2013-02-01T20:38:28.383Z,1359751108.383 [Supervisor](DEBUG): Initializing supervisor.
2013-02-01T20:38:28.386Z,1359751108.386 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-02-01T20:38:28.386Z,1359751108.386 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-02-01T20:38:28.387Z,1359751108.387 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-02-01T20:38:28.391Z,1359751108.391 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-02-01T20:38:28.402Z,1359751108.402 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-02-01T20:38:28.403Z,1359751108.403 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-02-01T20:38:28.404Z,1359751108.404 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-02-01T20:38:28.405Z,1359751108.405 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-02-01T20:38:28.405Z,1359751108.405 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-02-01T20:38:28.406Z,1359751108.406 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-02-01T20:38:28.689Z,1359751108.689 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-02-01T20:38:28.690Z,1359751108.690 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-02-01T20:38:28.877Z,1359751108.877 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-02-01T20:38:28.877Z,1359751108.877 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-02-01T20:38:28.960Z,1359751108.960 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-02-01T20:38:28.961Z,1359751108.961 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-02-01T20:38:29.156Z,1359751109.156 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-02-01T20:38:29.157Z,1359751109.157 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-02-01T20:38:29.288Z,1359751109.288 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-02-01T20:38:29.289Z,1359751109.289 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-02-01T20:38:29.519Z,1359751109.519 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-02-01T20:38:29.520Z,1359751109.520 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-02-01T20:38:29.688Z,1359751109.688 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-02-01T20:38:29.689Z,1359751109.689 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-02-01T20:38:29.942Z,1359751109.941 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-02-01T20:38:29.942Z,1359751109.942 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-02-01T20:38:30.040Z,1359751110.040 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-02-01T20:38:30.040Z,1359751110.040 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-02-01T20:38:30.446Z,1359751110.446 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-02-01T20:38:30.447Z,1359751110.447 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-02-01T20:38:30.560Z,1359751110.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-02-01T20:38:30.560Z,1359751110.560 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-02-01T20:38:30.644Z,1359751110.644 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-02-01T20:38:30.645Z,1359751110.645 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-02-01T20:38:30.745Z,1359751110.745 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-02-01T20:38:30.877Z,1359751110.877 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-02-01T20:38:30.960Z,1359751110.960 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-02-01T20:38:31.060Z,1359751111.060 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-02-01T20:38:31.159Z,1359751111.159 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-02-01T20:38:31.275Z,1359751111.275 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-02-01T20:38:31.366Z,1359751111.366 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-02-01T20:38:31.452Z,1359751111.452 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-02-01T20:38:31.486Z,1359751111.486 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-02-01T20:38:31.642Z,1359751111.642 [InternalSim] Loaded
2013-02-01T20:38:31.642Z,1359751111.642 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-02-01T20:38:31.643Z,1359751111.643 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-02-01T20:38:31.644Z,1359751111.644 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-02-01T20:38:31.701Z,1359751111.701 [SBIT](DEBUG): Construct Startup Built In Test.
2013-02-01T20:38:31.731Z,1359751111.731 [SBIT] Loaded
2013-02-01T20:38:31.731Z,1359751111.731 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-02-01T20:38:31.732Z,1359751111.732 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-02-01T20:38:31.762Z,1359751111.761 [IBIT] Loaded
2013-02-01T20:38:31.762Z,1359751111.762 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-02-01T20:38:31.765Z,1359751111.765 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-02-01T20:38:31.889Z,1359751111.889 [CBIT] Loaded
2013-02-01T20:38:31.889Z,1359751111.889 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-02-01T20:38:31.890Z,1359751111.890 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-02-01T20:38:31.890Z,1359751111.890 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-02-01T20:38:32.044Z,1359751112.044 [BuoyancyServo] Loaded
2013-02-01T20:38:32.044Z,1359751112.044 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-02-01T20:38:32.057Z,1359751112.057 [ElevatorServo] Loaded
2013-02-01T20:38:32.057Z,1359751112.057 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-02-01T20:38:32.069Z,1359751112.069 [MassServo] Loaded
2013-02-01T20:38:32.070Z,1359751112.070 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-02-01T20:38:32.082Z,1359751112.082 [RudderServo] Loaded
2013-02-01T20:38:32.082Z,1359751112.082 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-02-01T20:38:32.095Z,1359751112.095 [ThrusterServo] Loaded
2013-02-01T20:38:32.096Z,1359751112.096 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-02-01T20:38:32.096Z,1359751112.096 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-02-01T20:38:32.097Z,1359751112.097 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-02-01T20:38:32.114Z,1359751112.114 [DepthRateCalculator] Loaded
2013-02-01T20:38:32.114Z,1359751112.114 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-02-01T20:38:37.091Z,1359751117.091 [HFRadarModelCalc] Loaded
2013-02-01T20:38:37.091Z,1359751117.091 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-02-01T20:38:37.108Z,1359751117.108 [NavChart] Loaded
2013-02-01T20:38:37.108Z,1359751117.108 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-02-01T20:38:37.114Z,1359751117.114 [PitchRateCalculator] Loaded
2013-02-01T20:38:37.114Z,1359751117.114 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-02-01T20:38:37.121Z,1359751117.121 [SpeedCalculator] Loaded
2013-02-01T20:38:37.121Z,1359751117.121 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-02-01T20:38:37.136Z,1359751117.136 [TempGradientCalculator] Loaded
2013-02-01T20:38:37.137Z,1359751117.137 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-02-01T20:38:37.143Z,1359751117.143 [YawRateCalculator] Loaded
2013-02-01T20:38:37.143Z,1359751117.143 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-02-01T20:38:37.185Z,1359751117.185 [Navigation] Loaded
2013-02-01T20:38:37.185Z,1359751117.185 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-02-01T20:38:37.185Z,1359751117.185 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-02-01T20:38:37.186Z,1359751117.186 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-02-01T20:38:37.418Z,1359751117.418 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-02-01T20:38:37.418Z,1359751117.418 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-02-01T20:38:37.440Z,1359751117.440 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-02-01T20:38:37.441Z,1359751117.441 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-02-01T20:38:37.481Z,1359751117.480 [VerticalControl](DEBUG): Construct VerticalControl.
