2015-01-27T22:52:41.837Z,1422399161.837 [Supervisor](DEBUG): Initializing supervisor.
2015-01-27T22:52:41.839Z,1422399161.839 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-01-27T22:52:41.840Z,1422399161.840 [SyncHandler](INFO): Protected caller Thread ID is 2362
2015-01-27T22:52:41.840Z,1422399161.840 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-01-27T22:52:41.841Z,1422399161.841 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-01-27T22:52:41.841Z,1422399161.841 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2363
2015-01-27T22:52:41.844Z,1422399161.844 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-01-27T22:52:41.855Z,1422399161.855 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-01-27T22:52:41.856Z,1422399161.856 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-01-27T22:52:41.856Z,1422399161.856 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2364
2015-01-27T22:52:41.857Z,1422399161.857 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-01-27T22:52:41.858Z,1422399161.858 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-01-27T22:52:41.859Z,1422399161.859 [logger ThreadHandler](INFO): Protected caller Thread ID is 2365
2015-01-27T22:52:41.861Z,1422399161.861 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-01-27T22:52:41.861Z,1422399161.861 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-01-27T22:52:41.862Z,1422399161.862 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-01-27T22:52:42.177Z,1422399162.177 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-01-27T22:52:42.178Z,1422399162.178 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-01-27T22:52:42.329Z,1422399162.329 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-01-27T22:52:42.330Z,1422399162.330 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-01-27T22:52:42.434Z,1422399162.434 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-01-27T22:52:42.434Z,1422399162.434 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-01-27T22:52:42.552Z,1422399162.552 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-01-27T22:52:42.552Z,1422399162.552 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-01-27T22:52:42.635Z,1422399162.635 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-01-27T22:52:42.789Z,1422399162.789 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-01-27T22:52:42.790Z,1422399162.790 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-01-27T22:52:42.873Z,1422399162.873 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-01-27T22:52:42.874Z,1422399162.874 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-01-27T22:52:43.073Z,1422399163.073 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-01-27T22:52:43.074Z,1422399163.074 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-01-27T22:52:43.430Z,1422399163.430 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-01-27T22:52:43.431Z,1422399163.431 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-01-27T22:52:43.734Z,1422399163.734 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-01-27T22:52:43.735Z,1422399163.735 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-01-27T22:52:44.210Z,1422399164.210 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-01-27T22:52:44.211Z,1422399164.211 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-01-27T22:52:44.396Z,1422399164.396 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-01-27T22:52:44.397Z,1422399164.397 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-01-27T22:52:44.500Z,1422399164.500 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-01-27T22:52:44.501Z,1422399164.501 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-01-27T22:52:44.906Z,1422399164.906 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-01-27T22:52:44.906Z,1422399164.906 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-01-27T22:52:45.013Z,1422399165.013 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-01-27T22:52:45.015Z,1422399165.015 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-01-27T22:52:45.016Z,1422399165.016 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-01-27T22:52:45.247Z,1422399165.247 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-01-27T22:52:45.248Z,1422399165.248 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-01-27T22:52:45.358Z,1422399165.358 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-01-27T22:52:45.453Z,1422399165.453 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-01-27T22:52:45.546Z,1422399165.546 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-01-27T22:52:45.658Z,1422399165.658 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-01-27T22:52:45.793Z,1422399165.793 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-01-27T22:52:45.956Z,1422399165.956 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-01-27T22:52:46.053Z,1422399166.053 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-01-27T22:52:46.139Z,1422399166.139 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-01-27T22:52:46.236Z,1422399166.236 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-01-27T22:52:46.328Z,1422399166.328 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-01-27T22:52:46.512Z,1422399166.512 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2015-01-27T22:52:46.512Z,1422399166.512 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-01-27T22:52:46.526Z,1422399166.526 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-01-27T22:52:46.575Z,1422399166.575 [VerticalControl](DEBUG): Construct VerticalControl.
2015-01-27T22:52:46.689Z,1422399166.689 [VerticalControl] Loaded
2015-01-27T22:52:46.689Z,1422399166.689 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-01-27T22:52:46.690Z,1422399166.690 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-01-27T22:52:46.759Z,1422399166.759 [HorizontalControl] Loaded
2015-01-27T22:52:46.759Z,1422399166.759 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-01-27T22:52:46.760Z,1422399166.760 [SpeedControl](DEBUG): Construct SpeedControl.
2015-01-27T22:52:46.765Z,1422399166.765 [SpeedControl] Loaded
2015-01-27T22:52:46.765Z,1422399166.765 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-01-27T22:52:46.766Z,1422399166.766 [LoopControl](DEBUG): Construct LoopControl.
2015-01-27T22:52:46.767Z,1422399166.767 [LoopControl] Loaded
2015-01-27T22:52:46.767Z,1422399166.767 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-01-27T22:52:46.767Z,1422399166.767 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-01-27T22:52:46.768Z,1422399166.768 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-01-27T22:52:46.860Z,1422399166.860 [SBIT](DEBUG): Construct Startup Built In Test.
2015-01-27T22:52:46.871Z,1422399166.871 [SBIT] Loaded
2015-01-27T22:52:46.871Z,1422399166.871 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-01-27T22:52:46.872Z,1422399166.872 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-01-27T22:52:46.900Z,1422399166.900 [IBIT] Loaded
2015-01-27T22:52:46.900Z,1422399166.900 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-01-27T22:52:46.902Z,1422399166.902 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-01-27T22:52:47.018Z,1422399167.018 [CBIT] Loaded
2015-01-27T22:52:47.019Z,1422399167.019 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-01-27T22:52:47.019Z,1422399167.019 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-01-27T22:52:47.020Z,1422399167.020 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-01-27T22:52:47.037Z,1422399167.037 [DepthRateCalculator] Loaded
2015-01-27T22:52:47.038Z,1422399167.038 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-01-27T22:52:47.043Z,1422399167.043 [PitchRateCalculator] Loaded
2015-01-27T22:52:47.044Z,1422399167.044 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-01-27T22:52:47.055Z,1422399167.055 [SpeedCalculator] Loaded
2015-01-27T22:52:47.055Z,1422399167.055 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-01-27T22:52:47.071Z,1422399167.071 [TempGradientCalculator] Loaded
