2015-01-27T22:54:48.982Z,1422399288.982 [Supervisor](DEBUG): Initializing supervisor.
2015-01-27T22:54:48.984Z,1422399288.984 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-01-27T22:54:48.985Z,1422399288.985 [SyncHandler](INFO): Protected caller Thread ID is 2530
2015-01-27T22:54:48.985Z,1422399288.985 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-01-27T22:54:48.986Z,1422399288.986 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-01-27T22:54:48.987Z,1422399288.987 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2531
2015-01-27T22:54:48.990Z,1422399288.990 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-01-27T22:54:49.001Z,1422399289.001 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-01-27T22:54:49.002Z,1422399289.002 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-01-27T22:54:49.003Z,1422399289.003 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2532
2015-01-27T22:54:49.004Z,1422399289.004 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-01-27T22:54:49.005Z,1422399289.005 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-01-27T22:54:49.005Z,1422399289.005 [logger ThreadHandler](INFO): Protected caller Thread ID is 2533
2015-01-27T22:54:49.007Z,1422399289.007 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-01-27T22:54:49.008Z,1422399289.008 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-01-27T22:54:49.009Z,1422399289.009 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-01-27T22:54:49.333Z,1422399289.333 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-01-27T22:54:49.333Z,1422399289.333 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-01-27T22:54:49.488Z,1422399289.488 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-01-27T22:54:49.489Z,1422399289.489 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-01-27T22:54:49.594Z,1422399289.594 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-01-27T22:54:49.595Z,1422399289.595 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-01-27T22:54:49.714Z,1422399289.714 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-01-27T22:54:49.715Z,1422399289.715 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-01-27T22:54:49.797Z,1422399289.797 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-01-27T22:54:49.955Z,1422399289.955 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-01-27T22:54:49.956Z,1422399289.956 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-01-27T22:54:50.039Z,1422399290.039 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-01-27T22:54:50.039Z,1422399290.039 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-01-27T22:54:50.245Z,1422399290.245 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-01-27T22:54:50.245Z,1422399290.245 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-01-27T22:54:50.615Z,1422399290.615 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-01-27T22:54:50.616Z,1422399290.616 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-01-27T22:54:50.928Z,1422399290.928 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-01-27T22:54:50.928Z,1422399290.928 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-01-27T22:54:51.427Z,1422399291.427 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-01-27T22:54:51.428Z,1422399291.428 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-01-27T22:54:51.616Z,1422399291.616 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-01-27T22:54:51.617Z,1422399291.617 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-01-27T22:54:51.718Z,1422399291.718 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-01-27T22:54:51.718Z,1422399291.718 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-01-27T22:54:52.141Z,1422399292.141 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-01-27T22:54:52.141Z,1422399292.141 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-01-27T22:54:52.249Z,1422399292.249 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-01-27T22:54:52.251Z,1422399292.251 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-01-27T22:54:52.252Z,1422399292.252 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-01-27T22:54:52.495Z,1422399292.495 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-01-27T22:54:52.496Z,1422399292.496 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-01-27T22:54:52.611Z,1422399292.611 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-01-27T22:54:52.706Z,1422399292.706 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-01-27T22:54:52.799Z,1422399292.799 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-01-27T22:54:52.909Z,1422399292.909 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-01-27T22:54:53.046Z,1422399293.046 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-01-27T22:54:53.211Z,1422399293.211 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-01-27T22:54:53.309Z,1422399293.309 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-01-27T22:54:53.395Z,1422399293.395 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-01-27T22:54:53.492Z,1422399293.492 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-01-27T22:54:53.585Z,1422399293.585 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-01-27T22:54:53.764Z,1422399293.764 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2015-01-27T22:54:53.764Z,1422399293.764 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-01-27T22:54:53.778Z,1422399293.778 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-01-27T22:54:53.830Z,1422399293.830 [VerticalControl](DEBUG): Construct VerticalControl.
2015-01-27T22:54:53.951Z,1422399293.951 [VerticalControl] Loaded
2015-01-27T22:54:53.951Z,1422399293.951 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-01-27T22:54:53.952Z,1422399293.952 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-01-27T22:54:54.025Z,1422399294.025 [HorizontalControl] Loaded
2015-01-27T22:54:54.026Z,1422399294.026 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-01-27T22:54:54.026Z,1422399294.026 [SpeedControl](DEBUG): Construct SpeedControl.