2013-02-01T20:38:37.578Z,1359751117.578 [VerticalControl] Loaded
2013-02-01T20:38:37.578Z,1359751117.578 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-02-01T20:38:37.579Z,1359751117.579 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-02-01T20:38:37.638Z,1359751117.638 [HorizontalControl] Loaded
2013-02-01T20:38:37.638Z,1359751117.638 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-02-01T20:38:37.639Z,1359751117.639 [SpeedControl](DEBUG): Construct SpeedControl.
2013-02-01T20:38:37.641Z,1359751117.641 [SpeedControl] Loaded
2013-02-01T20:38:37.641Z,1359751117.641 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-02-01T20:38:37.642Z,1359751117.642 [LoopControl](DEBUG): Construct LoopControl.
2013-02-01T20:38:37.642Z,1359751117.642 [LoopControl] Loaded
2013-02-01T20:38:37.643Z,1359751117.643 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-02-01T20:38:37.643Z,1359751117.643 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-02-01T20:38:37.644Z,1359751117.644 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-02-01T20:38:37.649Z,1359751117.649 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-02-01T20:38:37.654Z,1359751117.654 [AsyncPiEstimator] Loaded
2013-02-01T20:38:37.654Z,1359751117.654 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-02-01T20:38:37.655Z,1359751117.655 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A34E0
2013-02-01T20:38:37.656Z,1359751117.656 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-02-01T20:38:37.657Z,1359751117.657 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-02-01T20:38:37.792Z,1359751117.792 [AHRS_sp3003D] Loaded
2013-02-01T20:38:37.792Z,1359751117.792 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-02-01T20:38:38.065Z,1359751118.065 [Batt_Ocean_Server] Loaded
2013-02-01T20:38:38.065Z,1359751118.065 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-02-01T20:38:38.079Z,1359751118.079 [Depth_Keller] Loaded
2013-02-01T20:38:38.079Z,1359751118.079 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-02-01T20:38:38.247Z,1359751118.247 [DVL_micro] Loaded
2013-02-01T20:38:38.248Z,1359751118.248 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-02-01T20:38:38.249Z,1359751118.249 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407274E0
2013-02-01T20:38:38.301Z,1359751118.301 [Onboard] Loaded
2013-02-01T20:38:38.302Z,1359751118.302 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-02-01T20:38:38.309Z,1359751118.309 [Radio_Freewave] Loaded
2013-02-01T20:38:38.309Z,1359751118.309 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-02-01T20:38:38.394Z,1359751118.394 [DAT] Loaded
2013-02-01T20:38:38.394Z,1359751118.394 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-02-01T20:38:38.394Z,1359751118.395 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-02-01T20:38:38.395Z,1359751118.395 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-02-01T20:38:38.452Z,1359751118.452 [PAR_Licor] Loaded
2013-02-01T20:38:38.452Z,1359751118.452 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-02-01T20:38:38.453Z,1359751118.453 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-02-01T20:38:38.456Z,1359751118.455 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-02-01T20:38:38.456Z,1359751118.456 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-02-01T20:38:38.463Z,1359751118.463 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-02-01T20:38:38.466Z,1359751118.466 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2013-02-01T20:38:38.470Z,1359751118.470 [Supervisor](DEBUG): Running supervisor.
2013-02-01T20:38:38.472Z,1359751118.471 [CommandLine](INFO): Thread ID is 3078
2013-02-01T20:38:38.474Z,1359751118.474 [controlThread](INFO): Thread ID is 3077
2013-02-01T20:38:38.474Z,1359751118.474 [controlThread](DEBUG): Initializing ControlThread
2013-02-01T20:38:38.475Z,1359751118.475 [CycleStarter](INFO): Thread ID is 3076
2013-02-01T20:38:38.475Z,1359751118.476 [InternalSim](DEBUG):  InternalSim initializing...
2013-02-01T20:38:38.511Z,1359751118.511 [logger](INFO): Thread ID is 3079
2013-02-01T20:38:38.537Z,1359751118.537 [SBIT](INFO): Initialize SBIT Component.
2013-02-01T20:38:38.537Z,1359751118.537 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10106
2013-02-01T20:38:38.538Z,1359751118.538 [IBIT](INFO): Initialize IBIT Component.
2013-02-01T20:38:38.539Z,1359751118.539 [CBIT](DEBUG): Initialize CBIT Component.
2013-02-01T20:38:38.539Z,1359751118.539 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-02-01T20:38:38.551Z,1359751118.551 [AsyncPiEstimator](INFO): Thread ID is 3140
2013-02-01T20:38:38.551Z,1359751118.551 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-02-01T20:38:38.564Z,1359751118.565 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-01T20:38:38.565Z,1359751118.565 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-02-01T20:38:38.566Z,1359751118.566 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-02-01T20:38:38.566Z,1359751118.566 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-02-01T20:38:38.566Z,1359751118.566 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-02-01T20:38:38.568Z,1359751118.568 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-02-01T20:38:38.568Z,1359751118.568 [Navigation](DEBUG): Initializing Navigation.