2015-01-27T22:52:47.071Z,1422399167.071 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-01-27T22:52:47.076Z,1422399167.076 [YawRateCalculator] Loaded
2015-01-27T22:52:47.077Z,1422399167.077 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-01-27T22:52:47.077Z,1422399167.077 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-01-27T22:52:47.078Z,1422399167.078 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-01-27T22:52:47.126Z,1422399167.126 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-01-27T22:52:47.126Z,1422399167.126 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-01-27T22:52:47.362Z,1422399167.362 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-01-27T22:52:47.362Z,1422399167.362 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-01-27T22:52:47.404Z,1422399167.404 [NavChart] Loaded
2015-01-27T22:52:47.405Z,1422399167.405 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-01-27T22:52:47.411Z,1422399167.411 [UniversalFixResidualReporter] Loaded
2015-01-27T22:52:47.411Z,1422399167.411 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-01-27T22:52:47.412Z,1422399167.412 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-01-27T22:52:47.412Z,1422399167.412 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-01-27T22:52:47.418Z,1422399167.418 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-01-27T22:52:47.419Z,1422399167.419 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-01-27T22:52:47.501Z,1422399167.501 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-01-27T22:52:47.502Z,1422399167.502 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-01-27T22:52:47.802Z,1422399167.802 [DataOverHttps] Loaded
2015-01-27T22:52:47.802Z,1422399167.802 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-01-27T22:52:47.883Z,1422399167.883 [Depth_Keller] Loaded
2015-01-27T22:52:47.883Z,1422399167.883 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-01-27T22:52:47.975Z,1422399167.975 [NAL9602] Loaded
2015-01-27T22:52:47.975Z,1422399167.975 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-01-27T22:52:48.015Z,1422399168.015 [Onboard] Loaded
2015-01-27T22:52:48.015Z,1422399168.015 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-01-27T22:52:48.022Z,1422399168.022 [Radio_Surface] Loaded
2015-01-27T22:52:48.022Z,1422399168.022 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-01-27T22:52:48.023Z,1422399168.023 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2015-01-27T22:52:48.024Z,1422399168.024 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2447
2015-01-27T22:52:49.830Z,1422399169.830 [BPC1] Loaded
2015-01-27T22:52:49.830Z,1422399169.830 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-01-27T22:52:49.830Z,1422399169.830 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-01-27T22:52:49.831Z,1422399169.831 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-01-27T22:52:49.926Z,1422399169.926 [BuoyancyServo] Loaded
2015-01-27T22:52:49.926Z,1422399169.926 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-01-27T22:52:49.938Z,1422399169.938 [ElevatorServo] Loaded
2015-01-27T22:52:49.938Z,1422399169.938 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-01-27T22:52:49.950Z,1422399169.950 [RudderServo] Loaded
2015-01-27T22:52:49.950Z,1422399169.950 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-01-27T22:52:49.961Z,1422399169.961 [ThrusterServo] Loaded
2015-01-27T22:52:49.961Z,1422399169.961 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-01-27T22:52:49.962Z,1422399169.962 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-01-27T22:52:49.962Z,1422399169.962 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-01-27T22:52:50.074Z,1422399170.074 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-01-27T22:52:50.075Z,1422399170.075 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-01-27T22:52:50.099Z,1422399170.099 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-01-27T22:52:50.100Z,1422399170.100 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-01-27T22:52:50.101Z,1422399170.101 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-01-27T22:52:50.108Z,1422399170.108 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-01-27T22:52:50.109Z,1422399170.109 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083C4E0
2015-01-27T22:52:50.109Z,1422399170.109 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2448
2015-01-27T22:52:50.114Z,1422399170.114 [Supervisor](INFO): Main Thread ID is 2361
2015-01-27T22:52:50.114Z,1422399170.114 [Supervisor](DEBUG): Running supervisor.
2015-01-27T22:52:50.114Z,1422399170.114 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2449
2015-01-27T22:52:50.118Z,1422399170.118 [controlThread ThreadHandler](INFO): Handler Thread ID is 2450
2015-01-27T22:52:50.118Z,1422399170.118 [controlThread](DEBUG): Initializing ControlThread
2015-01-27T22:52:50.119Z,1422399170.119 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-01-27T22:52:50.121Z,1422399170.121 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-01-27T22:52:50.122Z,1422399170.122 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-01-27T22:52:50.122Z,1422399170.122 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-01-27T22:52:50.122Z,1422399170.122 [SBIT](INFO): Initialize SBIT Component.
2015-01-27T22:52:50.123Z,1422399170.123 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11963
2015-01-27T22:52:50.123Z,1422399170.123 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-01-27T22:52:50.123Z,1422399170.123 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-01-27T22:52:50.124Z,1422399170.124 [IBIT](INFO): Initialize IBIT Component.
2015-01-27T22:52:50.125Z,1422399170.125 [CBIT](DEBUG): Initialize CBIT Component.
2015-01-27T22:52:50.125Z,1422399170.125 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-01-27T22:52:50.126Z,1422399170.126 [logger ThreadHandler](INFO): Handler Thread ID is 2451
2015-01-27T22:52:50.151Z,1422399170.151 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-27T22:52:50.152Z,1422399170.152 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-01-27T22:52:50.152Z,1422399170.152 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-01-27T22:52:50.152Z,1422399170.152 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-01-27T22:52:50.153Z,1422399170.153 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-01-27T22:52:50.153Z,1422399170.153 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-01-27T22:52:50.154Z,1422399170.154 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-01-27T22:52:50.158Z,1422399170.158 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-01-27T22:52:50.164Z,1422399170.164 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2452
2015-01-27T22:52:50.170Z,1422399170.170 [Radio_Surface](INFO): Powering up
2015-01-27T22:52:50.180Z,1422399170.180 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2453
2015-01-27T22:52:50.183Z,1422399170.183 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-01-27T22:52:50.184Z,1422399170.184 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-01-27T22:52:50.184Z,1422399170.184 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-01-27T22:52:50.184Z,1422399170.184 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-01-27T22:52:50.184Z,1422399170.184 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-01-27T22:52:50.185Z,1422399170.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-01-27T22:52:50.185Z,1422399170.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-01-27T22:52:50.185Z,1422399170.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-01-27T22:52:50.186Z,1422399170.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-01-27T22:52:50.179Z,1422399170.179 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-27T22:52:50.220Z,1422399170.220 [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>