2015-01-27T22:54:54.032Z,1422399294.032 [SpeedControl] Loaded
2015-01-27T22:54:54.032Z,1422399294.032 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-01-27T22:54:54.033Z,1422399294.033 [LoopControl](DEBUG): Construct LoopControl.
2015-01-27T22:54:54.034Z,1422399294.034 [LoopControl] Loaded
2015-01-27T22:54:54.034Z,1422399294.034 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-01-27T22:54:54.034Z,1422399294.034 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-01-27T22:54:54.035Z,1422399294.035 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-01-27T22:54:54.134Z,1422399294.134 [SBIT](DEBUG): Construct Startup Built In Test.
2015-01-27T22:54:54.145Z,1422399294.145 [SBIT] Loaded
2015-01-27T22:54:54.146Z,1422399294.146 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-01-27T22:54:54.146Z,1422399294.146 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-01-27T22:54:54.176Z,1422399294.176 [IBIT] Loaded
2015-01-27T22:54:54.176Z,1422399294.176 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-01-27T22:54:54.178Z,1422399294.178 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-01-27T22:54:54.300Z,1422399294.300 [CBIT] Loaded
2015-01-27T22:54:54.301Z,1422399294.301 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-01-27T22:54:54.301Z,1422399294.301 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-01-27T22:54:54.302Z,1422399294.302 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-01-27T22:54:54.320Z,1422399294.320 [DepthRateCalculator] Loaded
2015-01-27T22:54:54.321Z,1422399294.321 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-01-27T22:54:54.326Z,1422399294.326 [PitchRateCalculator] Loaded
2015-01-27T22:54:54.327Z,1422399294.327 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-01-27T22:54:54.338Z,1422399294.338 [SpeedCalculator] Loaded
2015-01-27T22:54:54.339Z,1422399294.339 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-01-27T22:54:54.356Z,1422399294.356 [TempGradientCalculator] Loaded
2015-01-27T22:54:54.356Z,1422399294.356 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-01-27T22:54:54.361Z,1422399294.361 [YawRateCalculator] Loaded
2015-01-27T22:54:54.362Z,1422399294.362 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-01-27T22:54:54.362Z,1422399294.362 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-01-27T22:54:54.363Z,1422399294.363 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-01-27T22:54:54.413Z,1422399294.413 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-01-27T22:54:54.414Z,1422399294.414 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-01-27T22:54:54.663Z,1422399294.663 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-01-27T22:54:54.664Z,1422399294.664 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-01-27T22:54:54.708Z,1422399294.708 [NavChart] Loaded
2015-01-27T22:54:54.708Z,1422399294.708 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-01-27T22:54:54.715Z,1422399294.715 [UniversalFixResidualReporter] Loaded
2015-01-27T22:54:54.715Z,1422399294.715 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-01-27T22:54:54.716Z,1422399294.716 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-01-27T22:54:54.716Z,1422399294.716 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-01-27T22:54:54.722Z,1422399294.722 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-01-27T22:54:54.723Z,1422399294.723 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-01-27T22:54:54.812Z,1422399294.812 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-01-27T22:54:54.812Z,1422399294.812 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-01-27T22:54:55.129Z,1422399295.129 [DataOverHttps] Loaded
2015-01-27T22:54:55.129Z,1422399295.129 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-01-27T22:54:55.213Z,1422399295.213 [Depth_Keller] Loaded
2015-01-27T22:54:55.213Z,1422399295.213 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-01-27T22:54:55.313Z,1422399295.313 [NAL9602] Loaded
2015-01-27T22:54:55.313Z,1422399295.313 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-01-27T22:54:55.355Z,1422399295.355 [Onboard] Loaded
2015-01-27T22:54:55.356Z,1422399295.356 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-01-27T22:54:55.362Z,1422399295.362 [Radio_Surface] Loaded
2015-01-27T22:54:55.363Z,1422399295.363 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-01-27T22:54:55.364Z,1422399295.364 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2015-01-27T22:54:55.364Z,1422399295.364 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2615
2015-01-27T22:54:57.374Z,1422399297.374 [BPC1] Loaded
2015-01-27T22:54:57.374Z,1422399297.374 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-01-27T22:54:57.374Z,1422399297.374 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-01-27T22:54:57.375Z,1422399297.375 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-01-27T22:54:57.476Z,1422399297.476 [BuoyancyServo] Loaded
2015-01-27T22:54:57.477Z,1422399297.477 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-01-27T22:54:57.489Z,1422399297.489 [ElevatorServo] Loaded
2015-01-27T22:54:57.489Z,1422399297.489 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-01-27T22:54:57.501Z,1422399297.501 [RudderServo] Loaded
2015-01-27T22:54:57.502Z,1422399297.502 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-01-27T22:54:57.513Z,1422399297.513 [ThrusterServo] Loaded
