2015-01-27T22:57:05.720Z,1422399425.720 [Supervisor](DEBUG): Initializing supervisor.
2015-01-27T22:57:05.723Z,1422399425.723 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-01-27T22:57:05.723Z,1422399425.723 [SyncHandler](INFO): Protected caller Thread ID is 2700
2015-01-27T22:57:05.724Z,1422399425.724 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-01-27T22:57:05.725Z,1422399425.725 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-01-27T22:57:05.725Z,1422399425.725 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2701
2015-01-27T22:57:05.728Z,1422399425.728 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-01-27T22:57:05.739Z,1422399425.739 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-01-27T22:57:05.740Z,1422399425.740 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-01-27T22:57:05.741Z,1422399425.741 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2702
2015-01-27T22:57:05.742Z,1422399425.742 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-01-27T22:57:05.742Z,1422399425.742 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-01-27T22:57:05.743Z,1422399425.743 [logger ThreadHandler](INFO): Protected caller Thread ID is 2703
2015-01-27T22:57:05.745Z,1422399425.745 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-01-27T22:57:05.745Z,1422399425.745 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-01-27T22:57:05.747Z,1422399425.747 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-01-27T22:57:06.066Z,1422399426.066 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-01-27T22:57:06.066Z,1422399426.066 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-01-27T22:57:06.230Z,1422399426.230 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-01-27T22:57:06.230Z,1422399426.230 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-01-27T22:57:06.335Z,1422399426.335 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-01-27T22:57:06.335Z,1422399426.335 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-01-27T22:57:06.454Z,1422399426.454 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-01-27T22:57:06.455Z,1422399426.455 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-01-27T22:57:06.537Z,1422399426.537 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-01-27T22:57:06.693Z,1422399426.693 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-01-27T22:57:06.694Z,1422399426.694 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-01-27T22:57:06.776Z,1422399426.776 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-01-27T22:57:06.777Z,1422399426.777 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-01-27T22:57:06.979Z,1422399426.979 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-01-27T22:57:06.979Z,1422399426.979 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-01-27T22:57:07.374Z,1422399427.374 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-01-27T22:57:07.374Z,1422399427.374 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-01-27T22:57:07.679Z,1422399427.679 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-01-27T22:57:07.679Z,1422399427.679 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-01-27T22:57:08.269Z,1422399428.269 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-01-27T22:57:08.270Z,1422399428.270 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-01-27T22:57:08.514Z,1422399428.514 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-01-27T22:57:08.514Z,1422399428.514 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-01-27T22:57:08.618Z,1422399428.618 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-01-27T22:57:08.618Z,1422399428.618 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-01-27T22:57:09.030Z,1422399429.030 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-01-27T22:57:09.031Z,1422399429.031 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-01-27T22:57:09.137Z,1422399429.137 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-01-27T22:57:09.139Z,1422399429.139 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-01-27T22:57:09.140Z,1422399429.140 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-01-27T22:57:09.374Z,1422399429.374 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-01-27T22:57:09.374Z,1422399429.374 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-01-27T22:57:09.505Z,1422399429.505 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-01-27T22:57:09.600Z,1422399429.600 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-01-27T22:57:09.692Z,1422399429.692 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-01-27T22:57:10.473Z,1422399430.473 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-01-27T22:57:10.608Z,1422399430.608 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-01-27T22:57:10.772Z,1422399430.772 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-01-27T22:57:10.870Z,1422399430.870 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-01-27T22:57:10.956Z,1422399430.956 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-01-27T22:57:11.052Z,1422399431.052 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-01-27T22:57:11.145Z,1422399431.145 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-01-27T22:57:11.323Z,1422399431.323 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2015-01-27T22:57:11.323Z,1422399431.323 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-01-27T22:57:11.336Z,1422399431.336 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-01-27T22:57:11.387Z,1422399431.387 [VerticalControl](DEBUG): Construct VerticalControl.
2015-01-27T22:57:11.504Z,1422399431.504 [VerticalControl] Loaded
2015-01-27T22:57:11.504Z,1422399431.504 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-01-27T22:57:11.505Z,1422399431.505 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-01-27T22:57:11.575Z,1422399431.575 [HorizontalControl] Loaded
2015-01-27T22:57:11.576Z,1422399431.576 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-01-27T22:57:11.576Z,1422399431.576 [SpeedControl](DEBUG): Construct SpeedControl.
