2015-01-22T21:35:34.167Z,1421962534.167 [Supervisor](DEBUG): Initializing supervisor.
2015-01-22T21:35:34.169Z,1421962534.169 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-01-22T21:35:34.170Z,1421962534.170 [SyncHandler](INFO): Protected caller Thread ID is 2436
2015-01-22T21:35:34.170Z,1421962534.170 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-01-22T21:35:34.171Z,1421962534.171 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-01-22T21:35:34.171Z,1421962534.171 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2437
2015-01-22T21:35:34.174Z,1421962534.174 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-01-22T21:35:34.186Z,1421962534.186 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-01-22T21:35:34.187Z,1421962534.187 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-01-22T21:35:34.188Z,1421962534.188 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2438
2015-01-22T21:35:34.188Z,1421962534.188 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-01-22T21:35:34.189Z,1421962534.189 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-01-22T21:35:34.190Z,1421962534.190 [logger ThreadHandler](INFO): Protected caller Thread ID is 2439
2015-01-22T21:35:34.192Z,1421962534.192 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-01-22T21:35:34.192Z,1421962534.192 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-01-22T21:35:34.194Z,1421962534.194 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-01-22T21:35:34.523Z,1421962534.523 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-01-22T21:35:34.524Z,1421962534.524 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-01-22T21:35:34.685Z,1421962534.685 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-01-22T21:35:34.686Z,1421962534.686 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-01-22T21:35:34.798Z,1421962534.798 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-01-22T21:35:34.799Z,1421962534.799 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-01-22T21:35:34.920Z,1421962534.920 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-01-22T21:35:34.920Z,1421962534.920 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-01-22T21:35:35.005Z,1421962535.005 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-01-22T21:35:35.166Z,1421962535.166 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-01-22T21:35:35.167Z,1421962535.167 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-01-22T21:35:35.252Z,1421962535.252 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-01-22T21:35:35.253Z,1421962535.253 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-01-22T21:35:35.457Z,1421962535.457 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-01-22T21:35:35.457Z,1421962535.457 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-01-22T21:35:35.826Z,1421962535.826 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-01-22T21:35:35.826Z,1421962535.826 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-01-22T21:35:36.135Z,1421962536.135 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-01-22T21:35:36.135Z,1421962536.135 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-01-22T21:35:36.625Z,1421962536.625 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-01-22T21:35:36.626Z,1421962536.626 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-01-22T21:35:36.818Z,1421962536.818 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-01-22T21:35:36.818Z,1421962536.818 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-01-22T21:35:36.921Z,1421962536.921 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-01-22T21:35:36.921Z,1421962536.921 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-01-22T21:35:37.334Z,1421962537.334 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-01-22T21:35:37.335Z,1421962537.335 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-01-22T21:35:37.444Z,1421962537.444 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-01-22T21:35:37.446Z,1421962537.446 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-01-22T21:35:37.447Z,1421962537.447 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-01-22T21:35:37.713Z,1421962537.713 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-01-22T21:35:37.714Z,1421962537.714 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-01-22T21:35:37.887Z,1421962537.887 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-01-22T21:35:37.987Z,1421962537.987 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-01-22T21:35:38.084Z,1421962538.084 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-01-22T21:35:38.199Z,1421962538.199 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-01-22T21:35:38.341Z,1421962538.341 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-01-22T21:35:38.512Z,1421962538.512 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-01-22T21:35:38.613Z,1421962538.613 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-01-22T21:35:38.704Z,1421962538.704 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-01-22T21:35:38.805Z,1421962538.805 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-01-22T21:35:38.902Z,1421962538.902 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-01-22T21:35:39.086Z,1421962539.086 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-01-22T21:35:39.099Z,1421962539.099 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-01-22T21:35:39.151Z,1421962539.151 [VerticalControl](DEBUG): Construct VerticalControl.
2015-01-22T21:35:39.272Z,1421962539.272 [VerticalControl] Loaded