2015-01-27T22:54:57.513Z,1422399297.513 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-01-27T22:54:57.514Z,1422399297.514 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-01-27T22:54:57.515Z,1422399297.515 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-01-27T22:54:57.620Z,1422399297.620 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-01-27T22:54:57.620Z,1422399297.620 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-01-27T22:54:57.645Z,1422399297.645 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-01-27T22:54:57.647Z,1422399297.647 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-01-27T22:54:57.648Z,1422399297.648 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-01-27T22:54:57.654Z,1422399297.654 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-01-27T22:54:57.656Z,1422399297.656 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083C4E0
2015-01-27T22:54:57.656Z,1422399297.656 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2616
2015-01-27T22:54:57.661Z,1422399297.661 [Supervisor](INFO): Main Thread ID is 2529
2015-01-27T22:54:57.661Z,1422399297.661 [Supervisor](DEBUG): Running supervisor.
2015-01-27T22:54:57.662Z,1422399297.662 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2617
2015-01-27T22:54:57.665Z,1422399297.665 [controlThread ThreadHandler](INFO): Handler Thread ID is 2618
2015-01-27T22:54:57.666Z,1422399297.666 [controlThread](DEBUG): Initializing ControlThread
2015-01-27T22:54:57.667Z,1422399297.667 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-01-27T22:54:57.668Z,1422399297.668 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-01-27T22:54:57.669Z,1422399297.669 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-01-27T22:54:57.669Z,1422399297.669 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-01-27T22:54:57.670Z,1422399297.670 [SBIT](INFO): Initialize SBIT Component.
2015-01-27T22:54:57.670Z,1422399297.670 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11963
2015-01-27T22:54:57.671Z,1422399297.671 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-01-27T22:54:57.671Z,1422399297.671 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-01-27T22:54:57.671Z,1422399297.671 [IBIT](INFO): Initialize IBIT Component.
2015-01-27T22:54:57.672Z,1422399297.672 [CBIT](DEBUG): Initialize CBIT Component.
2015-01-27T22:54:57.672Z,1422399297.672 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-01-27T22:54:57.673Z,1422399297.673 [logger ThreadHandler](INFO): Handler Thread ID is 2619
2015-01-27T22:54:57.694Z,1422399297.694 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2620
2015-01-27T22:54:57.698Z,1422399297.698 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-27T22:54:57.698Z,1422399297.698 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-01-27T22:54:57.698Z,1422399297.698 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-01-27T22:54:57.699Z,1422399297.699 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-01-27T22:54:57.699Z,1422399297.699 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-01-27T22:54:57.700Z,1422399297.700 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-01-27T22:54:57.700Z,1422399297.700 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-01-27T22:54:57.706Z,1422399297.706 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-01-27T22:54:57.720Z,1422399297.720 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-27T22:54:57.722Z,1422399297.722 [Radio_Surface](INFO): Powering up
2015-01-27T22:54:57.730Z,1422399297.730 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2621
2015-01-27T22:54:57.733Z,1422399297.733 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-01-27T22:54:57.734Z,1422399297.734 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-01-27T22:54:57.735Z,1422399297.735 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-01-27T22:54:57.735Z,1422399297.735 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-01-27T22:54:57.735Z,1422399297.735 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-01-27T22:54:57.736Z,1422399297.736 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-01-27T22:54:57.736Z,1422399297.736 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-01-27T22:54:57.736Z,1422399297.736 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-01-27T22:54:57.736Z,1422399297.736 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-01-27T22:54:57.778Z,1422399297.778 [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>


2015-01-27T22:54:57.779Z,1422399297.779 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-01-27T22:54:57.850Z,1422399297.850 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-01-27T22:54:57.873Z,1422399297.873 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-01-27T22:54:57.877Z,1422399297.877 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-27T22:54:57.922Z,1422399297.922 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-01-27T22:54:57.928Z,1422399297.928 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-01-27T22:54:57.969Z,1422399297.969 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-01-27T22:54:57.995Z,1422399297.995 [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>


2015-01-27T22:54:57.999Z,1422399297.999 [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,
2015-01-27T22:54:58.150Z,1422399298.150 [NAL9602](INFO): Start
2015-01-27T22:54:58.460Z,1422399298.460 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:54:58.467Z,1422399298.467 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-01-27T22:54:58.489Z,1422399298.489 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:54:58.495Z,1422399298.495 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-27T22:54:58.501Z,1422399298.501 [RudderServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:54:58.511Z,1422399298.511 [RudderServo](DEBUG): Initializing RudderServo.