2013-02-01T20:38:38.569Z,1359751118.569 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-02-01T20:38:38.571Z,1359751118.571 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-02-01T20:38:38.572Z,1359751118.572 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-02-01T20:38:38.572Z,1359751118.572 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-02-01T20:38:38.578Z,1359751118.578 [DVL_micro](INFO): Thread ID is 3141
2013-02-01T20:38:38.587Z,1359751118.587 [DVL_micro](INFO): Initializing
2013-02-01T20:38:38.587Z,1359751118.588 [DVL_micro](INFO): start:Powering up
2013-02-01T20:38:38.588Z,1359751118.588 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-01T20:38:38.589Z,1359751118.589 [DVL_micro](INFO): Cycling power to configure device.
2013-02-01T20:38:38.599Z,1359751118.599 [NavChartDb](INFO): Thread ID is 3142
2013-02-01T20:38:38.604Z,1359751118.604 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-02-01T20:38:38.604Z,1359751118.604 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-02-01T20:38:38.605Z,1359751118.605 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-02-01T20:38:38.605Z,1359751118.605 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-02-01T20:38:38.605Z,1359751118.605 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-02-01T20:38:40.587Z,1359751120.587 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-02-01T20:38:40.640Z,1359751120.639 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-02-01T20:38:40.646Z,1359751120.647 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-01T20:38:40.647Z,1359751120.647 [DVL_micro](INFO): Querying output modes
2013-02-01T20:38:40.647Z,1359751120.647 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-01T20:38:40.658Z,1359751120.658 [DVL_micro](DEBUG): cmdResponse: 01
2013-02-01T20:38:40.659Z,1359751120.658 [DVL_micro](INFO): NQ1 output enabled
2013-02-01T20:38:40.659Z,1359751120.659 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-01T20:38:40.666Z,1359751120.666 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-01T20:38:40.670Z,1359751120.670 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-02-01T20:38:40.675Z,1359751120.675 [DVL_micro](INFO): pause:Powering down
2013-02-01T20:38:40.696Z,1359751120.696 [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>


2013-02-01T20:38:40.697Z,1359751120.697 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-02-01T20:38:40.801Z,1359751120.801 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-02-01T20:38:40.803Z,1359751120.803 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-02-01T20:38:40.807Z,1359751120.806 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-01T20:38:40.842Z,1359751120.842 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-02-01T20:38:40.845Z,1359751120.845 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-01T20:38:40.873Z,1359751120.873 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-02-01T20:38:40.906Z,1359751120.906 [Default:D.SetSpeed](DEBUG): Construct.
2013-02-01T20:38:40.909Z,1359751120.909 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-01T20:38:40.914Z,1359751120.914 [Default:F.Wait](DEBUG): Construct Wait.
2013-02-01T20:38:40.953Z,1359751120.953 [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>


2013-02-01T20:38:40.957Z,1359751120.957 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,Onboard,Radio_Freewave,DAT,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,
2013-02-01T20:38:40.999Z,1359751120.999 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-01T20:38:41.187Z,1359751121.187 [Radio_Freewave](INFO): Powering up
2013-02-01T20:38:41.196Z,1359751121.196 [DAT](INFO): Powering up
2013-02-01T20:38:41.197Z,1359751121.197 [DAT](DEBUG): Initializing DAT.
2013-02-01T20:38:41.577Z,1359751121.577 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-02-01T20:38:41.582Z,1359751121.582 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-02-01T20:38:41.589Z,1359751121.589 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-01T20:38:41.594Z,1359751121.594 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-01T20:38:41.600Z,1359751121.600 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-01T20:38:41.606Z,1359751121.606 [MassServo](DEBUG): Initializing MassServo.
2013-02-01T20:38:41.612Z,1359751121.612 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-01T20:38:41.654Z,1359751121.654 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-01T20:38:41.668Z,1359751121.668 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-02-01T20:38:41.674Z,1359751121.674 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-02-01T20:38:44.786Z,1359751124.786 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2013-02-01T20:38:44.787Z,1359751124.787 [CommandLine](IMPORTANT): platform_mass_position 0.244132 centimeter
2013-02-01T20:38:50.379Z,1359751130.379 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2013-02-01T20:38:50.379Z,1359751130.379 [CommandLine](IMPORTANT): platform_mass_position 0.635600 centimeter
2013-02-01T20:38:54.372Z,1359751134.372 [SBIT](IMPORTANT): Beginning Startup BIT
2013-02-01T20:38:54.374Z,1359751134.374 [CBIT](IMPORTANT): Beginning GF scan
2013-02-01T20:38:58.392Z,1359751138.392 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2013-02-01T20:38:58.392Z,1359751138.392 [CommandLine](IMPORTANT): platform_mass_position 0.691110 centimeter
2013-02-01T20:39:01.547Z,1359751141.547 [DAT](INFO): Powering down
2013-02-01T20:39:02.299Z,1359751142.299 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2013-02-01T20:39:02.299Z,1359751142.299 [CommandLine](IMPORTANT): platform_mass_position 0.405769 centimeter
2013-02-01T20:39:13.443Z,1359751153.443 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction -2.000000 centimeter
2013-02-01T20:39:13.444Z,1359751153.444 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.massPositionAction" handled in the control thread.
