Z,1349732879.213 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-08T21:47:59.214Z,1349732879.214 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-08T21:47:59.432Z,1349732879.432 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-08T21:47:59.433Z,1349732879.433 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-08T21:47:59.597Z,1349732879.597 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-08T21:47:59.598Z,1349732879.598 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-08T21:47:59.837Z,1349732879.837 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-08T21:47:59.838Z,1349732879.838 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-08T21:47:59.936Z,1349732879.936 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-08T21:47:59.936Z,1349732879.936 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-08T21:48:00.316Z,1349732880.316 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-08T21:48:00.316Z,1349732880.316 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-08T21:48:00.429Z,1349732880.429 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-08T21:48:00.429Z,1349732880.429 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-08T21:48:00.514Z,1349732880.514 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-08T21:48:00.515Z,1349732880.515 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-08T21:48:00.615Z,1349732880.615 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-08T21:48:00.740Z,1349732880.740 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-08T21:48:00.826Z,1349732880.826 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-08T21:48:00.925Z,1349732880.925 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-08T21:48:01.024Z,1349732881.024 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-08T21:48:01.141Z,1349732881.141 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-08T21:48:01.231Z,1349732881.231 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-08T21:48:01.318Z,1349732881.318 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-08T21:48:01.346Z,1349732881.346 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-08T21:48:01.481Z,1349732881.481 [InternalSim] Loaded
2012-10-08T21:48:01.481Z,1349732881.481 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-08T21:48:01.482Z,1349732881.482 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-08T21:48:01.482Z,1349732881.483 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-08T21:48:01.537Z,1349732881.537 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-08T21:48:01.550Z,1349732881.550 [SBIT] Loaded
2012-10-08T21:48:01.551Z,1349732881.551 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-08T21:48:01.552Z,1349732881.552 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-08T21:48:01.579Z,1349732881.579 [IBIT] Loaded
2012-10-08T21:48:01.579Z,1349732881.579 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-08T21:48:01.582Z,1349732881.582 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-08T21:48:01.695Z,1349732881.695 [CBIT] Loaded
2012-10-08T21:48:01.696Z,1349732881.696 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-08T21:48:01.696Z,1349732881.696 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-08T21:48:01.697Z,1349732881.697 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-08T21:48:01.896Z,1349732881.896 [BuoyancyServo] Loaded
2012-10-08T21:48:01.896Z,1349732881.897 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-08T21:48:01.905Z,1349732881.905 [ElevatorServo] Loaded
2012-10-08T21:48:01.906Z,1349732881.906 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-08T21:48:01.917Z,1349732881.917 [MassServo] Loaded
2012-10-08T21:48:01.917Z,1349732881.917 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-08T21:48:01.929Z,1349732881.929 [RudderServo] Loaded
2012-10-08T21:48:01.929Z,1349732881.929 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-08T21:48:01.940Z,1349732881.940 [ThrusterServo] Loaded
2012-10-08T21:48:01.941Z,1349732881.941 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-08T21:48:01.941Z,1349732881.941 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-08T21:48:01.942Z,1349732881.941 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-08T21:48:01.958Z,1349732881.958 [DepthRateCalculator] Loaded
2012-10-08T21:48:01.958Z,1349732881.958 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-08T21:48:05.813Z,1349732885.813 [HFRadarModelCalc] Loaded
2012-10-08T21:48:05.813Z,1349732885.813 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-08T21:48:05.828Z,1349732885.829 [NavChart] Loaded
2012-10-08T21:48:05.829Z,1349732885.829 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-08T21:48:05.834Z,1349732885.834 [PitchRateCalculator] Loaded
2012-10-08T21:48:05.835Z,1349732885.835 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-08T21:48:05.841Z,1349732885.841 [SpeedCalculator] Loaded
2012-10-08T21:48:05.841Z,1349732885.841 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-08T21:48:05.855Z,1349732885.855 [TempGradientCalculator] Loaded
2012-10-08T21:48:05.855Z,1349732885.855 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-08T21:48:05.861Z,1349732885.861 [YawRateCalculator] Loaded
2012-10-08T21:48:05.861Z,1349732885.861 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-08T21:48:05.880Z,1349732885.880 [Navigation] Loaded
2012-10-08T21:48:05.880Z,1349732885.880 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-08T21:48:05.881Z,1349732885.881 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-08T21:48:05.881Z,1349732885.881 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-08T21:48:06.096Z,1349732886.096 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-08T21:48:06.097Z,1349732886.097 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-08T21:48:06.119Z,1349732886.119 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-08T21:48:06.119Z,1349732886.119 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-08T21:48:06.159Z,1349732886.159 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-08T21:48:06.201Z,1349732886.201 [VerticalControl] Loaded
2012-10-08T21:48:06.202Z,1349732886.202 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-08T21:48:06.203Z,1349732886.203 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-08T21:48:06.222Z,1349732886.222 [HorizontalControl] Loaded
2012-10-08T21:48:06.223Z,1349732886.223 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-08T21:48:06.224Z,1349732886.224 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-08T21:48:06.225Z,1349732886.225 [SpeedControl] Loaded
2012-10-08T21:48:06.225Z,1349732886.225 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-08T21:48:06.226Z,1349732886.226 [LoopControl](DEBUG): Construct LoopControl.
