2015-01-22T20:07:49.084Z,1421957269.084 [Supervisor](DEBUG): Initializing supervisor.
2015-01-22T20:07:49.086Z,1421957269.086 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-01-22T20:07:49.087Z,1421957269.087 [SyncHandler](INFO): Protected caller Thread ID is 966
2015-01-22T20:07:49.087Z,1421957269.087 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-01-22T20:07:49.088Z,1421957269.088 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-01-22T20:07:49.089Z,1421957269.089 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 967
2015-01-22T20:07:49.091Z,1421957269.091 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-01-22T20:07:49.103Z,1421957269.103 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-01-22T20:07:49.104Z,1421957269.104 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-01-22T20:07:49.104Z,1421957269.104 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 968
2015-01-22T20:07:49.105Z,1421957269.105 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-01-22T20:07:49.106Z,1421957269.106 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-01-22T20:07:49.107Z,1421957269.107 [logger ThreadHandler](INFO): Protected caller Thread ID is 969
2015-01-22T20:07:49.109Z,1421957269.109 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-01-22T20:07:49.109Z,1421957269.109 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-01-22T20:07:49.110Z,1421957269.110 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-01-22T20:07:49.444Z,1421957269.444 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-01-22T20:07:49.445Z,1421957269.445 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-01-22T20:07:49.603Z,1421957269.603 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-01-22T20:07:49.603Z,1421957269.603 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-01-22T20:07:49.710Z,1421957269.710 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-01-22T20:07:49.711Z,1421957269.711 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-01-22T20:07:49.833Z,1421957269.833 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-01-22T20:07:49.833Z,1421957269.833 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-01-22T20:07:49.918Z,1421957269.918 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-01-22T20:07:50.078Z,1421957270.078 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-01-22T20:07:50.078Z,1421957270.078 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-01-22T20:07:50.163Z,1421957270.163 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-01-22T20:07:50.163Z,1421957270.163 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-01-22T20:07:50.371Z,1421957270.371 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-01-22T20:07:50.371Z,1421957270.371 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-01-22T20:07:50.753Z,1421957270.753 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-01-22T20:07:50.753Z,1421957270.753 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-01-22T20:07:51.084Z,1421957271.084 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-01-22T20:07:51.084Z,1421957271.084 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-01-22T20:07:51.581Z,1421957271.581 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-01-22T20:07:51.582Z,1421957271.582 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-01-22T20:07:51.779Z,1421957271.779 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-01-22T20:07:51.779Z,1421957271.779 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-01-22T20:07:51.883Z,1421957271.883 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-01-22T20:07:51.883Z,1421957271.883 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-01-22T20:07:52.309Z,1421957272.309 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-01-22T20:07:52.309Z,1421957272.309 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-01-22T20:07:52.420Z,1421957272.420 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-01-22T20:07:52.422Z,1421957272.422 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-01-22T20:07:52.423Z,1421957272.423 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-01-22T20:07:52.662Z,1421957272.662 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-01-22T20:07:52.663Z,1421957272.663 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-01-22T20:07:52.778Z,1421957272.778 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-01-22T20:07:52.876Z,1421957272.876 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-01-22T20:07:52.979Z,1421957272.979 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-01-22T20:07:53.109Z,1421957273.109 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-01-22T20:07:53.250Z,1421957273.250 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-01-22T20:07:53.420Z,1421957273.420 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-01-22T20:07:53.520Z,1421957273.520 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-01-22T20:07:53.610Z,1421957273.610 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-01-22T20:07:53.710Z,1421957273.710 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-01-22T20:07:53.806Z,1421957273.806 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-01-22T20:07:53.995Z,1421957273.995 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-01-22T20:07:54.008Z,1421957274.008 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-01-22T20:07:54.060Z,1421957274.060 [VerticalControl](DEBUG): Construct VerticalControl.