2015-01-22T21:35:39.272Z,1421962539.272 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-01-22T21:35:39.273Z,1421962539.273 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-01-22T21:35:39.346Z,1421962539.346 [HorizontalControl] Loaded
2015-01-22T21:35:39.347Z,1421962539.347 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-01-22T21:35:39.347Z,1421962539.347 [SpeedControl](DEBUG): Construct SpeedControl.
2015-01-22T21:35:39.353Z,1421962539.353 [SpeedControl] Loaded
2015-01-22T21:35:39.354Z,1421962539.354 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-01-22T21:35:39.354Z,1421962539.354 [LoopControl](DEBUG): Construct LoopControl.
2015-01-22T21:35:39.355Z,1421962539.355 [LoopControl] Loaded
2015-01-22T21:35:39.355Z,1421962539.355 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-01-22T21:35:39.355Z,1421962539.355 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-01-22T21:35:39.356Z,1421962539.356 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-01-22T21:35:39.454Z,1421962539.454 [SBIT](DEBUG): Construct Startup Built In Test.
2015-01-22T21:35:39.466Z,1421962539.466 [SBIT] Loaded
2015-01-22T21:35:39.466Z,1421962539.466 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-01-22T21:35:39.467Z,1421962539.467 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-01-22T21:35:39.496Z,1421962539.496 [IBIT] Loaded
2015-01-22T21:35:39.496Z,1421962539.496 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-01-22T21:35:39.498Z,1421962539.498 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-01-22T21:35:39.620Z,1421962539.620 [CBIT] Loaded
2015-01-22T21:35:39.621Z,1421962539.621 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-01-22T21:35:39.621Z,1421962539.621 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-01-22T21:35:39.622Z,1421962539.622 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-01-22T21:35:39.640Z,1421962539.640 [DepthRateCalculator] Loaded
2015-01-22T21:35:39.640Z,1421962539.640 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-01-22T21:35:39.646Z,1421962539.646 [PitchRateCalculator] Loaded
2015-01-22T21:35:39.646Z,1421962539.646 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-01-22T21:35:39.658Z,1421962539.658 [SpeedCalculator] Loaded
2015-01-22T21:35:39.658Z,1421962539.658 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-01-22T21:35:39.675Z,1421962539.675 [TempGradientCalculator] Loaded
2015-01-22T21:35:39.675Z,1421962539.675 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-01-22T21:35:39.681Z,1421962539.681 [YawRateCalculator] Loaded
2015-01-22T21:35:39.681Z,1421962539.681 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-01-22T21:35:39.682Z,1421962539.682 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-01-22T21:35:39.682Z,1421962539.682 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-01-22T21:35:39.732Z,1421962539.732 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-01-22T21:35:39.733Z,1421962539.733 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-01-22T21:35:39.000Z,1421962540.000 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-01-22T21:35:40.000Z,1421962540.000 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-01-22T21:35:40.044Z,1421962540.044 [NavChart] Loaded
2015-01-22T21:35:40.044Z,1421962540.044 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-01-22T21:35:40.051Z,1421962540.051 [UniversalFixResidualReporter] Loaded
2015-01-22T21:35:40.051Z,1421962540.051 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-01-22T21:35:40.051Z,1421962540.051 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-01-22T21:35:40.052Z,1421962540.052 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-01-22T21:35:40.058Z,1421962540.058 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-01-22T21:35:40.058Z,1421962540.058 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-01-22T21:35:40.146Z,1421962540.146 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-01-22T21:35:40.147Z,1421962540.147 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-01-22T21:35:40.463Z,1421962540.463 [DataOverHttps] Loaded
2015-01-22T21:35:40.463Z,1421962540.463 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-01-22T21:35:40.546Z,1421962540.546 [Depth_Keller] Loaded
2015-01-22T21:35:40.546Z,1421962540.546 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-01-22T21:35:40.642Z,1421962540.642 [NAL9602] Loaded
2015-01-22T21:35:40.643Z,1421962540.643 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-01-22T21:35:40.685Z,1421962540.685 [Onboard] Loaded
2015-01-22T21:35:40.686Z,1421962540.686 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-01-22T21:35:40.693Z,1421962540.693 [Radio_Surface] Loaded
2015-01-22T21:35:40.693Z,1421962540.693 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-01-22T21:35:40.694Z,1421962540.694 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2015-01-22T21:35:40.695Z,1421962540.695 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2522
2015-01-22T21:35:42.597Z,1421962542.597 [BPC1] Loaded
2015-01-22T21:35:42.597Z,1421962542.597 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-01-22T21:35:42.597Z,1421962542.597 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-01-22T21:35:42.598Z,1421962542.598 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-01-22T21:35:42.698Z,1421962542.698 [BuoyancyServo] Loaded
2015-01-22T21:35:42.698Z,1421962542.698 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-01-22T21:35:42.710Z,1421962542.710 [ElevatorServo] Loaded