2012-10-08T21:48:06.227Z,1349732886.227 [LoopControl] Loaded
2012-10-08T21:48:06.227Z,1349732886.227 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-08T21:48:06.228Z,1349732886.227 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-08T21:48:06.228Z,1349732886.228 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-08T21:48:06.234Z,1349732886.234 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-08T21:48:06.238Z,1349732886.239 [AsyncPiEstimator] Loaded
2012-10-08T21:48:06.239Z,1349732886.239 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-08T21:48:06.240Z,1349732886.240 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-08T21:48:06.241Z,1349732886.240 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-08T21:48:06.241Z,1349732886.241 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-08T21:48:06.363Z,1349732886.363 [AHRS_sp3003D] Loaded
2012-10-08T21:48:06.363Z,1349732886.363 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-08T21:48:06.376Z,1349732886.376 [Depth_Keller] Loaded
2012-10-08T21:48:06.377Z,1349732886.377 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-08T21:48:06.382Z,1349732886.382 [DropWeight] Loaded
2012-10-08T21:48:06.382Z,1349732886.382 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-08T21:48:06.525Z,1349732886.525 [DVL_micro] Loaded
2012-10-08T21:48:06.526Z,1349732886.526 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-08T21:48:06.527Z,1349732886.527 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-08T21:48:06.606Z,1349732886.606 [NAL9602] Loaded
2012-10-08T21:48:06.606Z,1349732886.606 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-08T21:48:06.655Z,1349732886.655 [Onboard] Loaded
2012-10-08T21:48:06.656Z,1349732886.656 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-08T21:48:06.662Z,1349732886.662 [Radio_Freewave] Loaded
2012-10-08T21:48:06.663Z,1349732886.663 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-08T21:48:06.664Z,1349732886.664 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-08T21:48:06.664Z,1349732886.664 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-08T21:48:06.733Z,1349732886.733 [CTD_NeilBrown] Loaded
2012-10-08T21:48:06.733Z,1349732886.733 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-08T21:48:06.734Z,1349732886.734 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-08T21:48:06.744Z,1349732886.744 [PAR_Licor] Loaded
2012-10-08T21:48:06.745Z,1349732886.745 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-08T21:48:06.761Z,1349732886.761 [Turbulence_NPS] Loaded
2012-10-08T21:48:06.761Z,1349732886.761 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-08T21:48:06.762Z,1349732886.762 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-08T21:48:06.791Z,1349732886.791 [WetLabsBB2FL] Loaded
2012-10-08T21:48:06.792Z,1349732886.792 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-08T21:48:06.793Z,1349732886.793 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-08T21:48:06.793Z,1349732886.793 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-08T21:48:06.796Z,1349732886.796 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-08T21:48:06.796Z,1349732886.796 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-08T21:48:06.803Z,1349732886.803 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-08T21:48:06.804Z,1349732886.804 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-08T21:48:06.808Z,1349732886.808 [Supervisor](DEBUG): Running supervisor.