2015-01-27T22:57:11.582Z,1422399431.582 [SpeedControl] Loaded
2015-01-27T22:57:11.582Z,1422399431.582 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-01-27T22:57:11.583Z,1422399431.583 [LoopControl](DEBUG): Construct LoopControl.
2015-01-27T22:57:11.583Z,1422399431.583 [LoopControl] Loaded
2015-01-27T22:57:11.584Z,1422399431.584 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-01-27T22:57:11.584Z,1422399431.584 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-01-27T22:57:11.585Z,1422399431.585 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-01-27T22:57:11.679Z,1422399431.679 [SBIT](DEBUG): Construct Startup Built In Test.
2015-01-27T22:57:11.691Z,1422399431.691 [SBIT] Loaded
2015-01-27T22:57:11.691Z,1422399431.691 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-01-27T22:57:11.691Z,1422399431.691 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-01-27T22:57:11.720Z,1422399431.720 [IBIT] Loaded
2015-01-27T22:57:11.720Z,1422399431.720 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-01-27T22:57:11.722Z,1422399431.722 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-01-27T22:57:11.855Z,1422399431.855 [CBIT] Loaded
2015-01-27T22:57:11.856Z,1422399431.856 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-01-27T22:57:11.856Z,1422399431.856 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-01-27T22:57:11.857Z,1422399431.857 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-01-27T22:57:11.875Z,1422399431.875 [DepthRateCalculator] Loaded
2015-01-27T22:57:11.875Z,1422399431.875 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-01-27T22:57:11.881Z,1422399431.881 [PitchRateCalculator] Loaded
2015-01-27T22:57:11.881Z,1422399431.881 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-01-27T22:57:11.892Z,1422399431.892 [SpeedCalculator] Loaded
2015-01-27T22:57:11.892Z,1422399431.892 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-01-27T22:57:11.909Z,1422399431.909 [TempGradientCalculator] Loaded
2015-01-27T22:57:11.909Z,1422399431.909 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-01-27T22:57:11.915Z,1422399431.915 [YawRateCalculator] Loaded
2015-01-27T22:57:11.915Z,1422399431.915 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-01-27T22:57:11.915Z,1422399431.915 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-01-27T22:57:11.916Z,1422399431.916 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-01-27T22:57:11.965Z,1422399431.965 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-01-27T22:57:11.966Z,1422399431.966 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-01-27T22:57:12.194Z,1422399432.194 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-01-27T22:57:12.195Z,1422399432.195 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-01-27T22:57:12.238Z,1422399432.238 [NavChart] Loaded
2015-01-27T22:57:12.238Z,1422399432.238 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-01-27T22:57:12.244Z,1422399432.244 [UniversalFixResidualReporter] Loaded
2015-01-27T22:57:12.245Z,1422399432.245 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-01-27T22:57:12.245Z,1422399432.245 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-01-27T22:57:12.246Z,1422399432.246 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-01-27T22:57:12.251Z,1422399432.251 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-01-27T22:57:12.252Z,1422399432.252 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-01-27T22:57:12.338Z,1422399432.338 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-01-27T22:57:12.338Z,1422399432.338 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-01-27T22:57:12.656Z,1422399432.656 [DataOverHttps] Loaded
2015-01-27T22:57:12.657Z,1422399432.657 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-01-27T22:57:12.739Z,1422399432.739 [Depth_Keller] Loaded
2015-01-27T22:57:12.739Z,1422399432.739 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-01-27T22:57:12.833Z,1422399432.833 [NAL9602] Loaded
2015-01-27T22:57:12.833Z,1422399432.833 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-01-27T22:57:12.874Z,1422399432.874 [Onboard] Loaded
2015-01-27T22:57:12.874Z,1422399432.874 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-01-27T22:57:12.881Z,1422399432.881 [Radio_Surface] Loaded
2015-01-27T22:57:12.881Z,1422399432.881 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-01-27T22:57:12.882Z,1422399432.882 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2015-01-27T22:57:12.883Z,1422399432.883 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2785
2015-01-27T22:57:14.753Z,1422399434.753 [BPC1] Loaded
2015-01-27T22:57:14.753Z,1422399434.753 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-01-27T22:57:14.754Z,1422399434.754 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-01-27T22:57:14.754Z,1422399434.754 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-01-27T22:57:14.852Z,1422399434.852 [BuoyancyServo] Loaded
2015-01-27T22:57:14.852Z,1422399434.852 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-01-27T22:57:14.864Z,1422399434.864 [ElevatorServo] Loaded
2015-01-27T22:57:14.864Z,1422399434.864 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-01-27T22:57:14.876Z,1422399434.876 [RudderServo] Loaded
2015-01-27T22:57:14.876Z,1422399434.876 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-01-27T22:57:14.888Z,1422399434.888 [ThrusterServo] Loaded
