2015-01-27T22:44:08.295Z,1422398648.295 [Supervisor](DEBUG): Initializing supervisor.
2015-01-27T22:44:08.298Z,1422398648.298 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-01-27T22:44:08.298Z,1422398648.298 [SyncHandler](INFO): Protected caller Thread ID is 1974
2015-01-27T22:44:08.299Z,1422398648.299 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-01-27T22:44:08.300Z,1422398648.300 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-01-27T22:44:08.300Z,1422398648.300 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1975
2015-01-27T22:44:08.303Z,1422398648.303 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-01-27T22:44:08.314Z,1422398648.314 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-01-27T22:44:08.315Z,1422398648.315 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-01-27T22:44:08.316Z,1422398648.316 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1976
2015-01-27T22:44:08.317Z,1422398648.317 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-01-27T22:44:08.318Z,1422398648.318 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-01-27T22:44:08.318Z,1422398648.318 [logger ThreadHandler](INFO): Protected caller Thread ID is 1977
2015-01-27T22:44:08.320Z,1422398648.320 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-01-27T22:44:08.321Z,1422398648.321 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-01-27T22:44:08.322Z,1422398648.322 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-01-27T22:44:08.642Z,1422398648.642 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-01-27T22:44:08.643Z,1422398648.643 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-01-27T22:44:08.856Z,1422398648.856 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-01-27T22:44:08.857Z,1422398648.857 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-01-27T22:44:09.009Z,1422398649.009 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-01-27T22:44:09.009Z,1422398649.009 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-01-27T22:44:09.183Z,1422398649.183 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-01-27T22:44:09.184Z,1422398649.184 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-01-27T22:44:09.280Z,1422398649.280 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-01-27T22:44:09.438Z,1422398649.438 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-01-27T22:44:09.438Z,1422398649.438 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-01-27T22:44:09.523Z,1422398649.523 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-01-27T22:44:09.523Z,1422398649.523 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-01-27T22:44:09.727Z,1422398649.727 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-01-27T22:44:09.728Z,1422398649.728 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-01-27T22:44:10.092Z,1422398650.092 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-01-27T22:44:10.093Z,1422398650.093 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-01-27T22:44:10.412Z,1422398650.412 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-01-27T22:44:10.413Z,1422398650.413 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-01-27T22:44:10.903Z,1422398650.903 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-01-27T22:44:10.904Z,1422398650.904 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-01-27T22:44:11.096Z,1422398651.096 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-01-27T22:44:11.097Z,1422398651.097 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-01-27T22:44:11.199Z,1422398651.199 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-01-27T22:44:11.199Z,1422398651.199 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-01-27T22:44:11.614Z,1422398651.614 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-01-27T22:44:11.615Z,1422398651.615 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-01-27T22:44:11.723Z,1422398651.723 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-01-27T22:44:11.725Z,1422398651.725 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-01-27T22:44:11.726Z,1422398651.726 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-01-27T22:44:11.970Z,1422398651.970 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-01-27T22:44:11.971Z,1422398651.971 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-01-27T22:44:12.084Z,1422398652.084 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-01-27T22:44:12.181Z,1422398652.181 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-01-27T22:44:12.276Z,1422398652.276 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-01-27T22:44:12.388Z,1422398652.388 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-01-27T22:44:12.612Z,1422398652.612 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-01-27T22:44:12.779Z,1422398652.779 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-01-27T22:44:12.878Z,1422398652.878 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-01-27T22:44:12.967Z,1422398652.967 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-01-27T22:44:13.067Z,1422398653.067 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-01-27T22:44:13.162Z,1422398653.162 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-01-27T22:44:13.338Z,1422398653.338 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-01-27T22:44:13.352Z,1422398653.352 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-01-27T22:44:13.403Z,1422398653.403 [VerticalControl](DEBUG): Construct VerticalControl.
2015-01-27T22:44:13.522Z,1422398653.522 [VerticalControl] Loaded
2015-01-27T22:44:13.523Z,1422398653.523 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-01-27T22:44:13.523Z,1422398653.523 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-01-27T22:44:13.596Z,1422398653.596 [HorizontalControl] Loaded
2015-01-27T22:44:13.596Z,1422398653.596 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-01-27T22:44:13.597Z,1422398653.597 [SpeedControl](DEBUG): Construct SpeedControl.