2012-10-08T21:48:06.809Z,1349732886.809 [CommandLine](INFO): Thread ID is 4823
2012-10-08T21:48:06.812Z,1349732886.812 [controlThread](INFO): Thread ID is 4822
2012-10-08T21:48:06.812Z,1349732886.812 [controlThread](DEBUG): Initializing ControlThread
2012-10-08T21:48:06.813Z,1349732886.813 [CycleStarter](INFO): Thread ID is 4821
2012-10-08T21:48:06.813Z,1349732886.813 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-08T21:48:06.847Z,1349732886.847 [AsyncPiEstimator](INFO): Thread ID is 4884
2012-10-08T21:48:06.847Z,1349732886.847 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-08T21:48:06.857Z,1349732886.857 [SBIT](INFO): Initialize SBIT Component.
2012-10-08T21:48:06.858Z,1349732886.858 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9938
2012-10-08T21:48:06.859Z,1349732886.859 [IBIT](INFO): Initialize IBIT Component.
2012-10-08T21:48:06.859Z,1349732886.859 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-08T21:48:06.860Z,1349732886.860 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-08T21:48:06.861Z,1349732886.861 [DVL_micro](INFO): Thread ID is 4885
2012-10-08T21:48:06.870Z,1349732886.870 [DVL_micro](INFO): Initializing
2012-10-08T21:48:06.870Z,1349732886.870 [DVL_micro](INFO): start:Powering up
2012-10-08T21:48:06.871Z,1349732886.871 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-08T21:48:06.872Z,1349732886.872 [DVL_micro](INFO): Cycling power to configure device.
2012-10-08T21:48:06.879Z,1349732886.879 [CTD_NeilBrown](INFO): Thread ID is 4886
2012-10-08T21:48:06.880Z,1349732886.880 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-08T21:48:06.883Z,1349732886.883 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-08T21:48:06.890Z,1349732886.890 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-08T21:48:06.891Z,1349732886.891 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-08T21:48:06.891Z,1349732886.891 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-08T21:48:06.891Z,1349732886.891 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-08T21:48:06.891Z,1349732886.891 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-08T21:48:06.893Z,1349732886.893 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-08T21:48:06.893Z,1349732886.893 [Navigation](DEBUG): Initializing Navigation.
2012-10-08T21:48:06.894Z,1349732886.894 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-08T21:48:06.898Z,1349732886.898 [Turbulence_NPS](INFO): Thread ID is 4887
2012-10-08T21:48:06.899Z,1349732886.899 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-08T21:48:06.899Z,1349732886.899 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-08T21:48:06.908Z,1349732886.908 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-08T21:48:06.909Z,1349732886.909 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-08T21:48:06.909Z,1349732886.909 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-08T21:48:06.919Z,1349732886.919 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-08T21:48:06.923Z,1349732886.923 [WetLabsBB2FL](INFO): Thread ID is 4888
2012-10-08T21:48:06.924Z,1349732886.924 [WetLabsBB2FL](INFO): Powering down
2012-10-08T21:48:06.958Z,1349732886.958 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T21:48:06.976Z,1349732886.976 [Turbulence_NPS](INFO): Pause powering down
2012-10-08T21:48:06.991Z,1349732886.991 [NavChartDb](INFO): Thread ID is 4889
2012-10-08T21:48:06.993Z,1349732886.993 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-08T21:48:06.994Z,1349732886.994 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-08T21:48:07.015Z,1349732887.015 [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>


2012-10-08T21:48:07.016Z,1349732887.016 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-08T21:48:07.043Z,1349732887.043 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-08T21:48:07.045Z,1349732887.045 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-08T21:48:07.048Z,1349732887.048 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T21:48:07.056Z,1349732887.056 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-08T21:48:07.060Z,1349732887.060 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T21:48:07.066Z,1349732887.066 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-08T21:48:07.075Z,1349732887.075 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-08T21:48:07.078Z,1349732887.078 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T21:48:07.083Z,1349732887.083 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-08T21:48:07.086Z,1349732887.086 [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>


2012-10-08T21:48:07.090Z,1349732887.091 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-10-08T21:48:07.111Z,1349732887.111 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-08T21:48:07.154Z,1349732887.154 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-08T21:48:07.155Z,1349732887.155 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-08T21:48:07.155Z,1349732887.155 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-08T21:48:07.631Z,1349732887.631 [Radio_Freewave](INFO): Powering up
2012-10-08T21:48:07.733Z,1349732887.733 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-08T21:48:07.735Z,1349732887.735 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-08T21:48:07.741Z,1349732887.741 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-08T21:48:07.743Z,1349732887.743 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-08T21:48:07.748Z,1349732887.749 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-08T21:48:07.751Z,1349732887.751 [MassServo](DEBUG): Initializing MassServo.