2015-01-27T22:52:50.221Z,1422399170.221 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-01-27T22:52:50.325Z,1422399170.325 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-01-27T22:52:50.328Z,1422399170.328 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-01-27T22:52:50.348Z,1422399170.348 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-27T22:52:50.365Z,1422399170.365 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-01-27T22:52:50.371Z,1422399170.371 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-01-27T22:52:50.411Z,1422399170.411 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-01-27T22:52:50.430Z,1422399170.430 [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>


2015-01-27T22:52:50.443Z,1422399170.443 [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,
2015-01-27T22:52:50.584Z,1422399170.584 [NAL9602](INFO): Start
2015-01-27T22:52:51.077Z,1422399171.077 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:52:51.085Z,1422399171.085 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-01-27T22:52:51.091Z,1422399171.091 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:52:51.097Z,1422399171.097 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-27T22:52:51.119Z,1422399171.119 [RudderServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:52:51.125Z,1422399171.125 [RudderServo](DEBUG): Initializing RudderServo.
2015-01-27T22:52:51.131Z,1422399171.131 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:52:51.137Z,1422399171.137 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-01-27T22:52:51.287Z,1422399171.287 [NAL9602](INFO): Start
2015-01-27T22:53:00.477Z,1422399180.477 [NAL9602](INFO): Start
2015-01-27T22:53:00.477Z,1422399180.477 [NAL9602](INFO): Powering up NAL9602
2015-01-27T22:53:01.673Z,1422399181.673 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003400
2015-01-27T22:53:03.433Z,1422399183.433 [CommandLine](IMPORTANT): got command show variable quality
2015-01-27T22:53:03.515Z,1422399183.515 [CommandLine](IMPORTANT): NAL9602.sigQuality (count)
2015-01-27T22:53:05.876Z,1422399185.876 [SBIT](IMPORTANT): Beginning Startup BIT
2015-01-27T22:53:05.878Z,1422399185.878 [CBIT](IMPORTANT): Beginning GF scan
2015-01-27T22:53:11.390Z,1422399191.390 [NAL9602](INFO): ************** CMDMODE **************