2013-02-01T20:39:13.694Z,1359751153.694 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,Onboard,Radio_Freewave,DAT,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-02-01T20:39:20.795Z,1359751160.795 [CBIT](IMPORTANT): No ground fault detected
2013-02-01T20:39:28.595Z,1359751168.595 [CommandLine](IMPORTANT): got command report mod platform_mass_position
2013-02-01T20:39:28.799Z,1359751168.799 [Reporter](INFO): platform_mass_position -0.009322 m
2013-02-01T20:39:29.196Z,1359751169.196 [Reporter](INFO): platform_mass_position -0.009618 m
2013-02-01T20:39:29.603Z,1359751169.603 [Reporter](INFO): platform_mass_position -0.009924 m
2013-02-01T20:39:29.999Z,1359751169.999 [Reporter](INFO): platform_mass_position -0.010215 m
2013-02-01T20:39:30.400Z,1359751170.400 [Reporter](INFO): platform_mass_position -0.010511 m
2013-02-01T20:39:30.796Z,1359751170.796 [Reporter](INFO): platform_mass_position -0.010808 m
2013-02-01T20:39:31.199Z,1359751171.200 [Reporter](INFO): platform_mass_position -0.011111 m
2013-02-01T20:39:31.696Z,1359751171.696 [Reporter](INFO): platform_mass_position -0.011478 m
2013-02-01T20:39:31.000Z,1359751172.000 [Reporter](INFO): platform_mass_position -0.011699 m
2013-02-01T20:39:32.399Z,1359751172.399 [Reporter](INFO): platform_mass_position -0.012003 m
2013-02-01T20:39:32.796Z,1359751172.796 [Reporter](INFO): platform_mass_position -0.012297 m
2013-02-01T20:39:33.199Z,1359751173.200 [Reporter](INFO): platform_mass_position -0.012594 m
2013-02-01T20:39:33.603Z,1359751173.603 [Reporter](INFO): platform_mass_position -0.012895 m
2013-02-01T20:39:33.996Z,1359751173.996 [Reporter](INFO): platform_mass_position -0.013188 m
2013-02-01T20:39:34.397Z,1359751174.397 [SBIT](FAULT): Mass: EXPECTED:-0.006000 ACTUAL:-0.013489
2013-02-01T20:39:34.397Z,1359751174.397 [SBIT](FAULT): Control surface position failure.
2013-02-01T20:39:34.400Z,1359751174.401 [Reporter](INFO): platform_mass_position -0.013489 m
2013-02-01T20:39:34.841Z,1359751174.841 [Reporter](INFO): platform_mass_position -0.013814 m
2013-02-01T20:39:35.200Z,1359751175.200 [Reporter](INFO): platform_mass_position -0.014083 m
2013-02-01T20:39:35.604Z,1359751175.604 [Reporter](INFO): platform_mass_position -0.014383 m
2013-02-01T20:39:35.000Z,1359751176.000 [Reporter](INFO): platform_mass_position -0.014676 m
2013-02-01T20:39:36.535Z,1359751176.535 [Reporter](INFO): platform_mass_position -0.015033 m
2013-02-01T20:39:36.915Z,1359751176.915 [Reporter](INFO): platform_mass_position -0.015338 m
2013-02-01T20:39:37.263Z,1359751177.263 [Reporter](INFO): platform_mass_position -0.015588 m
2013-02-01T20:39:37.663Z,1359751177.663 [Reporter](INFO): platform_mass_position -0.015892 m
2013-02-01T20:39:38.063Z,1359751178.063 [Reporter](INFO): platform_mass_position -0.016189 m
2013-02-01T20:39:38.503Z,1359751178.503 [Reporter](INFO): platform_mass_position -0.016520 m
2013-02-01T20:39:38.863Z,1359751178.863 [Reporter](INFO): platform_mass_position -0.016780 m
2013-02-01T20:39:39.339Z,1359751179.339 [Reporter](INFO): platform_mass_position -0.017115 m
2013-02-01T20:39:39.791Z,1359751179.791 [Reporter](INFO): platform_mass_position -0.017410 m
2013-02-01T20:39:40.092Z,1359751180.092 [Reporter](INFO): platform_mass_position -0.017723 m
2013-02-01T20:39:40.508Z,1359751180.508 [Reporter](INFO): platform_mass_position -0.018032 m
2013-02-01T20:39:40.908Z,1359751180.908 [Reporter](INFO): platform_mass_position -0.018328 m
2013-02-01T20:39:41.312Z,1359751181.312 [Reporter](INFO): platform_mass_position -0.018627 m
2013-02-01T20:39:41.744Z,1359751181.744 [Reporter](INFO): platform_mass_position -0.018954 m
2013-02-01T20:39:42.160Z,1359751182.160 [Reporter](INFO): platform_mass_position -0.019260 m
2013-02-01T20:39:42.508Z,1359751182.508 [Reporter](INFO): platform_mass_position -0.019515 m
2013-02-01T20:39:42.908Z,1359751182.908 [Reporter](INFO): platform_mass_position -0.019817 m
2013-02-01T20:39:43.311Z,1359751183.311 [Reporter](INFO): platform_mass_position -0.019993 m
2013-02-01T20:39:48.105Z,1359751188.105 [SBIT](FAULT): Mass: EXPECTED:0.000000 ACTUAL:-0.019993
2013-02-01T20:39:48.105Z,1359751188.105 [SBIT](FAULT): Control surface position failure.