2015-01-27T22:44:13.603Z,1422398653.603 [SpeedControl] Loaded
2015-01-27T22:44:13.603Z,1422398653.603 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-01-27T22:44:13.604Z,1422398653.604 [LoopControl](DEBUG): Construct LoopControl.
2015-01-27T22:44:13.604Z,1422398653.604 [LoopControl] Loaded
2015-01-27T22:44:13.605Z,1422398653.605 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-01-27T22:44:13.605Z,1422398653.605 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-01-27T22:44:13.606Z,1422398653.606 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-01-27T22:44:13.703Z,1422398653.703 [SBIT](DEBUG): Construct Startup Built In Test.
2015-01-27T22:44:13.714Z,1422398653.714 [SBIT] Loaded
2015-01-27T22:44:13.714Z,1422398653.714 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-01-27T22:44:13.715Z,1422398653.715 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-01-27T22:44:13.744Z,1422398653.744 [IBIT] Loaded
2015-01-27T22:44:13.744Z,1422398653.744 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-01-27T22:44:13.746Z,1422398653.746 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-01-27T22:44:13.868Z,1422398653.868 [CBIT] Loaded
2015-01-27T22:44:13.868Z,1422398653.868 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-01-27T22:44:13.868Z,1422398653.868 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-01-27T22:44:13.869Z,1422398653.869 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-01-27T22:44:13.887Z,1422398653.887 [DepthRateCalculator] Loaded
2015-01-27T22:44:13.888Z,1422398653.888 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-01-27T22:44:13.893Z,1422398653.893 [PitchRateCalculator] Loaded
2015-01-27T22:44:13.893Z,1422398653.893 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-01-27T22:44:13.905Z,1422398653.905 [SpeedCalculator] Loaded
2015-01-27T22:44:13.905Z,1422398653.905 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-01-27T22:44:13.947Z,1422398653.947 [TempGradientCalculator] Loaded
2015-01-27T22:44:13.947Z,1422398653.947 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-01-27T22:44:13.953Z,1422398653.953 [YawRateCalculator] Loaded
2015-01-27T22:44:13.953Z,1422398653.953 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-01-27T22:44:13.953Z,1422398653.953 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-01-27T22:44:13.954Z,1422398653.954 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-01-27T22:44:14.005Z,1422398654.005 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-01-27T22:44:14.005Z,1422398654.005 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-01-27T22:44:14.239Z,1422398654.239 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-01-27T22:44:14.240Z,1422398654.240 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-01-27T22:44:14.283Z,1422398654.283 [NavChart] Loaded
2015-01-27T22:44:14.284Z,1422398654.284 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-01-27T22:44:14.290Z,1422398654.290 [UniversalFixResidualReporter] Loaded
2015-01-27T22:44:14.290Z,1422398654.290 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-01-27T22:44:14.291Z,1422398654.291 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-01-27T22:44:14.291Z,1422398654.291 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-01-27T22:44:14.297Z,1422398654.297 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-01-27T22:44:14.298Z,1422398654.298 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-01-27T22:44:14.385Z,1422398654.385 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-01-27T22:44:14.386Z,1422398654.386 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-01-27T22:44:14.697Z,1422398654.697 [DataOverHttps] Loaded
2015-01-27T22:44:14.697Z,1422398654.697 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-01-27T22:44:14.781Z,1422398654.781 [Depth_Keller] Loaded
2015-01-27T22:44:14.781Z,1422398654.781 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-01-27T22:44:14.897Z,1422398654.897 [NAL9602] Loaded
2015-01-27T22:44:14.898Z,1422398654.898 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-01-27T22:44:14.940Z,1422398654.940 [Onboard] Loaded
2015-01-27T22:44:14.940Z,1422398654.940 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-01-27T22:44:14.947Z,1422398654.947 [Radio_Surface] Loaded
2015-01-27T22:44:14.947Z,1422398654.947 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-01-27T22:44:14.948Z,1422398654.948 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2015-01-27T22:44:14.949Z,1422398654.949 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2060
2015-01-27T22:44:16.820Z,1422398656.820 [BPC1] Loaded
2015-01-27T22:44:16.820Z,1422398656.820 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-01-27T22:44:16.820Z,1422398656.820 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-01-27T22:44:16.821Z,1422398656.821 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-01-27T22:44:16.921Z,1422398656.921 [BuoyancyServo] Loaded
2015-01-27T22:44:16.922Z,1422398656.922 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-01-27T22:44:16.934Z,1422398656.934 [ElevatorServo] Loaded
2015-01-27T22:44:16.934Z,1422398656.934 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-01-27T22:44:16.946Z,1422398656.946 [RudderServo] Loaded
2015-01-27T22:44:16.946Z,1422398656.946 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-01-27T22:44:16.958Z,1422398656.958 [ThrusterServo] Loaded