2015-01-27T22:53:11.390Z,1422399191.390 [NAL9602](INFO): NAL9602 initialized
2015-01-27T22:53:11.618Z,1422399191.618 [CommandLine](IMPORTANT): got command report mod NAL9602.sigQuality
2015-01-27T22:53:11.905Z,1422399191.905 [Reporter](INFO): NAL9602.sigQuality no_value
2015-01-27T22:53:14.987Z,1422399194.987 [NAL9602](INFO): Bytes:2
2015-01-27T22:53:14.988Z,1422399194.988 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:53:15.388Z,1422399195.388 [NAL9602](INFO): Bytes:12
2015-01-27T22:53:15.389Z,1422399195.389 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:

+CSQ:0

OK
2015-01-27T22:53:15.515Z,1422399195.515 [Reporter](INFO): NAL9602.sigQuality 0 count
2015-01-27T22:53:15.789Z,1422399195.789 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:53:19.114Z,1422399199.114 [SBIT](ERROR): Could not read massPosReader_.
2015-01-27T22:53:19.787Z,1422399199.787 [NAL9602](INFO): Bytes:10
2015-01-27T22:53:19.787Z,1422399199.787 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:
+CSQ:0

OK
K
2015-01-27T22:53:20.184Z,1422399200.184 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:53:20.584Z,1422399200.584 [NAL9602](INFO): Bytes:10
2015-01-27T22:53:20.584Z,1422399200.584 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:
+CSQ:0

OK
K
2015-01-27T22:53:20.989Z,1422399200.989 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:53:24.983Z,1422399204.983 [NAL9602](INFO): Bytes:10
2015-01-27T22:53:24.983Z,1422399204.983 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:
+CSQ:0

OK
K
2015-01-27T22:53:25.384Z,1422399205.384 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:53:25.788Z,1422399205.788 [NAL9602](INFO): Bytes:10
2015-01-27T22:53:25.788Z,1422399205.788 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:
+CSQ:0

OK
K
2015-01-27T22:53:26.185Z,1422399206.185 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:53:30.187Z,1422399210.187 [NAL9602](INFO): Bytes:10
2015-01-27T22:53:30.187Z,1422399210.187 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:
+CSQ:0

OK
K
2015-01-27T22:53:30.588Z,1422399210.588 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:53:30.984Z,1422399210.984 [NAL9602](INFO): Bytes:10
2015-01-27T22:53:30.985Z,1422399210.985 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:
+CSQ:0