2013-02-01T20:39:48.460Z,1359751188.460 [SBIT](CRITICAL): SBIT FAILED
2013-02-01T20:39:48.788Z,1359751188.788 [MissionManager](IMPORTANT): Started mission Startup
2013-02-01T20:39:48.788Z,1359751188.788 [Startup] Running Loop=1
2013-02-01T20:39:48.789Z,1359751188.789 [Startup](INFO): Aggregate::initialize Startup
2013-02-01T20:39:48.789Z,1359751188.789 [Startup:A.GoToSurface] Running Loop=1
2013-02-01T20:39:48.789Z,1359751188.789 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-02-01T20:39:59.787Z,1359751199.787 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2013-02-01T20:39:59.787Z,1359751199.787 [CommandLine](IMPORTANT): platform_mass_position -1.999281 centimeter
2013-02-01T20:40:08.094Z,1359751208.095 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:40:08.095Z,1359751208.095 [CommandLine](IMPORTANT): platform_pitch_angle 3.383789 degree
2013-02-01T20:40:21.063Z,1359751221.063 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction -1.000000 centimeter
2013-02-01T20:40:23.766Z,1359751223.766 [Reporter](INFO): platform_mass_position -0.019793 m
2013-02-01T20:40:24.137Z,1359751224.137 [Reporter](INFO): platform_mass_position -0.019523 m
2013-02-01T20:40:24.537Z,1359751224.537 [Reporter](INFO): platform_mass_position -0.019228 m
2013-02-01T20:40:24.929Z,1359751224.929 [Reporter](INFO): platform_mass_position -0.018931 m
2013-02-01T20:40:25.337Z,1359751225.337 [Reporter](INFO): platform_mass_position -0.018631 m
2013-02-01T20:40:25.738Z,1359751225.738 [Reporter](INFO): platform_mass_position -0.018335 m
2013-02-01T20:40:26.137Z,1359751226.137 [Reporter](INFO): platform_mass_position -0.018039 m
2013-02-01T20:40:26.536Z,1359751226.536 [Reporter](INFO): platform_mass_position -0.017739 m
2013-02-01T20:40:26.966Z,1359751226.966 [Reporter](INFO): platform_mass_position -0.017414 m
2013-02-01T20:40:27.337Z,1359751227.337 [Reporter](INFO): platform_mass_position -0.017145 m
2013-02-01T20:40:27.790Z,1359751227.790 [Reporter](INFO): platform_mass_position -0.016795 m
2013-02-01T20:40:28.137Z,1359751228.137 [Reporter](INFO): platform_mass_position -0.016551 m
2013-02-01T20:40:28.518Z,1359751228.518 [Reporter](INFO): platform_mass_position -0.016259 m
2013-02-01T20:40:28.937Z,1359751228.937 [Reporter](INFO): platform_mass_position -0.015953 m
2013-02-01T20:40:29.338Z,1359751229.338 [Reporter](INFO): platform_mass_position -0.015656 m
2013-02-01T20:40:29.737Z,1359751229.737 [Reporter](INFO): platform_mass_position -0.015363 m
2013-02-01T20:40:30.162Z,1359751230.162 [Reporter](INFO): platform_mass_position -0.015038 m
2013-02-01T20:40:30.537Z,1359751230.537 [Reporter](INFO): platform_mass_position -0.014764 m
2013-02-01T20:40:30.937Z,1359751230.937 [Reporter](INFO): platform_mass_position -0.014471 m
2013-02-01T20:40:31.337Z,1359751231.337 [Reporter](INFO): platform_mass_position -0.014172 m
2013-02-01T20:40:31.737Z,1359751231.737 [Reporter](INFO): platform_mass_position -0.013872 m
2013-02-01T20:40:32.134Z,1359751232.134 [Reporter](INFO): platform_mass_position -0.013578 m
2013-02-01T20:40:32.537Z,1359751232.537 [Reporter](INFO): platform_mass_position -0.013280 m
2013-02-01T20:40:33.038Z,1359751233.037 [Reporter](INFO): platform_mass_position -0.012905 m
2013-02-01T20:40:33.337Z,1359751233.337 [Reporter](INFO): platform_mass_position -0.012680 m
2013-02-01T20:40:33.722Z,1359751233.722 [Reporter](INFO): platform_mass_position -0.012387 m
2013-02-01T20:40:34.138Z,1359751234.138 [Reporter](INFO): platform_mass_position -0.012087 m
2013-02-01T20:40:34.590Z,1359751234.590 [Reporter](INFO): platform_mass_position -0.011740 m
2013-02-01T20:40:34.950Z,1359751234.950 [Reporter](INFO): platform_mass_position -0.011478 m
2013-02-01T20:40:35.438Z,1359751235.438 [Reporter](INFO): platform_mass_position -0.011110 m
2013-02-01T20:40:35.734Z,1359751235.734 [Reporter](INFO): platform_mass_position -0.010899 m
2013-02-01T20:40:36.137Z,1359751236.137 [Reporter](INFO): platform_mass_position -0.010601 m
2013-02-01T20:40:36.562Z,1359751236.562 [Reporter](INFO): platform_mass_position -0.010285 m
2013-02-01T20:40:36.930Z,1359751236.930 [Reporter](INFO): platform_mass_position -0.010011 m
2013-02-01T20:40:41.390Z,1359751241.390 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:40:41.391Z,1359751241.391 [CommandLine](IMPORTANT): platform_pitch_angle 1.955566 degree
2013-02-01T20:40:44.482Z,1359751244.483 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:40:44.483Z,1359751244.483 [CommandLine](IMPORTANT): platform_pitch_angle 1.933594 degree
2013-02-01T20:40:47.619Z,1359751247.619 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:40:47.620Z,1359751247.620 [CommandLine](IMPORTANT): platform_pitch_angle 1.845703 degree
2013-02-01T20:41:00.843Z,1359751260.843 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction -0.500000 centimeter
2013-02-01T20:41:03.438Z,1359751263.438 [Reporter](INFO): platform_mass_position -0.009782 m