2015-01-27T22:57:14.888Z,1422399434.888 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-01-27T22:57:14.888Z,1422399434.888 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-01-27T22:57:14.889Z,1422399434.889 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-01-27T22:57:14.989Z,1422399434.989 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-01-27T22:57:14.990Z,1422399434.990 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-01-27T22:57:15.014Z,1422399435.014 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-01-27T22:57:15.016Z,1422399435.016 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-01-27T22:57:15.017Z,1422399435.017 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-01-27T22:57:15.023Z,1422399435.023 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-01-27T22:57:15.024Z,1422399435.024 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083C4E0
2015-01-27T22:57:15.025Z,1422399435.025 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2786
2015-01-27T22:57:15.030Z,1422399435.030 [Supervisor](INFO): Main Thread ID is 2699
2015-01-27T22:57:15.030Z,1422399435.030 [Supervisor](DEBUG): Running supervisor.
2015-01-27T22:57:15.030Z,1422399435.030 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2787
2015-01-27T22:57:15.034Z,1422399435.034 [controlThread ThreadHandler](INFO): Handler Thread ID is 2788
2015-01-27T22:57:15.034Z,1422399435.034 [controlThread](DEBUG): Initializing ControlThread
2015-01-27T22:57:15.035Z,1422399435.035 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-01-27T22:57:15.037Z,1422399435.037 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-01-27T22:57:15.037Z,1422399435.037 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-01-27T22:57:15.038Z,1422399435.038 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-01-27T22:57:15.038Z,1422399435.038 [SBIT](INFO): Initialize SBIT Component.
2015-01-27T22:57:15.039Z,1422399435.039 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11963
2015-01-27T22:57:15.039Z,1422399435.039 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-01-27T22:57:15.039Z,1422399435.039 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-01-27T22:57:15.040Z,1422399435.040 [IBIT](INFO): Initialize IBIT Component.
2015-01-27T22:57:15.041Z,1422399435.041 [CBIT](DEBUG): Initialize CBIT Component.
2015-01-27T22:57:15.041Z,1422399435.041 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-01-27T22:57:15.042Z,1422399435.042 [logger ThreadHandler](INFO): Handler Thread ID is 2789
2015-01-27T22:57:15.068Z,1422399435.068 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-27T22:57:15.068Z,1422399435.068 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-01-27T22:57:15.068Z,1422399435.068 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-01-27T22:57:15.069Z,1422399435.069 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-01-27T22:57:15.069Z,1422399435.069 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-01-27T22:57:15.070Z,1422399435.070 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-01-27T22:57:15.070Z,1422399435.070 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-01-27T22:57:15.074Z,1422399435.074 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-01-27T22:57:15.080Z,1422399435.080 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2790
2015-01-27T22:57:15.086Z,1422399435.086 [Radio_Surface](INFO): Powering up
2015-01-27T22:57:15.095Z,1422399435.095 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-27T22:57:15.104Z,1422399435.104 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2791
2015-01-27T22:57:15.107Z,1422399435.107 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-01-27T22:57:15.108Z,1422399435.108 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-01-27T22:57:15.108Z,1422399435.108 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-01-27T22:57:15.108Z,1422399435.108 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-01-27T22:57:15.109Z,1422399435.109 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-01-27T22:57:15.109Z,1422399435.109 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-01-27T22:57:15.109Z,1422399435.109 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-01-27T22:57:15.109Z,1422399435.109 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-01-27T22:57:15.110Z,1422399435.110 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-01-27T22:57:15.149Z,1422399435.149 [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>


2015-01-27T22:57:15.150Z,1422399435.150 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-01-27T22:57:15.221Z,1422399435.221 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-01-27T22:57:15.233Z,1422399435.233 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-01-27T22:57:15.237Z,1422399435.237 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-27T22:57:15.270Z,1422399435.270 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-01-27T22:57:15.304Z,1422399435.304 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-01-27T22:57:15.336Z,1422399435.336 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-01-27T22:57:15.358Z,1422399435.358 [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>


2015-01-27T22:57:15.362Z,1422399435.362 [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,
2015-01-27T22:57:15.515Z,1422399435.515 [NAL9602](INFO): Start
2015-01-27T22:57:15.810Z,1422399435.810 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:57:15.817Z,1422399435.817 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-01-27T22:57:15.835Z,1422399435.835 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:57:15.841Z,1422399435.841 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-27T22:57:15.853Z,1422399435.853 [RudderServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:57:15.861Z,1422399435.861 [RudderServo](DEBUG): Initializing RudderServo.