2015-01-22T21:35:42.711Z,1421962542.711 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-01-22T21:35:42.723Z,1421962542.723 [RudderServo] Loaded
2015-01-22T21:35:42.723Z,1421962542.723 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-01-22T21:35:42.735Z,1421962542.735 [ThrusterServo] Loaded
2015-01-22T21:35:42.735Z,1421962542.735 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-01-22T21:35:42.735Z,1421962542.735 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-01-22T21:35:42.736Z,1421962542.736 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-01-22T21:35:42.840Z,1421962542.840 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-01-22T21:35:42.840Z,1421962542.840 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-01-22T21:35:42.865Z,1421962542.865 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-01-22T21:35:42.867Z,1421962542.867 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-01-22T21:35:42.868Z,1421962542.868 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-01-22T21:35:42.874Z,1421962542.874 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-01-22T21:35:42.875Z,1421962542.875 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083C4E0
2015-01-22T21:35:42.876Z,1421962542.876 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2523
2015-01-22T21:35:42.880Z,1421962542.880 [Supervisor](INFO): Main Thread ID is 2435
2015-01-22T21:35:42.881Z,1421962542.881 [Supervisor](DEBUG): Running supervisor.
2015-01-22T21:35:42.881Z,1421962542.881 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2524
2015-01-22T21:35:42.885Z,1421962542.885 [controlThread ThreadHandler](INFO): Handler Thread ID is 2525
2015-01-22T21:35:42.886Z,1421962542.886 [controlThread](DEBUG): Initializing ControlThread
2015-01-22T21:35:42.887Z,1421962542.887 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-01-22T21:35:42.888Z,1421962542.888 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-01-22T21:35:42.889Z,1421962542.889 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-01-22T21:35:42.890Z,1421962542.890 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-01-22T21:35:42.890Z,1421962542.890 [SBIT](INFO): Initialize SBIT Component.
2015-01-22T21:35:42.890Z,1421962542.890 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11963
2015-01-22T21:35:42.891Z,1421962542.891 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-01-22T21:35:42.891Z,1421962542.891 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-01-22T21:35:42.892Z,1421962542.892 [IBIT](INFO): Initialize IBIT Component.
2015-01-22T21:35:42.893Z,1421962542.893 [CBIT](DEBUG): Initialize CBIT Component.
2015-01-22T21:35:42.893Z,1421962542.893 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-01-22T21:35:42.894Z,1421962542.894 [logger ThreadHandler](INFO): Handler Thread ID is 2526
2015-01-22T21:35:42.918Z,1421962542.918 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-22T21:35:42.919Z,1421962542.919 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-01-22T21:35:42.919Z,1421962542.919 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-01-22T21:35:42.919Z,1421962542.919 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-01-22T21:35:42.920Z,1421962542.920 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-01-22T21:35:42.920Z,1421962542.920 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-01-22T21:35:42.920Z,1421962542.920 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-01-22T21:35:42.925Z,1421962542.925 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-01-22T21:35:42.931Z,1421962542.931 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2527
2015-01-22T21:35:42.937Z,1421962542.937 [Radio_Surface](INFO): Powering up
2015-01-22T21:35:42.947Z,1421962542.947 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2528
2015-01-22T21:35:42.949Z,1421962542.949 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-01-22T21:35:42.951Z,1421962542.951 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-01-22T21:35:42.951Z,1421962542.951 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-01-22T21:35:42.951Z,1421962542.951 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-01-22T21:35:42.951Z,1421962542.951 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-01-22T21:35:42.952Z,1421962542.952 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-01-22T21:35:42.952Z,1421962542.952 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-01-22T21:35:42.952Z,1421962542.952 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-01-22T21:35:42.952Z,1421962542.952 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-01-22T21:35:42.975Z,1421962542.975 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-22T21:35:42.993Z,1421962542.993 [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>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2015-01-22T21:35:42.994Z,1421962542.994 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-01-22T21:35:43.082Z,1421962543.082 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-01-22T21:35:43.093Z,1421962543.093 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-01-22T21:35:43.097Z,1421962543.097 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-22T21:35:43.114Z,1421962543.114 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-01-22T21:35:43.141Z,1421962543.141 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-01-22T21:35:43.177Z,1421962543.177 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-01-22T21:35:43.204Z,1421962543.204 [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="TimeMissionWasStarted"><Units:hour/><Value>0</Value></DefineArg>