2013-02-01T20:41:03.938Z,1359751263.938 [Reporter](INFO): platform_mass_position -0.009414 m
2013-02-01T20:41:04.210Z,1359751264.210 [Reporter](INFO): platform_mass_position -0.009211 m
2013-02-01T20:41:04.611Z,1359751264.611 [Reporter](INFO): platform_mass_position -0.008910 m
2013-02-01T20:41:05.015Z,1359751265.015 [Reporter](INFO): platform_mass_position -0.008611 m
2013-02-01T20:41:05.502Z,1359751265.502 [Reporter](INFO): platform_mass_position -0.008250 m
2013-02-01T20:41:05.835Z,1359751265.835 [Reporter](INFO): platform_mass_position -0.008002 m
2013-02-01T20:41:06.278Z,1359751266.278 [Reporter](INFO): platform_mass_position -0.007671 m
2013-02-01T20:41:06.639Z,1359751266.639 [Reporter](INFO): platform_mass_position -0.007405 m
2013-02-01T20:41:07.138Z,1359751267.138 [Reporter](INFO): platform_mass_position -0.007030 m
2013-02-01T20:41:07.410Z,1359751267.410 [Reporter](INFO): platform_mass_position -0.006830 m
2013-02-01T20:41:07.814Z,1359751267.814 [Reporter](INFO): platform_mass_position -0.006530 m
2013-02-01T20:41:08.210Z,1359751268.210 [Reporter](INFO): platform_mass_position -0.006235 m
2013-02-01T20:41:08.731Z,1359751268.731 [Reporter](INFO): platform_mass_position -0.005856 m
2013-02-01T20:41:09.014Z,1359751269.014 [Reporter](INFO): platform_mass_position -0.005638 m
2013-02-01T20:41:09.414Z,1359751269.414 [Reporter](INFO): platform_mass_position -0.005342 m
2013-02-01T20:41:09.810Z,1359751269.810 [Reporter](INFO): platform_mass_position -0.005044 m
2013-02-01T20:41:13.835Z,1359751273.835 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:41:13.835Z,1359751273.835 [CommandLine](IMPORTANT): platform_pitch_angle 0.241699 degree
2013-02-01T20:41:16.390Z,1359751276.390 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:41:16.391Z,1359751276.391 [CommandLine](IMPORTANT): platform_pitch_angle 0.461426 degree
2013-02-01T20:41:18.891Z,1359751278.891 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:41:18.891Z,1359751278.891 [CommandLine](IMPORTANT): platform_pitch_angle 0.637207 degree
2013-02-01T20:41:21.070Z,1359751281.070 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:41:21.071Z,1359751281.071 [CommandLine](IMPORTANT): platform_pitch_angle 0.549316 degree
2013-02-01T20:44:41.835Z,1359751481.835 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:44:41.835Z,1359751481.835 [CommandLine](IMPORTANT): platform_pitch_angle -10.854492 degree
2013-02-01T20:44:52.174Z,1359751492.174 [VerticalControl](CRITICAL): Failure to ascend, stopping mission after 300.111298 seconds, depthRate=-0.000377 m/s, pitch=-10.788574 deg.
2013-02-01T20:44:53.155Z,1359751493.155 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction -2.000000 centimeter
2013-02-01T20:44:55.906Z,1359751495.906 [Reporter](INFO): platform_mass_position -0.005221 m
2013-02-01T20:44:56.306Z,1359751496.306 [Reporter](INFO): platform_mass_position -0.005517 m
2013-02-01T20:44:56.702Z,1359751496.702 [Reporter](INFO): platform_mass_position -0.005813 m
2013-02-01T20:44:57.106Z,1359751497.106 [Reporter](INFO): platform_mass_position -0.006115 m
2013-02-01T20:44:57.506Z,1359751497.506 [Reporter](INFO): platform_mass_position -0.006408 m
2013-02-01T20:44:57.950Z,1359751497.950 [Reporter](INFO): platform_mass_position -0.006735 m
2013-02-01T20:44:58.336Z,1359751498.336 [Reporter](INFO): platform_mass_position -0.007019 m
2013-02-01T20:44:58.706Z,1359751498.706 [Reporter](INFO): platform_mass_position -0.007304 m
2013-02-01T20:44:59.106Z,1359751499.106 [Reporter](INFO): platform_mass_position -0.007599 m
2013-02-01T20:44:59.506Z,1359751499.506 [Reporter](INFO): platform_mass_position -0.007897 m
2013-02-01T20:44:59.906Z,1359751499.906 [Reporter](INFO): platform_mass_position -0.008196 m
2013-02-01T20:45:00.306Z,1359751500.306 [Reporter](INFO): platform_mass_position -0.008494 m
2013-02-01T20:45:00.706Z,1359751500.706 [Reporter](INFO): platform_mass_position -0.008788 m
2013-02-01T20:45:01.132Z,1359751501.132 [Reporter](INFO): platform_mass_position -0.009104 m
2013-02-01T20:45:01.534Z,1359751501.534 [Reporter](INFO): platform_mass_position -0.009401 m
2013-02-01T20:45:01.906Z,1359751501.906 [Reporter](INFO): platform_mass_position -0.009680 m
2013-02-01T20:45:02.306Z,1359751502.306 [Reporter](INFO): platform_mass_position -0.009981 m
2013-02-01T20:45:02.746Z,1359751502.746 [Reporter](INFO): platform_mass_position -0.010300 m
2013-02-01T20:45:03.106Z,1359751503.106 [Reporter](INFO): platform_mass_position -0.010574 m
2013-02-01T20:45:03.506Z,1359751503.506 [Reporter](INFO): platform_mass_position -0.010875 m
2013-02-01T20:45:03.906Z,1359751503.906 [Reporter](INFO): platform_mass_position -0.011168 m
2013-02-01T20:45:04.306Z,1359751504.306 [Reporter](INFO): platform_mass_position -0.011464 m
2013-02-01T20:45:04.734Z,1359751504.734 [Reporter](INFO): platform_mass_position -0.011778 m