2015-01-27T22:57:15.882Z,1422399435.882 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:57:15.890Z,1422399435.890 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-01-27T22:57:16.035Z,1422399436.035 [NAL9602](INFO): Start
2015-01-27T22:57:25.028Z,1422399445.028 [NAL9602](INFO): Start
2015-01-27T22:57:25.029Z,1422399445.029 [NAL9602](INFO): Powering up NAL9602
2015-01-27T22:57:26.176Z,1422399446.176 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003400
2015-01-27T22:57:30.725Z,1422399450.725 [SBIT](IMPORTANT): Beginning Startup BIT
2015-01-27T22:57:30.728Z,1422399450.728 [CBIT](IMPORTANT): Beginning GF scan
2015-01-27T22:57:36.210Z,1422399456.210 [NAL9602](INFO): ************** CMDMODE **************

2015-01-27T22:57:36.210Z,1422399456.210 [NAL9602](INFO): NAL9602 initialized
2015-01-27T22:57:39.407Z,1422399459.407 [NAL9602](INFO): Bytes:2
2015-01-27T22:57:39.407Z,1422399459.407 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:57:39.811Z,1422399459.811 [NAL9602](INFO): Bytes:2
2015-01-27T22:57:40.208Z,1422399460.208 [NAL9602](INFO): Bytes:2
2015-01-27T22:57:40.225Z,1422399460.225 [BPC1](FAULT): Failed to receive battery data
2015-01-27T22:57:40.225Z,1422399460.225 [BPC1] Communications Fault, FailCount= 1
2015-01-27T22:57:40.225Z,1422399460.225 [BPC1](ERROR): Communications Fault
2015-01-27T22:57:40.351Z,1422399460.351 [CBIT](ERROR): Communications Fault in component: BPC1
2015-01-27T22:57:40.609Z,1422399460.609 [NAL9602](INFO): Bytes:2
2015-01-27T22:57:41.009Z,1422399461.009 [NAL9602](INFO): Bytes:2
2015-01-27T22:57:41.410Z,1422399461.410 [NAL9602](INFO): Bytes:2
2015-01-27T22:57:41.516Z,1422399461.516 [CBIT](INFO): Clearing failed state for component BPC1
2015-01-27T22:57:41.516Z,1422399461.516 [BPC1] No Fault, FailCount= 1
2015-01-27T22:57:41.810Z,1422399461.810 [NAL9602](INFO): Bytes:2
2015-01-27T22:57:42.211Z,1422399462.211 [NAL9602](INFO): Bytes:2
2015-01-27T22:57:42.608Z,1422399462.608 [NAL9602](INFO): Bytes:2
2015-01-27T22:57:43.008Z,1422399463.008 [NAL9602](INFO): Bytes:2
2015-01-27T22:57:43.409Z,1422399463.409 [NAL9602](INFO): Bytes:2
2015-01-27T22:57:43.810Z,1422399463.810 [NAL9602](INFO): Bytes:2
2015-01-27T22:57:43.910Z,1422399463.910 [SBIT](ERROR): Could not read massPosReader_.