2015-01-22T20:07:54.181Z,1421957274.181 [VerticalControl] Loaded
2015-01-22T20:07:54.181Z,1421957274.181 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-01-22T20:07:54.181Z,1421957274.181 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-01-22T20:07:54.255Z,1421957274.255 [HorizontalControl] Loaded
2015-01-22T20:07:54.255Z,1421957274.255 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-01-22T20:07:54.255Z,1421957274.255 [SpeedControl](DEBUG): Construct SpeedControl.
2015-01-22T20:07:54.261Z,1421957274.261 [SpeedControl] Loaded
2015-01-22T20:07:54.262Z,1421957274.262 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-01-22T20:07:54.262Z,1421957274.262 [LoopControl](DEBUG): Construct LoopControl.
2015-01-22T20:07:54.263Z,1421957274.263 [LoopControl] Loaded
2015-01-22T20:07:54.263Z,1421957274.263 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-01-22T20:07:54.263Z,1421957274.263 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-01-22T20:07:54.264Z,1421957274.264 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-01-22T20:07:54.361Z,1421957274.361 [SBIT](DEBUG): Construct Startup Built In Test.
2015-01-22T20:07:54.372Z,1421957274.372 [SBIT] Loaded
2015-01-22T20:07:54.372Z,1421957274.372 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-01-22T20:07:54.373Z,1421957274.373 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-01-22T20:07:54.402Z,1421957274.402 [IBIT] Loaded
2015-01-22T20:07:54.403Z,1421957274.403 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-01-22T20:07:54.405Z,1421957274.405 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-01-22T20:07:54.529Z,1421957274.529 [CBIT] Loaded
2015-01-22T20:07:54.530Z,1421957274.530 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-01-22T20:07:54.530Z,1421957274.530 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-01-22T20:07:54.531Z,1421957274.531 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-01-22T20:07:54.549Z,1421957274.549 [DepthRateCalculator] Loaded
2015-01-22T20:07:54.549Z,1421957274.549 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-01-22T20:07:54.555Z,1421957274.555 [PitchRateCalculator] Loaded
2015-01-22T20:07:54.558Z,1421957274.558 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-01-22T20:07:54.570Z,1421957274.570 [SpeedCalculator] Loaded
2015-01-22T20:07:54.570Z,1421957274.570 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-01-22T20:07:54.587Z,1421957274.587 [TempGradientCalculator] Loaded
2015-01-22T20:07:54.587Z,1421957274.587 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-01-22T20:07:54.593Z,1421957274.593 [YawRateCalculator] Loaded
2015-01-22T20:07:54.593Z,1421957274.593 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-01-22T20:07:54.594Z,1421957274.594 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-01-22T20:07:54.594Z,1421957274.594 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-01-22T20:07:54.644Z,1421957274.644 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-01-22T20:07:54.645Z,1421957274.645 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-01-22T20:07:55.099Z,1421957275.099 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-01-22T20:07:55.100Z,1421957275.100 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-01-22T20:07:55.144Z,1421957275.144 [NavChart] Loaded
2015-01-22T20:07:55.145Z,1421957275.145 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-01-22T20:07:55.152Z,1421957275.152 [UniversalFixResidualReporter] Loaded
2015-01-22T20:07:55.152Z,1421957275.152 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-01-22T20:07:55.152Z,1421957275.152 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-01-22T20:07:55.153Z,1421957275.153 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-01-22T20:07:55.159Z,1421957275.159 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-01-22T20:07:55.159Z,1421957275.159 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-01-22T20:07:55.247Z,1421957275.247 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-01-22T20:07:55.247Z,1421957275.247 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-01-22T20:07:55.558Z,1421957275.558 [DataOverHttps] Loaded