2013-02-01T20:45:05.106Z,1359751505.106 [Reporter](INFO): platform_mass_position -0.012065 m
2013-02-01T20:45:05.506Z,1359751505.506 [Reporter](INFO): platform_mass_position -0.012360 m
2013-02-01T20:45:05.906Z,1359751505.906 [Reporter](INFO): platform_mass_position -0.012650 m
2013-02-01T20:45:06.306Z,1359751506.306 [Reporter](INFO): platform_mass_position -0.012955 m
2013-02-01T20:45:06.706Z,1359751506.706 [Reporter](INFO): platform_mass_position -0.013254 m
2013-02-01T20:45:07.106Z,1359751507.106 [Reporter](INFO): platform_mass_position -0.013549 m
2013-02-01T20:45:07.506Z,1359751507.506 [Reporter](INFO): platform_mass_position -0.013844 m
2013-02-01T20:45:07.994Z,1359751507.994 [Reporter](INFO): platform_mass_position -0.014208 m
2013-02-01T20:45:08.306Z,1359751508.306 [Reporter](INFO): platform_mass_position -0.014441 m
2013-02-01T20:45:08.702Z,1359751508.702 [Reporter](INFO): platform_mass_position -0.014735 m
2013-02-01T20:45:09.118Z,1359751509.118 [Reporter](INFO): platform_mass_position -0.015041 m
2013-02-01T20:45:09.562Z,1359751509.562 [Reporter](INFO): platform_mass_position -0.015374 m
2013-02-01T20:45:09.930Z,1359751509.930 [Reporter](INFO): platform_mass_position -0.015648 m
2013-02-01T20:45:10.386Z,1359751510.386 [Reporter](INFO): platform_mass_position -0.015992 m
2013-02-01T20:45:10.730Z,1359751510.730 [Reporter](INFO): platform_mass_position -0.016241 m
2013-02-01T20:45:11.233Z,1359751511.233 [Reporter](INFO): platform_mass_position -0.016604 m
2013-02-01T20:45:11.510Z,1359751511.510 [Reporter](INFO): platform_mass_position -0.016827 m
2013-02-01T20:45:11.910Z,1359751511.910 [Reporter](INFO): platform_mass_position -0.017124 m
2013-02-01T20:45:12.314Z,1359751512.314 [Reporter](INFO): platform_mass_position -0.017420 m
2013-02-01T20:45:12.710Z,1359751512.710 [Reporter](INFO): platform_mass_position -0.017716 m
2013-02-01T20:45:13.190Z,1359751513.190 [Reporter](INFO): platform_mass_position -0.018049 m
2013-02-01T20:45:13.510Z,1359751513.510 [Reporter](INFO): platform_mass_position -0.018314 m
2013-02-01T20:45:13.910Z,1359751513.910 [Reporter](INFO): platform_mass_position -0.018610 m
2013-02-01T20:45:14.366Z,1359751514.366 [Reporter](INFO): platform_mass_position -0.018935 m
2013-02-01T20:45:14.731Z,1359751514.731 [Reporter](INFO): platform_mass_position -0.019216 m
2013-02-01T20:45:15.146Z,1359751515.146 [Reporter](INFO): platform_mass_position -0.019524 m
2013-02-01T20:45:15.558Z,1359751515.558 [Reporter](INFO): platform_mass_position -0.019837 m
2013-02-01T20:45:15.910Z,1359751515.910 [Reporter](INFO): platform_mass_position -0.019988 m
2013-02-01T20:45:21.825Z,1359751521.825 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:45:21.826Z,1359751521.826 [CommandLine](IMPORTANT): platform_pitch_angle -3.186035 degree
2013-02-01T20:45:25.235Z,1359751525.234 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:45:25.235Z,1359751525.235 [CommandLine](IMPORTANT): platform_pitch_angle -4.196777 degree
2013-02-01T20:45:31.959Z,1359751531.959 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction -2.500000 centimeter
2013-02-01T20:45:34.750Z,1359751534.750 [Reporter](INFO): platform_mass_position -0.020155 m
2013-02-01T20:45:35.146Z,1359751535.146 [Reporter](INFO): platform_mass_position -0.020449 m
2013-02-01T20:45:35.546Z,1359751535.546 [Reporter](INFO): platform_mass_position -0.020750 m
2013-02-01T20:45:35.950Z,1359751535.950 [Reporter](INFO): platform_mass_position -0.021052 m
2013-02-01T20:45:36.350Z,1359751536.350 [Reporter](INFO): platform_mass_position -0.021343 m
2013-02-01T20:45:36.746Z,1359751536.746 [Reporter](INFO): platform_mass_position -0.021640 m
2013-02-01T20:45:37.190Z,1359751537.190 [Reporter](INFO): platform_mass_position -0.021976 m
2013-02-01T20:45:37.547Z,1359751537.547 [Reporter](INFO): platform_mass_position -0.022237 m
2013-02-01T20:45:37.950Z,1359751537.950 [Reporter](INFO): platform_mass_position -0.022533 m
2013-02-01T20:45:38.414Z,1359751538.414 [Reporter](INFO): platform_mass_position -0.022884 m
2013-02-01T20:45:38.746Z,1359751538.746 [Reporter](INFO): platform_mass_position -0.023132 m
2013-02-01T20:45:39.146Z,1359751539.146 [Reporter](INFO): platform_mass_position -0.023427 m
2013-02-01T20:45:39.546Z,1359751539.546 [Reporter](INFO): platform_mass_position -0.023723 m
2013-02-01T20:45:39.950Z,1359751539.950 [Reporter](INFO): platform_mass_position -0.024026 m
2013-02-01T20:45:40.394Z,1359751540.394 [Reporter](INFO): platform_mass_position -0.024356 m
2013-02-01T20:45:40.746Z,1359751540.746 [Reporter](INFO): platform_mass_position -0.024620 m
2013-02-01T20:45:41.146Z,1359751541.146 [Reporter](INFO): platform_mass_position -0.024917 m
2013-02-01T20:45:41.546Z,1359751541.546 [Reporter](INFO): platform_mass_position -0.024992 m
2013-02-01T20:45:45.543Z,1359751545.543 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction -2.500000 centimeter