2015-01-27T22:57:44.210Z,1422399464.210 [NAL9602](INFO): Bytes:12
2015-01-27T22:57:44.210Z,1422399464.210 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:


+CSQ:1

OK
2015-01-27T22:57:44.613Z,1422399464.613 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:57:48.609Z,1422399468.609 [NAL9602](INFO): Bytes:10
2015-01-27T22:57:48.610Z,1422399468.610 [NAL9602](INFO): MTQueue SIGNAL QUALITY RESPONSE RECEIVED:

+CSQ:1

OK
K
2015-01-27T22:57:48.820Z,1422399468.820 [CommandLine](IMPORTANT): got command quit
2015-01-27T22:57:49.012Z,1422399469.012 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:57:49.824Z,1422399469.824 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:57:49.825Z,1422399469.825 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:49.833Z,1422399469.833 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2015-01-27T22:57:49.834Z,1422399469.834 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:49.834Z,1422399469.834 [CommandLine](INFO): Join timeout helper Thread ID is 2798
2015-01-27T22:57:49.870Z,1422399469.870 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2015-01-27T22:57:49.870Z,1422399469.870 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:49.871Z,1422399469.871 [NavChartDb](INFO): Join timeout helper Thread ID is 2799
2015-01-27T22:57:50.122Z,1422399470.122 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:57:50.123Z,1422399470.123 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:50.126Z,1422399470.126 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2015-01-27T22:57:50.126Z,1422399470.126 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:50.126Z,1422399470.126 [Radio_Surface](INFO): Join timeout helper Thread ID is 2800
2015-01-27T22:57:50.162Z,1422399470.162 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:57:50.163Z,1422399470.163 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:50.173Z,1422399470.173 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2015-01-27T22:57:50.174Z,1422399470.174 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:50.174Z,1422399470.174 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:57:50.174Z,1422399470.174 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:50.175Z,1422399470.175 [logger](INFO): Join timeout helper Thread ID is 2801
2015-01-27T22:57:50.175Z,1422399470.175 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2015-01-27T22:57:50.175Z,1422399470.175 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:50.175Z,1422399470.175 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2015-01-27T22:57:50.176Z,1422399470.176 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:50.176Z,1422399470.176 [controlThread](INFO): Join timeout helper Thread ID is 2802
2015-01-27T22:57:50.198Z,1422399470.198 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:57:50.198Z,1422399470.198 [controlThread](DEBUG): Uninitializing ControlThread
2015-01-27T22:57:50.199Z,1422399470.199 [NAL9602](INFO): Uninitialize
2015-01-27T22:57:50.199Z,1422399470.199 [NAL9602](INFO): Powering down
2015-01-27T22:57:50.201Z,1422399470.201 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-27T22:57:50.202Z,1422399470.202 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2015-01-27T22:57:50.206Z,1422399470.206 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2015-01-27T22:57:50.206Z,1422399470.207 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2015-01-27T22:57:50.207Z,1422399470.207 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2015-01-27T22:57:50.207Z,1422399470.207 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2015-01-27T22:57:50.207Z,1422399470.207 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-01-27T22:57:50.207Z,1422399470.207 [BuoyancyServo](INFO): Powering down
2015-01-27T22:57:50.222Z,1422399470.222 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-01-27T22:57:50.222Z,1422399470.222 [ElevatorServo](INFO): Powering down
2015-01-27T22:57:50.223Z,1422399470.223 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-01-27T22:57:50.223Z,1422399470.223 [RudderServo](INFO): Powering down
2015-01-27T22:57:50.224Z,1422399470.224 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-01-27T22:57:50.224Z,1422399470.224 [ThrusterServo](INFO): Powering down
2015-01-27T22:57:50.225Z,1422399470.225 [SBIT](DEBUG): Uninitialize SBIT Component.
2015-01-27T22:57:50.225Z,1422399470.225 [IBIT](DEBUG): Uninitialize IBIT Component.
2015-01-27T22:57:50.226Z,1422399470.226 [CBIT](DEBUG): Uninitialize CBIT Component.
2015-01-27T22:57:50.259Z,1422399470.259 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:50.367Z,1422399470.367 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:50.646Z,1422399470.646 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:57:50.694Z,1422399470.694 [logger ThreadHandler](INFO): Thread cancelled.