2012-10-08T21:48:07.756Z,1349732887.756 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-08T21:48:07.757Z,1349732887.757 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-08T21:48:07.763Z,1349732887.763 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-08T21:48:07.767Z,1349732887.767 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-08T21:48:09.007Z,1349732889.007 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-08T21:48:09.007Z,1349732889.007 [DVL_micro](INFO): Querying output modes
2012-10-08T21:48:09.007Z,1349732889.007 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-08T21:48:09.011Z,1349732889.011 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-08T21:48:09.011Z,1349732889.011 [DVL_micro](INFO): NQ1 output enabled
2012-10-08T21:48:09.011Z,1349732889.011 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-08T21:48:09.015Z,1349732889.015 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-08T21:48:09.020Z,1349732889.020 [DVL_micro](INFO): pause:Powering down
2012-10-08T21:48:11.927Z,1349732891.927 [NAL9602](INFO): Powering up NAL9602
2012-10-08T21:48:14.167Z,1349732894.167 [CommandLine](IMPORTANT): got command show variable pitch
2012-10-08T21:48:14.171Z,1349732894.171 [CommandLine](INFO): platform_pitch_angle (degree)
2012-10-08T21:48:14.171Z,1349732894.171 [CommandLine](INFO): platform_pitch_rate (radian_per_second)
2012-10-08T21:48:14.176Z,1349732894.176 [CommandLine](INFO): Config/Sensor.AHRS_3DMGX3_pitchOffset (degree)
2012-10-08T21:48:14.176Z,1349732894.176 [CommandLine](INFO): Config/Sensor.AHRS_sp3003D_pitchOffset (degree)
2012-10-08T21:48:14.177Z,1349732894.177 [CommandLine](INFO): Config/Sensor.DVL_micro_pitchOffset (degree)
2012-10-08T21:48:14.183Z,1349732894.183 [CommandLine](INFO): PAR_Licor.maxValidPitch (degree)
2012-10-08T21:48:14.183Z,1349732894.183 [CommandLine](INFO): PAR_Licor.minValidPitch (degree)
2012-10-08T21:48:14.185Z,1349732894.185 [CommandLine](INFO): SpeedControl.propPitch (meter_per_radian)
2012-10-08T21:48:14.185Z,1349732894.185 [CommandLine](INFO): VerticalControl.kdPitchElevator (second)
2012-10-08T21:48:14.186Z,1349732894.186 [CommandLine](INFO): VerticalControl.kdPitchMass (second)
2012-10-08T21:48:14.186Z,1349732894.187 [CommandLine](INFO): VerticalControl.kiPitchElevator (reciprocal_second)
2012-10-08T21:48:14.187Z,1349732894.187 [CommandLine](INFO): VerticalControl.kiPitchMass (reciprocal_second)
2012-10-08T21:48:14.187Z,1349732894.187 [CommandLine](INFO): VerticalControl.kpPitchElevator (none)
2012-10-08T21:48:14.188Z,1349732894.188 [CommandLine](INFO): VerticalControl.kpPitchMass (none)
2012-10-08T21:48:14.188Z,1349732894.188 [CommandLine](INFO): VerticalControl.maxPitchElevatorInt (angular_degree)
2012-10-08T21:48:14.189Z,1349732894.189 [CommandLine](INFO): VerticalControl.maxPitchMassInt (millimeter)
2012-10-08T21:48:14.189Z,1349732894.189 [CommandLine](INFO): VerticalControl.maxPitchRate (angular_degree_per_second)
2012-10-08T21:48:14.190Z,1349732894.190 [CommandLine](INFO): VerticalControl.pitchLimit (angular_degree)
2012-10-08T21:48:14.190Z,1349732894.190 [CommandLine](INFO): VerticalControl.pitchRateSamples (count)
2012-10-08T21:48:14.205Z,1349732894.205 [CommandLine](INFO): Config/Simulator.initPitch (angular_degree)
2012-10-08T21:48:14.211Z,1349732894.211 [CommandLine](INFO): Config/Derivation.PitchRateCalculator_enable (bool)
2012-10-08T21:48:14.211Z,1349732894.211 [CommandLine](INFO): InternalSim.platform_pitch_angle (degree)
2012-10-08T21:48:14.213Z,1349732894.214 [CommandLine](INFO): PitchRateCalculator.platform_pitch_rate (radian_per_second)
2012-10-08T21:48:14.223Z,1349732894.223 [CommandLine](INFO): VerticalControl.pitchCmd (radian)
2012-10-08T21:48:14.224Z,1349732894.224 [CommandLine](INFO): VerticalControl.massPitchErrorInternal (radian)
2012-10-08T21:48:14.224Z,1349732894.224 [CommandLine](INFO): VerticalControl.pitchInternal (radian)
2012-10-08T21:48:14.225Z,1349732894.225 [CommandLine](INFO): AHRS_sp3003D.platform_pitch_angle (degree)
2012-10-08T21:48:14.226Z,1349732894.226 [CommandLine](INFO): DVL_micro.platform_pitch_angle (degree)
2012-10-08T21:48:14.232Z,1349732894.232 [CommandLine](INFO): Turbulence_NPS.platform_pitch_angle (radian)
2012-10-08T21:48:14.239Z,1349732894.239 [CommandLine](INFO): PitchRateCalculator.durationOfLastRun (second)
2012-10-08T21:48:17.100Z,1349732897.100 [CBIT](CRITICAL): Environmental Failure. Press:15.513202 PSI. Humidity:21%. Temp:22 C. ABORTING MISSION
2012-10-08T21:48:21.507Z,1349732901.507 [CommandLine](IMPORTANT): got command report touch AHRS_sp3003D.platform_pitch_angle
2012-10-08T21:48:22.504Z,1349732902.504 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:24.079Z,1349732904.079 [NAL9602](INFO): NAL9602 initialized
2012-10-08T21:48:24.531Z,1349732904.531 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-08T21:48:24.533Z,1349732904.533 [CBIT](IMPORTANT): Beginning GF scan