2015-01-27T22:44:16.958Z,1422398656.958 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-01-27T22:44:16.958Z,1422398656.958 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-01-27T22:44:16.959Z,1422398656.959 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-01-27T22:44:17.062Z,1422398657.062 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-01-27T22:44:17.062Z,1422398657.062 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-01-27T22:44:17.087Z,1422398657.087 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-01-27T22:44:17.089Z,1422398657.089 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-01-27T22:44:17.090Z,1422398657.090 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-01-27T22:44:17.096Z,1422398657.096 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-01-27T22:44:17.110Z,1422398657.110 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083C4E0
2015-01-27T22:44:17.110Z,1422398657.110 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2061
2015-01-27T22:44:17.115Z,1422398657.115 [Supervisor](INFO): Main Thread ID is 1973
2015-01-27T22:44:17.115Z,1422398657.115 [Supervisor](DEBUG): Running supervisor.
2015-01-27T22:44:17.116Z,1422398657.116 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2062
2015-01-27T22:44:17.120Z,1422398657.120 [controlThread ThreadHandler](INFO): Handler Thread ID is 2063
2015-01-27T22:44:17.120Z,1422398657.120 [controlThread](DEBUG): Initializing ControlThread
2015-01-27T22:44:17.121Z,1422398657.121 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-01-27T22:44:17.123Z,1422398657.123 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-01-27T22:44:17.124Z,1422398657.124 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-01-27T22:44:17.124Z,1422398657.124 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-01-27T22:44:17.124Z,1422398657.124 [SBIT](INFO): Initialize SBIT Component.
2015-01-27T22:44:17.125Z,1422398657.125 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11963
2015-01-27T22:44:17.125Z,1422398657.125 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-01-27T22:44:17.126Z,1422398657.126 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-01-27T22:44:17.126Z,1422398657.126 [IBIT](INFO): Initialize IBIT Component.
2015-01-27T22:44:17.127Z,1422398657.127 [CBIT](DEBUG): Initialize CBIT Component.
2015-01-27T22:44:17.127Z,1422398657.127 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-01-27T22:44:17.128Z,1422398657.128 [logger ThreadHandler](INFO): Handler Thread ID is 2064
2015-01-27T22:44:17.154Z,1422398657.154 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-27T22:44:17.154Z,1422398657.154 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-01-27T22:44:17.154Z,1422398657.154 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-01-27T22:44:17.155Z,1422398657.155 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-01-27T22:44:17.155Z,1422398657.155 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-01-27T22:44:17.156Z,1422398657.156 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-01-27T22:44:17.156Z,1422398657.156 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-01-27T22:44:17.160Z,1422398657.160 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-01-27T22:44:17.166Z,1422398657.166 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2065
2015-01-27T22:44:17.172Z,1422398657.172 [Radio_Surface](INFO): Powering up
2015-01-27T22:44:17.182Z,1422398657.182 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2066
2015-01-27T22:44:17.185Z,1422398657.185 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-01-27T22:44:17.186Z,1422398657.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-01-27T22:44:17.186Z,1422398657.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-01-27T22:44:17.186Z,1422398657.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-01-27T22:44:17.187Z,1422398657.187 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-01-27T22:44:17.187Z,1422398657.187 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-01-27T22:44:17.187Z,1422398657.187 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-01-27T22:44:17.187Z,1422398657.187 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-01-27T22:44:17.188Z,1422398657.188 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-01-27T22:44:17.209Z,1422398657.209 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-27T22:44:17.226Z,1422398657.226 [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>


2015-01-27T22:44:17.227Z,1422398657.227 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-01-27T22:44:17.303Z,1422398657.303 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-01-27T22:44:17.315Z,1422398657.315 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-01-27T22:44:17.343Z,1422398657.343 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-27T22:44:17.360Z,1422398657.360 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-01-27T22:44:17.386Z,1422398657.386 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-01-27T22:44:17.415Z,1422398657.415 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-01-27T22:44:17.425Z,1422398657.425 [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>


2015-01-27T22:44:17.429Z,1422398657.429 [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,
2015-01-27T22:44:17.594Z,1422398657.594 [NAL9602](INFO): Start
2015-01-27T22:44:18.019Z,1422398658.019 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:44:18.027Z,1422398658.027 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-01-27T22:44:18.055Z,1422398658.055 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:44:18.063Z,1422398658.063 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-27T22:44:18.077Z,1422398658.077 [RudderServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:44:18.079Z,1422398658.079 [RudderServo](DEBUG): Initializing RudderServo.