2013-02-01T20:45:50.223Z,1359751550.223 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:45:50.223Z,1359751550.223 [CommandLine](IMPORTANT): platform_pitch_angle -0.329590 degree
2013-02-01T20:45:53.234Z,1359751553.234 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:45:53.235Z,1359751553.235 [CommandLine](IMPORTANT): platform_pitch_angle -1.757812 degree
2013-02-01T20:46:00.515Z,1359751560.515 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction -2.700000 centimeter
2013-02-01T20:46:03.210Z,1359751563.210 [Reporter](INFO): platform_mass_position -0.025196 m
2013-02-01T20:46:03.566Z,1359751563.566 [Reporter](INFO): platform_mass_position -0.025461 m
2013-02-01T20:46:04.033Z,1359751564.033 [Reporter](INFO): platform_mass_position -0.025799 m
2013-02-01T20:46:04.374Z,1359751564.374 [Reporter](INFO): platform_mass_position -0.026060 m
2013-02-01T20:46:04.774Z,1359751564.774 [Reporter](INFO): platform_mass_position -0.026355 m
2013-02-01T20:46:05.166Z,1359751565.166 [Reporter](INFO): platform_mass_position -0.026652 m
2013-02-01T20:46:05.570Z,1359751565.570 [Reporter](INFO): platform_mass_position -0.026949 m
2013-02-01T20:46:05.974Z,1359751565.974 [Reporter](INFO): platform_mass_position -0.026992 m
2013-02-01T20:46:10.271Z,1359751570.271 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:46:10.272Z,1359751570.272 [CommandLine](IMPORTANT): platform_pitch_angle 0.615234 degree
2013-02-01T20:46:13.738Z,1359751573.739 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:46:13.739Z,1359751573.739 [CommandLine](IMPORTANT): platform_pitch_angle 0.637207 degree
2013-02-01T20:46:16.478Z,1359751576.478 [CommandLine](IMPORTANT): got command get platform_pitch_angle
2013-02-01T20:46:16.479Z,1359751576.479 [CommandLine](IMPORTANT): platform_pitch_angle -0.109863 degree
2013-02-01T20:47:56.621Z,1359751676.621 [CommandLine](IMPORTANT): got command quit
2013-02-01T20:47:57.670Z,1359751677.670 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-02-01T20:47:57.670Z,1359751677.670 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-02-01T20:47:57.830Z,1359751677.830 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-02-01T20:47:58.158Z,1359751678.158 [DVL_micro](INFO): uninitialize:Powering down
2013-02-01T20:47:58.175Z,1359751678.175 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-02-01T20:47:58.218Z,1359751678.218 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-02-01T20:47:58.234Z,1359751678.234 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-02-01T20:47:58.334Z,1359751678.334 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-02-01T20:47:58.336Z,1359751678.336 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-02-01T20:47:58.503Z,1359751678.503 [controlThread](DEBUG): Uninitializing ControlThread
2013-02-01T20:47:58.503Z,1359751678.503 [AHRS_sp3003D](INFO): Powering down
2013-02-01T20:47:58.592Z,1359751678.592 [DAT](INFO): Powering down
2013-02-01T20:47:58.593Z,1359751678.593 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-01T20:47:58.593Z,1359751678.593 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-02-01T20:47:58.598Z,1359751678.598 [Startup] Stopped
2013-02-01T20:47:58.598Z,1359751678.598 [Startup](INFO): Aggregate::uninitialize Startup
2013-02-01T20:47:58.598Z,1359751678.598 [Startup:A.GoToSurface] Stopped
2013-02-01T20:47:58.598Z,1359751678.598 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-02-01T20:47:58.599Z,1359751678.599 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-02-01T20:47:58.600Z,1359751678.599 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-02-01T20:47:58.600Z,1359751678.600 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-02-01T20:47:58.600Z,1359751678.600 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-02-01T20:47:58.601Z,1359751678.601 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-02-01T20:47:58.601Z,1359751678.601 [BuoyancyServo](INFO): Powering down
2013-02-01T20:47:58.614Z,1359751678.614 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-02-01T20:47:58.614Z,1359751678.615 [ElevatorServo](INFO): Powering down
2013-02-01T20:47:58.615Z,1359751678.615 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-01T20:47:58.615Z,1359751678.615 [MassServo](INFO): Powering down
2013-02-01T20:47:58.616Z,1359751678.616 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-02-01T20:47:58.616Z,1359751678.616 [RudderServo](INFO): Powering down
2013-02-01T20:47:58.617Z,1359751678.617 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-02-01T20:47:58.617Z,1359751678.617 [ThrusterServo](INFO): Powering down
2013-02-01T20:47:58.618Z,1359751678.618 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-02-01T20:47:58.618Z,1359751678.618 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-02-01T20:47:58.619Z,1359751678.619 [CBIT](DEBUG): Uninitialize CBIT Component.