2012-10-08T21:48:24.548Z,1349732904.547 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:48:25.244Z,1349732905.244 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.239863 arcdeg
2012-10-08T21:48:26.828Z,1349732906.828 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:48:27.851Z,1349732907.851 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:48:30.060Z,1349732910.060 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:31.175Z,1349732911.175 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.371699 arcdeg
2012-10-08T21:48:31.847Z,1349732911.847 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:48:32.843Z,1349732912.843 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.239863 arcdeg
2012-10-08T21:48:33.767Z,1349732913.767 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.349727 arcdeg
2012-10-08T21:48:35.412Z,1349732915.411 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.349727 arcdeg
2012-10-08T21:48:36.007Z,1349732916.007 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.217891 arcdeg
2012-10-08T21:48:36.647Z,1349732916.647 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:37.592Z,1349732917.592 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:48:38.991Z,1349732918.991 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.239863 arcdeg
2012-10-08T21:48:40.855Z,1349732920.855 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:41.392Z,1349732921.392 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:42.295Z,1349732922.295 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:43.571Z,1349732923.571 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:43.989Z,1349732923.989 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:48:44.635Z,1349732924.635 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:48:46.259Z,1349732926.260 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:48:46.587Z,1349732926.587 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:47.647Z,1349732927.647 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:48.687Z,1349732928.687 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:48:49.859Z,1349732929.859 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.349727 arcdeg
2012-10-08T21:48:50.519Z,1349732930.519 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:48:50.788Z,1349732930.787 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:51.716Z,1349732931.716 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:52.611Z,1349732932.611 [CBIT](IMPORTANT): No ground fault detected
2012-10-08T21:48:52.612Z,1349732932.612 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:53.583Z,1349732933.583 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:48:53.823Z,1349732933.823 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:54.220Z,1349732934.220 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:54.619Z,1349732934.619 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:48:55.011Z,1349732935.011 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:48:55.428Z,1349732935.428 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.239863 arcdeg
2012-10-08T21:48:55.819Z,1349732935.819 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:48:56.219Z,1349732936.219 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:56.623Z,1349732936.623 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:48:57.019Z,1349732937.019 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.239863 arcdeg
2012-10-08T21:48:57.411Z,1349732937.411 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:57.819Z,1349732937.819 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:48:58.219Z,1349732938.219 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:48:58.615Z,1349732938.615 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.217891 arcdeg
2012-10-08T21:48:59.120Z,1349732939.120 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:48:59.398Z,1349732939.398 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:48:59.909Z,1349732939.909 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:00.449Z,1349732940.449 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:00.738Z,1349732940.738 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:01.076Z,1349732941.076 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.349727 arcdeg
2012-10-08T21:49:01.829Z,1349732941.829 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:02.785Z,1349732942.786 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:03.660Z,1349732943.659 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:49:04.285Z,1349732944.286 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:05.183Z,1349732945.182 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:49:06.102Z,1349732946.102 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.239863 arcdeg
2012-10-08T21:49:07.366Z,1349732947.366 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:08.317Z,1349732948.317 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:49:08.919Z,1349732948.919 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:10.459Z,1349732950.459 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.217891 arcdeg