2015-01-27T22:44:18.100Z,1422398658.100 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:44:18.107Z,1422398658.107 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-01-27T22:44:18.264Z,1422398658.264 [NAL9602](INFO): Start
2015-01-27T22:44:27.384Z,1422398667.384 [NAL9602](INFO): Start
2015-01-27T22:44:27.384Z,1422398667.384 [NAL9602](INFO): Powering up NAL9602
2015-01-27T22:44:27.899Z,1422398667.899 [CommandLine](IMPORTANT): got command show variable quality
2015-01-27T22:44:27.953Z,1422398667.953 [CommandLine](IMPORTANT): NAL9602.sigQuality (count)
2015-01-27T22:44:28.567Z,1422398668.567 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003500
2015-01-27T22:44:32.678Z,1422398672.678 [SBIT](IMPORTANT): Beginning Startup BIT
2015-01-27T22:44:32.695Z,1422398672.695 [CBIT](IMPORTANT): Beginning GF scan
2015-01-27T22:44:38.568Z,1422398678.568 [NAL9602](INFO): ************** CMDMODE **************

2015-01-27T22:44:38.568Z,1422398678.568 [NAL9602](INFO): NAL9602 initialized
2015-01-27T22:44:40.946Z,1422398680.946 [CommandLine](IMPORTANT): got command report mod NAL9602.sigQuality
2015-01-27T22:44:41.119Z,1422398681.119 [Reporter](INFO): NAL9602.sigQuality no_value
2015-01-27T22:44:41.769Z,1422398681.769 [NAL9602](INFO): Bytes:2
2015-01-27T22:44:41.769Z,1422398681.769 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:44:42.170Z,1422398682.170 [NAL9602](INFO): Bytes:12
2015-01-27T22:44:42.170Z,1422398682.170 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:

+CSQ:
2015-01-27T22:44:42.330Z,1422398682.330 [Reporter](INFO): NAL9602.sigQuality -1 count
2015-01-27T22:44:45.880Z,1422398685.880 [SBIT](ERROR): Could not read massPosReader_.
2015-01-27T22:44:59.083Z,1422398699.083 [CBIT](IMPORTANT): No ground fault detected
2015-01-27T22:45:11.420Z,1422398711.420 [CommandLine](IMPORTANT): got command quit
2015-01-27T22:45:12.281Z,1422398712.281 [SBIT](ERROR): Could not read massPosReader_.
2015-01-27T22:45:12.281Z,1422398712.281 [SBIT](FAULT): Control surface position failure.