2015-01-22T20:07:55.558Z,1421957275.558 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-01-22T20:07:55.640Z,1421957275.640 [Depth_Keller] Loaded
2015-01-22T20:07:55.640Z,1421957275.640 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-01-22T20:07:55.736Z,1421957275.736 [NAL9602] Loaded
2015-01-22T20:07:55.736Z,1421957275.736 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-01-22T20:07:55.779Z,1421957275.779 [Onboard] Loaded
2015-01-22T20:07:55.794Z,1421957275.794 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-01-22T20:07:55.801Z,1421957275.801 [Radio_Surface] Loaded
2015-01-22T20:07:55.801Z,1421957275.801 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-01-22T20:07:55.802Z,1421957275.802 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2015-01-22T20:07:55.802Z,1421957275.802 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1052
2015-01-22T20:07:57.713Z,1421957277.713 [BPC1] Loaded
2015-01-22T20:07:57.713Z,1421957277.713 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-01-22T20:07:57.714Z,1421957277.714 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-01-22T20:07:57.714Z,1421957277.714 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-01-22T20:07:57.818Z,1421957277.818 [BuoyancyServo] Loaded
2015-01-22T20:07:57.818Z,1421957277.818 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-01-22T20:07:57.830Z,1421957277.830 [ElevatorServo] Loaded
2015-01-22T20:07:57.831Z,1421957277.831 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-01-22T20:07:57.843Z,1421957277.843 [RudderServo] Loaded
2015-01-22T20:07:57.843Z,1421957277.843 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-01-22T20:07:57.855Z,1421957277.855 [ThrusterServo] Loaded
2015-01-22T20:07:57.855Z,1421957277.855 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-01-22T20:07:57.855Z,1421957277.855 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-01-22T20:07:57.856Z,1421957277.856 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-01-22T20:07:57.958Z,1421957277.958 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-01-22T20:07:57.959Z,1421957277.959 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-01-22T20:07:57.983Z,1421957277.983 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-01-22T20:07:57.985Z,1421957277.985 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-01-22T20:07:57.986Z,1421957277.986 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-01-22T20:07:57.993Z,1421957277.993 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-01-22T20:07:57.994Z,1421957277.994 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083C4E0
2015-01-22T20:07:57.994Z,1421957277.994 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1053
2015-01-22T20:07:57.999Z,1421957277.999 [Supervisor](INFO): Main Thread ID is 965
2015-01-22T20:07:57.000Z,1421957278.000 [Supervisor](DEBUG): Running supervisor.
2015-01-22T20:07:58.000Z,1421957278.000 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1054
2015-01-22T20:07:58.003Z,1421957278.003 [controlThread ThreadHandler](INFO): Handler Thread ID is 1055
2015-01-22T20:07:58.004Z,1421957278.004 [controlThread](DEBUG): Initializing ControlThread
2015-01-22T20:07:58.004Z,1421957278.004 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-01-22T20:07:58.006Z,1421957278.006 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-01-22T20:07:58.007Z,1421957278.007 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-01-22T20:07:58.007Z,1421957278.007 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-01-22T20:07:58.008Z,1421957278.008 [SBIT](INFO): Initialize SBIT Component.
2015-01-22T20:07:58.008Z,1421957278.008 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11963
2015-01-22T20:07:58.008Z,1421957278.008 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-01-22T20:07:58.009Z,1421957278.009 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-01-22T20:07:58.009Z,1421957278.009 [IBIT](INFO): Initialize IBIT Component.
2015-01-22T20:07:58.010Z,1421957278.010 [CBIT](DEBUG): Initialize CBIT Component.