2012-10-08T21:49:11.515Z,1349732951.515 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.239863 arcdeg
2012-10-08T21:49:11.807Z,1349732951.807 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:49:12.203Z,1349732952.203 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:12.599Z,1349732952.599 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:13.099Z,1349732953.099 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:13.411Z,1349732953.411 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:13.875Z,1349732953.875 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:49:14.155Z,1349732954.155 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:14.559Z,1349732954.559 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:14.955Z,1349732954.955 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:15.360Z,1349732955.360 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:15.755Z,1349732955.755 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:16.155Z,1349732956.155 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:16.555Z,1349732956.555 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:16.955Z,1349732956.955 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:17.359Z,1349732957.359 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:17.755Z,1349732957.755 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:18.168Z,1349732958.168 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:18.723Z,1349732958.723 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.239863 arcdeg
2012-10-08T21:49:18.989Z,1349732958.989 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:19.369Z,1349732959.369 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:49:19.796Z,1349732959.796 [SBIT](IMPORTANT): SBIT PASSED
2012-10-08T21:49:19.799Z,1349732959.799 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:49:20.173Z,1349732960.173 [MissionManager](IMPORTANT): Started mission Startup
2012-10-08T21:49:20.173Z,1349732960.173 [Startup] Running Loop=1
2012-10-08T21:49:20.173Z,1349732960.173 [Startup](INFO): Aggregate::initialize Startup
2012-10-08T21:49:20.173Z,1349732960.173 [Startup:A.GoToSurface] Running Loop=1
2012-10-08T21:49:20.173Z,1349732960.173 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-08T21:49:20.192Z,1349732960.192 [Startup:StartupSatComms] Running Loop=1
2012-10-08T21:49:20.192Z,1349732960.192 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-08T21:49:20.192Z,1349732960.192 [Startup:StartupSatComms:A] Running Loop=1
2012-10-08T21:49:20.215Z,1349732960.215 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:49:20.547Z,1349732960.546 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-10-08T21:49:20.575Z,1349732960.575 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:20.969Z,1349732960.969 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:21.484Z,1349732961.484 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:21.765Z,1349732961.765 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.239863 arcdeg
2012-10-08T21:49:22.147Z,1349732962.147 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:22.534Z,1349732962.534 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:22.939Z,1349732962.939 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:23.353Z,1349732963.353 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:23.745Z,1349732963.745 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:24.155Z,1349732964.155 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:24.538Z,1349732964.538 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:24.933Z,1349732964.933 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:25.340Z,1349732965.340 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:25.747Z,1349732965.747 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:26.133Z,1349732966.133 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:26.545Z,1349732966.545 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:26.941Z,1349732966.941 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:27.353Z,1349732967.353 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.239863 arcdeg
2012-10-08T21:49:27.743Z,1349732967.743 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:28.144Z,1349732968.144 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:28.540Z,1349732968.540 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:28.939Z,1349732968.939 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:29.345Z,1349732969.345 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:29.742Z,1349732969.741 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:30.146Z,1349732970.145 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.349727 arcdeg