    <DefineArg Name="ElapsedSinceMissionWasStarted"><Units:hour/><Value>0</Value></DefineArg>

    <Aggregate Id="StartClock">

        <Sequence/>

        <Assign><Arg Name="TimeMissionWasStarted"/><Universal:time/></Assign>

    </Aggregate>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <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>

<!-- TODO: Do we really want this When operating on platform_communications? or on something else like time_fix? -->

<!-- Run application at high speed -->

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
<!-- NOTE: Original Default.xml didn't have a timeout on the GPS read, so theoretically could have hung indefinitely there... -->
            <Universal:latitude_fix/>
        </ReadDatum>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <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="UpdateAndReportMinutesSinceMissionStarted">

        <When>
            <Elapsed><Arg Name="ElapsedSinceMissionWasStarted"/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
        </When>

        <Assign><Arg Name="ElapsedSinceMissionWasStarted"/><Universal:time/><Sub><Arg Name="TimeMissionWasStarted"/></Sub></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceMissionWasStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Aggregate Id="WaitAtTheSurface">

        <Sequence/>

        <Guidance:SetSpeed Id="RunApplicationAtLowSpeed">
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
        </Guidance:SetSpeed>

    </Aggregate>

</Mission>


2015-01-22T21:35:43.214Z,1421962543.214 [controlThread](DEBUG): Component order: CycleStarter,DataOverHttps,Depth_Keller,NAL9602,Onboard,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2015-01-22T21:35:43.358Z,1421962543.358 [NAL9602](INFO): Start
2015-01-22T21:35:43.672Z,1421962543.672 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-01-22T21:35:43.680Z,1421962543.680 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-01-22T21:35:43.694Z,1421962543.694 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-22T21:35:43.700Z,1421962543.700 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-22T21:35:43.721Z,1421962543.721 [RudderServo](DEBUG): Initializing EZServoServo.
2015-01-22T21:35:43.728Z,1421962543.728 [RudderServo](DEBUG): Initializing RudderServo.
2015-01-22T21:35:43.737Z,1421962543.737 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-01-22T21:35:43.744Z,1421962543.744 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-01-22T21:35:43.905Z,1421962543.905 [NAL9602](INFO): Start
2015-01-22T21:35:52.995Z,1421962552.995 [NAL9602](INFO): Start
2015-01-22T21:35:52.996Z,1421962552.996 [NAL9602](INFO): Powering up NAL9602
2015-01-22T21:35:54.151Z,1421962554.151 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003400
2015-01-22T21:35:58.447Z,1421962558.447 [SBIT](IMPORTANT): Beginning Startup BIT
2015-01-22T21:35:58.449Z,1421962558.449 [CBIT](IMPORTANT): Beginning GF scan
2015-01-22T21:36:03.968Z,1421962563.968 [NAL9602](INFO): ************** CMDMODE **************