2015-01-22T20:07:58.010Z,1421957278.010 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-01-22T20:07:58.011Z,1421957278.011 [logger ThreadHandler](INFO): Handler Thread ID is 1056
2015-01-22T20:07:58.036Z,1421957278.036 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-22T20:07:58.037Z,1421957278.037 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-01-22T20:07:58.037Z,1421957278.037 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-01-22T20:07:58.037Z,1421957278.037 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-01-22T20:07:58.038Z,1421957278.038 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-01-22T20:07:58.038Z,1421957278.038 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-01-22T20:07:58.038Z,1421957278.038 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-01-22T20:07:58.043Z,1421957278.043 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-01-22T20:07:58.049Z,1421957278.049 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1057
2015-01-22T20:07:58.055Z,1421957278.055 [Radio_Surface](INFO): Powering up
2015-01-22T20:07:58.064Z,1421957278.064 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-22T20:07:58.065Z,1421957278.065 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1058
2015-01-22T20:07:58.068Z,1421957278.068 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-01-22T20:07:58.069Z,1421957278.069 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-01-22T20:07:58.069Z,1421957278.069 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-01-22T20:07:58.069Z,1421957278.069 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-01-22T20:07:58.070Z,1421957278.070 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-01-22T20:07:58.070Z,1421957278.070 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-01-22T20:07:58.070Z,1421957278.070 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-01-22T20:07:58.070Z,1421957278.070 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-01-22T20:07:58.071Z,1421957278.071 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-01-22T20:07:58.108Z,1421957278.108 [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>


2015-01-22T20:07:58.125Z,1421957278.125 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-01-22T20:07:58.197Z,1421957278.197 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-01-22T20:07:58.217Z,1421957278.217 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-01-22T20:07:58.221Z,1421957278.221 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-22T20:07:58.241Z,1421957278.241 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-01-22T20:07:58.273Z,1421957278.273 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-01-22T20:07:58.293Z,1421957278.293 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-01-22T20:07:58.326Z,1421957278.326 [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>


2015-01-22T20:07:58.330Z,1421957278.330 [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,
2015-01-22T20:07:58.481Z,1421957278.481 [NAL9602](INFO): Start
2015-01-22T20:07:58.990Z,1421957278.990 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:07:58.998Z,1421957278.998 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-01-22T20:07:59.018Z,1421957279.018 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:07:59.030Z,1421957279.030 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-22T20:07:59.050Z,1421957279.050 [RudderServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:07:59.058Z,1421957279.058 [RudderServo](DEBUG): Initializing RudderServo.
2015-01-22T20:07:59.080Z,1421957279.080 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:07:59.090Z,1421957279.090 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-01-22T20:07:59.250Z,1421957279.250 [NAL9602](INFO): Start
2015-01-22T20:08:09.191Z,1421957289.191 [NAL9602](INFO): Start
2015-01-22T20:08:09.191Z,1421957289.191 [NAL9602](INFO): Powering up NAL9602
2015-01-22T20:08:10.379Z,1421957290.379 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003400
2015-01-22T20:08:13.495Z,1421957293.495 [SBIT](IMPORTANT): Beginning Startup BIT
2015-01-22T20:08:13.498Z,1421957293.498 [CBIT](IMPORTANT): Beginning GF scan
2015-01-22T20:08:20.080Z,1421957300.080 [NAL9602](INFO): ************** CMDMODE **************

2015-01-22T20:08:20.080Z,1421957300.080 [NAL9602](INFO): NAL9602 initialized
2015-01-22T20:08:26.619Z,1421957306.619 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T20:08:38.877Z,1421957318.877 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:39.278Z,1421957319.278 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:39.681Z,1421957319.681 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:39.862Z,1421957319.862 [CBIT](IMPORTANT): No ground fault detected
2015-01-22T20:08:40.075Z,1421957320.075 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:40.475Z,1421957320.475 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:40.876Z,1421957320.876 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:41.273Z,1421957321.273 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:41.673Z,1421957321.673 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:42.078Z,1421957322.078 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:42.475Z,1421957322.475 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:42.875Z,1421957322.875 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:43.280Z,1421957323.280 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:43.677Z,1421957323.677 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:44.073Z,1421957324.073 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:44.474Z,1421957324.474 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:44.875Z,1421957324.875 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:45.275Z,1421957325.275 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:45.691Z,1421957325.691 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:46.072Z,1421957326.072 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:46.473Z,1421957326.473 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:46.874Z,1421957326.874 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:47.278Z,1421957327.278 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:47.675Z,1421957327.675 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:48.080Z,1421957328.080 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:48.472Z,1421957328.472 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:48.877Z,1421957328.877 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:49.281Z,1421957329.281 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:49.678Z,1421957329.678 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:50.078Z,1421957330.078 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:50.475Z,1421957330.475 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:50.880Z,1421957330.880 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:51.277Z,1421957331.277 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:51.677Z,1421957331.677 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:52.078Z,1421957332.078 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:52.173Z,1421957332.173 [ElevatorServo](ERROR): getPosition uart error serial timeout
2015-01-22T20:08:52.173Z,1421957332.173 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2015-01-22T20:08:52.173Z,1421957332.173 [ElevatorServo] Communications Fault, FailCount= 1
2015-01-22T20:08:52.173Z,1421957332.173 [ElevatorServo](ERROR): Communications Fault
2015-01-22T20:08:52.185Z,1421957332.185 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2015-01-22T20:08:52.474Z,1421957332.474 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:52.476Z,1421957332.476 [NAL9602](INFO): SBD MO Status=2, MOMSN=5379, MT Status=2, MTMSN=0
2015-01-22T20:08:52.476Z,1421957332.476 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2015-01-22T20:08:52.519Z,1421957332.519 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-01-22T20:08:52.520Z,1421957332.520 [ElevatorServo](INFO): Powering down
2015-01-22T20:08:53.362Z,1421957333.362 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:08:53.484Z,1421957333.484 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-22T20:08:53.486Z,1421957333.486 [SBIT](ERROR): Could not read elevatorAngleReader_.