OK
K
2015-01-27T22:53:31.389Z,1422399211.389 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:53:32.373Z,1422399212.373 [CBIT](IMPORTANT): No ground fault detected
2015-01-27T22:53:34.815Z,1422399214.815 [CommandLine](IMPORTANT): got command quit
2015-01-27T22:53:35.387Z,1422399215.387 [NAL9602](INFO): Bytes:10
2015-01-27T22:53:35.387Z,1422399215.387 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:
+CSQ:0

OK
K
2015-01-27T22:53:35.784Z,1422399215.784 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:53:35.821Z,1422399215.821 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:53:35.821Z,1422399215.821 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:35.951Z,1422399215.951 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2015-01-27T22:53:35.951Z,1422399215.951 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:35.951Z,1422399215.951 [CommandLine](INFO): Join timeout helper Thread ID is 2460
2015-01-27T22:53:35.967Z,1422399215.967 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2015-01-27T22:53:35.967Z,1422399215.967 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:35.967Z,1422399215.967 [NavChartDb](INFO): Join timeout helper Thread ID is 2461
2015-01-27T22:53:36.184Z,1422399216.184 [NAL9602](INFO): Bytes:10
2015-01-27T22:53:36.185Z,1422399216.185 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:
+CSQ:0

OK
K
2015-01-27T22:53:36.601Z,1422399216.601 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:53:36.842Z,1422399216.842 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:53:36.842Z,1422399216.842 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:36.860Z,1422399216.860 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2015-01-27T22:53:36.860Z,1422399216.860 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:36.860Z,1422399216.860 [Radio_Surface](INFO): Join timeout helper Thread ID is 2462
2015-01-27T22:53:37.001Z,1422399217.001 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:53:37.001Z,1422399217.001 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:37.022Z,1422399217.022 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2015-01-27T22:53:37.022Z,1422399217.022 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:37.023Z,1422399217.023 [logger](INFO): Join timeout helper Thread ID is 2463
2015-01-27T22:53:37.023Z,1422399217.023 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:53:37.023Z,1422399217.023 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:37.026Z,1422399217.026 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2015-01-27T22:53:37.026Z,1422399217.026 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:37.027Z,1422399217.027 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2015-01-27T22:53:37.027Z,1422399217.027 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:37.027Z,1422399217.027 [controlThread](INFO): Join timeout helper Thread ID is 2464
2015-01-27T22:53:37.161Z,1422399217.161 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:53:37.162Z,1422399217.162 [controlThread](DEBUG): Uninitializing ControlThread
2015-01-27T22:53:37.162Z,1422399217.162 [NAL9602](INFO): Uninitialize
2015-01-27T22:53:37.162Z,1422399217.162 [NAL9602](INFO): Powering down
2015-01-27T22:53:37.164Z,1422399217.164 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-27T22:53:37.165Z,1422399217.165 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2015-01-27T22:53:37.170Z,1422399217.170 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2015-01-27T22:53:37.170Z,1422399217.170 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2015-01-27T22:53:37.170Z,1422399217.170 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2015-01-27T22:53:37.171Z,1422399217.171 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2015-01-27T22:53:37.171Z,1422399217.171 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-01-27T22:53:37.171Z,1422399217.171 [BuoyancyServo](INFO): Powering down
2015-01-27T22:53:37.185Z,1422399217.185 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-01-27T22:53:37.185Z,1422399217.185 [ElevatorServo](INFO): Powering down
2015-01-27T22:53:37.186Z,1422399217.186 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-01-27T22:53:37.186Z,1422399217.186 [RudderServo](INFO): Powering down
2015-01-27T22:53:37.187Z,1422399217.187 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-01-27T22:53:37.187Z,1422399217.187 [ThrusterServo](INFO): Powering down
2015-01-27T22:53:37.187Z,1422399217.187 [SBIT](DEBUG): Uninitialize SBIT Component.
2015-01-27T22:53:37.188Z,1422399217.188 [IBIT](DEBUG): Uninitialize IBIT Component.
2015-01-27T22:53:37.188Z,1422399217.188 [CBIT](DEBUG): Uninitialize CBIT Component.
2015-01-27T22:53:37.221Z,1422399217.221 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:37.321Z,1422399217.321 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:37.597Z,1422399217.597 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:53:37.644Z,1422399217.644 [logger ThreadHandler](INFO): Thread cancelled.