2012-10-08T21:49:30.542Z,1349732970.542 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:30.937Z,1349732970.937 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:49:31.338Z,1349732971.338 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:31.739Z,1349732971.739 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:32.151Z,1349732972.151 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:32.545Z,1349732972.545 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:32.945Z,1349732972.945 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:49:33.340Z,1349732973.340 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.239863 arcdeg
2012-10-08T21:49:33.739Z,1349732973.739 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.283809 arcdeg
2012-10-08T21:49:34.138Z,1349732974.138 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:34.540Z,1349732974.540 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:49:34.939Z,1349732974.939 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:34.943Z,1349732974.943 [CommandLine](IMPORTANT): got command restart application
2012-10-08T21:49:35.345Z,1349732975.345 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:35.741Z,1349732975.741 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.327754 arcdeg
2012-10-08T21:49:36.003Z,1349732976.003 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-08T21:49:36.003Z,1349732976.003 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-08T21:49:36.083Z,1349732976.082 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-08T21:49:36.137Z,1349732976.137 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.261836 arcdeg
2012-10-08T21:49:36.399Z,1349732976.399 [WetLabsBB2FL](INFO): Powering down
2012-10-08T21:49:36.402Z,1349732976.402 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-08T21:49:36.407Z,1349732976.407 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-10-08T21:49:36.423Z,1349732976.423 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-08T21:49:36.424Z,1349732976.424 [CTD_NeilBrown](INFO): Powering down
2012-10-08T21:49:36.426Z,1349732976.426 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-08T21:49:36.435Z,1349732976.435 [DVL_micro](INFO): uninitialize:Powering down
2012-10-08T21:49:36.444Z,1349732976.444 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-08T21:49:36.532Z,1349732976.532 [Reporter](INFO): AHRS_sp3003D.platform_pitch_angle 0.305781 arcdeg
2012-10-08T21:49:36.651Z,1349732976.651 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-08T21:49:36.663Z,1349732976.663 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-08T21:49:36.665Z,1349732976.665 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-08T21:49:36.755Z,1349732976.755 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-08T21:49:36.755Z,1349732976.755 [AHRS_sp3003D](INFO): Powering down
2012-10-08T21:49:36.843Z,1349732976.843 [NAL9602](INFO): Powering down
2012-10-08T21:49:36.845Z,1349732976.845 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-08T21:49:36.845Z,1349732976.845 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-08T21:49:36.850Z,1349732976.850 [Startup] Stopped
2012-10-08T21:49:36.850Z,1349732976.850 [Startup](INFO): Aggregate::uninitialize Startup
2012-10-08T21:49:36.850Z,1349732976.850 [Startup:A.GoToSurface] Stopped
2012-10-08T21:49:36.850Z,1349732976.850 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-08T21:49:36.850Z,1349732976.850 [Startup:StartupSatComms] Stopped
2012-10-08T21:49:36.850Z,1349732976.850 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-10-08T21:49:36.850Z,1349732976.851 [Startup:StartupSatComms:A] Stopped
2012-10-08T21:49:36.852Z,1349732976.852 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-08T21:49:36.852Z,1349732976.852 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-08T21:49:36.852Z,1349732976.852 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-08T21:49:36.853Z,1349732976.853 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-08T21:49:36.853Z,1349732976.853 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-08T21:49:36.853Z,1349732976.853 [BuoyancyServo](INFO): Powering down
2012-10-08T21:49:36.859Z,1349732976.859 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-08T21:49:36.859Z,1349732976.859 [ElevatorServo](INFO): Powering down
2012-10-08T21:49:36.860Z,1349732976.860 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-08T21:49:36.860Z,1349732976.860 [MassServo](INFO): Powering down
2012-10-08T21:49:36.860Z,1349732976.861 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-08T21:49:36.861Z,1349732976.861 [RudderServo](INFO): Powering down
2012-10-08T21:49:36.861Z,1349732976.861 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-08T21:49:36.861Z,1349732976.861 [ThrusterServo](INFO): Powering down
2012-10-08T21:49:36.862Z,1349732976.862 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-08T21:49:36.863Z,1349732976.863 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-08T21:49:36.863Z,1349732976.863 [CBIT](DEBUG): Uninitialize CBIT Component.