2015-01-27T22:54:58.517Z,1422399298.517 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:54:58.523Z,1422399298.523 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-01-27T22:54:58.712Z,1422399298.712 [NAL9602](INFO): Start
2015-01-27T22:55:07.695Z,1422399307.695 [NAL9602](INFO): Start
2015-01-27T22:55:07.695Z,1422399307.695 [NAL9602](INFO): Powering up NAL9602
2015-01-27T22:55:08.867Z,1422399308.867 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003406
2015-01-27T22:55:13.396Z,1422399313.396 [SBIT](IMPORTANT): Beginning Startup BIT
2015-01-27T22:55:13.398Z,1422399313.398 [CBIT](IMPORTANT): Beginning GF scan
2015-01-27T22:55:18.868Z,1422399318.868 [NAL9602](INFO): ************** CMDMODE **************

2015-01-27T22:55:18.868Z,1422399318.868 [NAL9602](INFO): NAL9602 initialized
2015-01-27T22:55:18.955Z,1422399318.955 [CommandLine](IMPORTANT): got command show variable quality
2015-01-27T22:55:19.037Z,1422399319.037 [CommandLine](IMPORTANT): NAL9602.sigQuality (count)
2015-01-27T22:55:22.065Z,1422399322.065 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:22.065Z,1422399322.065 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:55:22.470Z,1422399322.470 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:22.866Z,1422399322.866 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:23.267Z,1422399323.267 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:23.668Z,1422399323.668 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:23.983Z,1422399323.983 [CommandLine](IMPORTANT): got command report mod NAL9602.sigQuality
2015-01-27T22:55:24.064Z,1422399324.064 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:24.167Z,1422399324.167 [Reporter](INFO): NAL9602.sigQuality no_value
2015-01-27T22:55:24.465Z,1422399324.465 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:24.869Z,1422399324.869 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:25.266Z,1422399325.266 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:25.309Z,1422399325.309 [BPC1](FAULT): B bank: No match for serial number:5911 was found in the onboard configuration.
2015-01-27T22:55:25.309Z,1422399325.309 [BPC1](FAULT): Failed to parse bank B battery data
2015-01-27T22:55:25.309Z,1422399325.309 [BPC1] Data Fault, FailCount= 1
2015-01-27T22:55:25.310Z,1422399325.309 [BPC1](ERROR): Data Fault
2015-01-27T22:55:25.396Z,1422399325.396 [CBIT](ERROR): Data Fault in component: BPC1
2015-01-27T22:55:25.667Z,1422399325.667 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:26.067Z,1422399326.067 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:26.464Z,1422399326.464 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:26.605Z,1422399326.605 [SBIT](ERROR): Could not read massPosReader_.