2015-01-22T21:36:03.969Z,1421962563.969 [NAL9602](INFO): NAL9602 initialized
2015-01-22T21:36:11.673Z,1421962571.673 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T21:36:24.944Z,1421962584.944 [CBIT](IMPORTANT): No ground fault detected
2015-01-22T21:36:38.134Z,1421962598.134 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T21:36:38.134Z,1421962598.134 [SBIT](FAULT): Control surface position failure.
2015-01-22T21:36:51.842Z,1421962611.842 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T21:36:51.842Z,1421962611.842 [SBIT](FAULT): Control surface position failure.
2015-01-22T21:36:52.242Z,1421962612.242 [SBIT](CRITICAL): SBIT FAILED
2015-01-22T21:36:52.243Z,1421962612.243 [CommandLine](FAULT): Scheduling is paused
2015-01-22T21:36:52.650Z,1421962612.650 [MissionManager](IMPORTANT): Started mission Startup
2015-01-22T21:36:52.650Z,1421962612.650 [Startup] Running Loop=1
2015-01-22T21:36:52.650Z,1421962612.650 [Startup](INFO): Aggregate::initialize Startup
2015-01-22T21:36:52.650Z,1421962612.650 [Startup:A.GoToSurface] Running Loop=1
2015-01-22T21:36:52.650Z,1421962612.650 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-22T21:36:52.651Z,1421962612.651 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-22T21:36:52.651Z,1421962612.651 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-22T21:36:52.652Z,1421962612.652 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-22T21:36:52.658Z,1421962612.658 [Startup:StartupSatComms] Running Loop=1
2015-01-22T21:36:52.658Z,1421962612.658 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2015-01-22T21:36:52.658Z,1421962612.658 [Startup:StartupSatComms:A] Running Loop=1
2015-01-22T21:36:53.042Z,1421962613.042 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2015-01-22T21:37:52.755Z,1421962672.755 [Startup:StartupSatComms:A](INFO): Timed out from 2015-01-22T21:36:52.7Z
2015-01-22T21:37:52.755Z,1421962672.755 [Startup:StartupSatComms:A] Stopped
2015-01-22T21:37:52.755Z,1421962672.755 [Startup:StartupSatComms:B] Running Loop=1
2015-01-22T21:37:53.154Z,1421962673.154 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2015-01-22T21:37:57.587Z,1421962677.587 [DataOverHttps](INFO): Sending 208 bytes from file Logs/20150122T212725/Courier0004.lzma
2015-01-22T21:37:58.386Z,1421962678.386 [DataOverHttps](INFO): Moved sent file to Logs/20150122T212725/Courier0004.lzma.bak
2015-01-22T21:37:58.386Z,1421962678.386 [DataOverHttps](INFO): SBD MOMSN=1504272
2015-01-22T21:38:07.418Z,1421962687.418 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20150122T213534/Courier0000.lzma
2015-01-22T21:38:08.217Z,1421962688.217 [DataOverHttps](INFO): Moved sent file to Logs/20150122T213534/Courier0000.lzma.bak
2015-01-22T21:38:08.217Z,1421962688.217 [DataOverHttps](INFO): SBD MOMSN=1504275
2015-01-22T21:38:17.980Z,1421962697.980 [DataOverHttps](INFO): Sending 640 bytes from file Logs/20150122T212725/Express0005.lzma
2015-01-22T21:38:18.778Z,1421962698.778 [DataOverHttps](INFO): Moved sent file to Logs/20150122T212725/Express0005.lzma.bak
2015-01-22T21:38:18.778Z,1421962698.778 [DataOverHttps](INFO): SBD MOMSN=1504279
2015-01-22T21:38:28.480Z,1421962708.480 [DataOverHttps](INFO): Sending 503 bytes from file Logs/20150122T213534/Express0001.lzma
2015-01-22T21:38:29.274Z,1421962709.274 [DataOverHttps](INFO): Moved sent file to Logs/20150122T213534/Express0001.lzma.bak
2015-01-22T21:38:29.274Z,1421962709.274 [DataOverHttps](INFO): SBD MOMSN=1504312
2015-01-22T21:38:29.991Z,1421962709.991 [Startup:StartupSatComms:B] Stopped
2015-01-22T21:38:29.991Z,1421962709.991 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2015-01-22T21:38:29.991Z,1421962709.991 [Startup:StartupSatComms] Stopped
2015-01-22T21:38:29.991Z,1421962709.991 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2015-01-22T21:38:29.992Z,1421962709.992 [Startup](INFO): Completed Startup
2015-01-22T21:38:29.992Z,1421962709.992 [Startup] Stopped
2015-01-22T21:38:29.992Z,1421962709.992 [Startup](INFO): Aggregate::uninitialize Startup
2015-01-22T21:38:29.993Z,1421962709.993 [Startup:A.GoToSurface] Stopped
2015-01-22T21:38:29.993Z,1421962709.993 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-22T21:38:30.086Z,1421962710.086 [MissionManager](IMPORTANT): Started mission Default
2015-01-22T21:38:30.086Z,1421962710.086 [Default] Running Loop=1
2015-01-22T21:38:30.087Z,1421962710.087 [Default](INFO): Aggregate::initialize Default
2015-01-22T21:38:30.087Z,1421962710.087 [Default:B.GoToSurface] Running Loop=1
2015-01-22T21:38:30.087Z,1421962710.087 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-22T21:38:30.087Z,1421962710.087 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-22T21:38:30.087Z,1421962710.087 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-22T21:38:30.088Z,1421962710.088 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-22T21:38:30.088Z,1421962710.088 [Default:StartClock] Running Loop=1
2015-01-22T21:38:30.088Z,1421962710.088 [Default:StartClock](INFO): Aggregate::initialize Default:StartClock
2015-01-22T21:38:30.088Z,1421962710.088 [Default:StartClock:A] Running Loop=1
2015-01-22T21:38:30.096Z,1421962710.096 [Default:StartClock:A] Stopped
2015-01-22T21:38:30.096Z,1421962710.096 [Default:StartClock](INFO): Completed Default:StartClock
2015-01-22T21:38:30.097Z,1421962710.097 [Default:StartClock] Stopped
2015-01-22T21:38:30.097Z,1421962710.097 [Default:StartClock](INFO): Aggregate::uninitialize Default:StartClock
2015-01-22T21:38:33.379Z,1421962713.379 [Default:WaitAtTheSurface] Running Loop=1
2015-01-22T21:38:33.379Z,1421962713.379 [Default:WaitAtTheSurface](INFO): Aggregate::initialize Default:WaitAtTheSurface
2015-01-22T21:38:33.379Z,1421962713.379 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-22T21:38:33.379Z,1421962713.379 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Initialize.
2015-01-22T21:38:33.455Z,1421962713.455 [Default:WaitAtTheSurf