2015-01-27T22:45:12.426Z,1422398712.426 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:45:12.426Z,1422398712.426 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:12.531Z,1422398712.531 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2015-01-27T22:45:12.531Z,1422398712.531 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:12.532Z,1422398712.532 [CommandLine](INFO): Join timeout helper Thread ID is 2073
2015-01-27T22:45:12.551Z,1422398712.551 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2015-01-27T22:45:12.552Z,1422398712.552 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:12.552Z,1422398712.552 [NavChartDb](INFO): Join timeout helper Thread ID is 2074
2015-01-27T22:45:12.569Z,1422398712.569 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2015-01-27T22:45:13.088Z,1422398713.088 [NAL9602](FAULT): received: 
2015-01-27T22:45:13.088Z,1422398713.088 [NAL9602] Data Fault, FailCount= 1
2015-01-27T22:45:13.088Z,1422398713.088 [NAL9602](ERROR): Data Fault
2015-01-27T22:45:13.224Z,1422398713.224 [CBIT](ERROR): Data Fault in component: NAL9602
2015-01-27T22:45:13.225Z,1422398713.225 [Reporter](INFO): NAL9602.sigQuality no_value
2015-01-27T22:45:13.234Z,1422398713.234 [NAL9602](INFO): Stop
2015-01-27T22:45:13.234Z,1422398713.234 [NAL9602](INFO): Uninitialize
2015-01-27T22:45:13.234Z,1422398713.234 [NAL9602](INFO): Powering down
2015-01-27T22:45:13.646Z,1422398713.646 [NAL9602](INFO): Stopping
2015-01-27T22:45:14.130Z,1422398714.130 [CBIT](INFO): Clearing failed state for component NAL9602
2015-01-27T22:45:14.130Z,1422398714.130 [NAL9602] No Fault, FailCount= 1
2015-01-27T22:45:14.431Z,1422398714.431 [NAL9602](INFO): Start
2015-01-27T22:45:14.844Z,1422398714.844 [NAL9602](INFO): Start
2015-01-27T22:45:15.233Z,1422398715.233 [NAL9602](INFO): Start
2015-01-27T22:45:15.633Z,1422398715.633 [NAL9602](INFO): Start
2015-01-27T22:45:15.821Z,1422398715.821 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:45:15.821Z,1422398715.821 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:15.829Z,1422398715.829 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2015-01-27T22:45:15.829Z,1422398715.829 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:15.829Z,1422398715.829 [Radio_Surface](INFO): Join timeout helper Thread ID is 2076
2015-01-27T22:45:16.042Z,1422398716.042 [NAL9602](INFO): Start
2015-01-27T22:45:16.149Z,1422398716.149 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:45:16.150Z,1422398716.150 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:16.157Z,1422398716.157 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2015-01-27T22:45:16.157Z,1422398716.157 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:16.158Z,1422398716.158 [logger](INFO): Join timeout helper Thread ID is 2077
2015-01-27T22:45:16.185Z,1422398716.185 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:45:16.186Z,1422398716.186 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:16.197Z,1422398716.197 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2015-01-27T22:45:16.197Z,1422398716.197 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:16.197Z,1422398716.197 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2015-01-27T22:45:16.197Z,1422398716.197 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:16.198Z,1422398716.198 [controlThread](INFO): Join timeout helper Thread ID is 2078
2015-01-27T22:45:16.430Z,1422398716.430 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:45:16.430Z,1422398716.430 [controlThread](DEBUG): Uninitializing ControlThread
2015-01-27T22:45:16.430Z,1422398716.430 [NAL9602](INFO): Uninitialize
2015-01-27T22:45:16.430Z,1422398716.430 [NAL9602](INFO): Powering down
2015-01-27T22:45:16.432Z,1422398716.432 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-27T22:45:16.433Z,1422398716.433 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2015-01-27T22:45:16.437Z,1422398716.437 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2015-01-27T22:45:16.437Z,1422398716.437 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2015-01-27T22:45:16.437Z,1422398716.437 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2015-01-27T22:45:16.437Z,1422398716.437 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2015-01-27T22:45:16.438Z,1422398716.438 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-01-27T22:45:16.438Z,1422398716.438 [BuoyancyServo](INFO): Powering down
2015-01-27T22:45:16.450Z,1422398716.450 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-01-27T22:45:16.450Z,1422398716.450 [ElevatorServo](INFO): Powering down
2015-01-27T22:45:16.451Z,1422398716.451 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-01-27T22:45:16.451Z,1422398716.451 [RudderServo](INFO): Powering down
2015-01-27T22:45:16.452Z,1422398716.452 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-01-27T22:45:16.452Z,1422398716.452 [ThrusterServo](INFO): Powering down
2015-01-27T22:45:16.452Z,1422398716.452 [SBIT](DEBUG): Uninitialize SBIT Component.
2015-01-27T22:45:16.453Z,1422398716.453 [IBIT](DEBUG): Uninitialize IBIT Component.
2015-01-27T22:45:16.453Z,1422398716.453 [CBIT](DEBUG): Uninitialize CBIT Component.
2015-01-27T22:45:16.486Z,1422398716.486 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:16.590Z,1422398716.590 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:16.870Z,1422398716.870 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:45:16.919Z,1422398716.919 [logger ThreadHandler](INFO): Thread cancelled.