2015-01-27T22:55:26.606Z,1422399326.606 [CBIT](INFO): Clearing failed state for component BPC1
2015-01-27T22:55:26.606Z,1422399326.606 [BPC1] No Fault, FailCount= 1
2015-01-27T22:55:26.865Z,1422399326.865 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:27.269Z,1422399327.269 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:27.666Z,1422399327.666 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:28.070Z,1422399328.070 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:28.463Z,1422399328.463 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:28.868Z,1422399328.868 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:29.268Z,1422399329.268 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:29.669Z,1422399329.669 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:30.066Z,1422399330.066 [NAL9602](INFO): Bytes:2
2015-01-27T22:55:30.470Z,1422399330.470 [NAL9602](INFO): Bytes:12
2015-01-27T22:55:30.471Z,1422399330.471 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:

+CSQ:0

OK
2015-01-27T22:55:30.573Z,1422399330.573 [Reporter](INFO): NAL9602.sigQuality 0 count
2015-01-27T22:55:30.871Z,1422399330.871 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:55:34.468Z,1422399334.468 [NAL9602](INFO): Bytes:10
2015-01-27T22:55:34.469Z,1422399334.469 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:
+CSQ:0

OK
K
2015-01-27T22:55:34.865Z,1422399334.865 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:55:39.832Z,1422399339.832 [CBIT](IMPORTANT): No ground fault detected
2015-01-27T22:55:43.266Z,1422399343.266 [NAL9602](INFO): Bytes:10
2015-01-27T22:55:43.267Z,1422399343.267 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:
+CSQ:1

OK
K
2015-01-27T22:55:43.422Z,1422399343.422 [Reporter](INFO): NAL9602.sigQuality 1 count
2015-01-27T22:55:43.667Z,1422399343.667 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:55:46.918Z,1422399346.918 [CommandLine](IMPORTANT): got command quit
2015-01-27T22:55:47.927Z,1422399347.927 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:55:47.927Z,1422399347.927 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:48.096Z,1422399348.096 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2015-01-27T22:55:48.096Z,1422399348.096 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:48.097Z,1422399348.097 [CommandLine](INFO): Join timeout helper Thread ID is 2628
2015-01-27T22:55:48.127Z,1422399348.127 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2015-01-27T22:55:48.128Z,1422399348.128 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:48.133Z,1422399348.133 [NavChartDb](INFO): Join timeout helper Thread ID is 2629
2015-01-27T22:55:48.491Z,1422399348.491 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:55:48.491Z,1422399348.491 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:48.505Z,1422399348.505 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2015-01-27T22:55:48.505Z,1422399348.505 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:48.505Z,1422399348.505 [Radio_Surface](INFO): Join timeout helper Thread ID is 2630
2015-01-27T22:55:48.581Z,1422399348.581 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:55:48.581Z,1422399348.581 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:48.585Z,1422399348.585 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2015-01-27T22:55:48.585Z,1422399348.585 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:48.585Z,1422399348.585 [logger](INFO): Join timeout helper Thread ID is 2631
2015-01-27T22:55:48.605Z,1422399348.605 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:55:48.605Z,1422399348.605 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:48.625Z,1422399348.625 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2015-01-27T22:55:48.625Z,1422399348.625 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:48.625Z,1422399348.625 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2015-01-27T22:55:48.625Z,1422399348.625 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:48.626Z,1422399348.626 [controlThread](INFO): Join timeout helper Thread ID is 2632
2015-01-27T22:55:48.861Z,1422399348.861 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:55:48.862Z,1422399348.862 [controlThread](DEBUG): Uninitializing ControlThread
2015-01-27T22:55:48.862Z,1422399348.862 [NAL9602](INFO): Uninitialize
2015-01-27T22:55:48.862Z,1422399348.862 [NAL9602](INFO): Powering down
2015-01-27T22:55:48.864Z,1422399348.864 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-27T22:55:48.865Z,1422399348.865 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2015-01-27T22:55:48.869Z,1422399348.869 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2015-01-27T22:55:48.869Z,1422399348.869 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2015-01-27T22:55:48.869Z,1422399348.869 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2015-01-27T22:55:48.869Z,1422399348.869 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2015-01-27T22:55:48.870Z,1422399348.870 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-01-27T22:55:48.870Z,1422399348.870 [BuoyancyServo](INFO): Powering down
2015-01-27T22:55:48.881Z,1422399348.881 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-01-27T22:55:48.882Z,1422399348.882 [ElevatorServo](INFO): Powering down
2015-01-27T22:55:48.882Z,1422399348.882 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-01-27T22:55:48.883Z,1422399348.883 [RudderServo](INFO): Powering down
2015-01-27T22:55:48.883Z,1422399348.883 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-01-27T22:55:48.883Z,1422399348.883 [ThrusterServo](INFO): Powering down
2015-01-27T22:55:48.884Z,1422399348.884 [SBIT](DEBUG): Uninitialize SBIT Component.
2015-01-27T22:55:48.885Z,1422399348.885 [IBIT](DEBUG): Uninitialize IBIT Component.
2015-01-27T22:55:48.885Z,1422399348.885 [CBIT](DEBUG): Uninitialize CBIT Component.
2015-01-27T22:55:48.918Z,1422399348.918 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:49.023Z,1422399349.023 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:49.181Z,1422399349.181 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:55:49.230Z,1422399349.230 [logger ThreadHandler](INFO): Thread cancelled.