2015-01-22T20:08:53.486Z,1421957333.486 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T20:08:53.486Z,1421957333.486 [SBIT](FAULT): Control surface position failure.
2015-01-22T20:08:53.488Z,1421957333.488 [CBIT](INFO): Clearing failed state for component ElevatorServo
2015-01-22T20:08:53.488Z,1421957333.488 [ElevatorServo] No Fault, FailCount= 1
2015-01-22T20:08:57.290Z,1421957337.290 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:57.675Z,1421957337.675 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:58.079Z,1421957338.079 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:58.479Z,1421957338.479 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:08:58.876Z,1421957338.876 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:04.843Z,1421957344.843 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:04.977Z,1421957344.977 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:05.379Z,1421957345.379 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:05.775Z,1421957345.775 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:06.167Z,1421957346.167 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:06.568Z,1421957346.568 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:06.969Z,1421957346.969 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:06.990Z,1421957346.990 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T20:09:06.990Z,1421957346.990 [SBIT](FAULT): Control surface position failure.
2015-01-22T20:09:07.375Z,1421957347.375 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:07.458Z,1421957347.458 [SBIT](CRITICAL): SBIT FAILED
2015-01-22T20:09:07.459Z,1421957347.459 [CommandLine](FAULT): Scheduling is paused
2015-01-22T20:09:07.770Z,1421957347.770 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:07.822Z,1421957347.822 [MissionManager](IMPORTANT): Started mission Startup
2015-01-22T20:09:07.822Z,1421957347.822 [Startup] Running Loop=1
2015-01-22T20:09:07.822Z,1421957347.822 [Startup](INFO): Aggregate::initialize Startup
2015-01-22T20:09:07.822Z,1421957347.822 [Startup:A.GoToSurface] Running Loop=1
2015-01-22T20:09:07.822Z,1421957347.822 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-22T20:09:07.823Z,1421957347.823 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-22T20:09:07.823Z,1421957347.823 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-22T20:09:07.823Z,1421957347.823 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-22T20:09:07.855Z,1421957347.855 [Startup:StartupSatComms] Running Loop=1
2015-01-22T20:09:07.855Z,1421957347.855 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2015-01-22T20:09:07.855Z,1421957347.855 [Startup:StartupSatComms:A] Running Loop=1
2015-01-22T20:09:08.171Z,1421957348.171 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:08.215Z,1421957348.215 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2015-01-22T20:09:08.571Z,1421957348.571 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:08.972Z,1421957348.972 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:09.369Z,1421957349.369 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:09.773Z,1421957349.773 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T20:09:09.775Z,1421957349.775 [NAL9602](INFO): SBD MO Status=2, MOMSN=5379, MT Status=2, MTMSN=0
2015-01-22T20:09:09.775Z,1421957349.775 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2015-01-22T20:10:07.891Z,1421957407.891 [Startup:StartupSatComms:A](INFO): Timed out from 2015-01-22T20:09:07.9Z
2015-01-22T20:10:07.891Z,1421957407.891 [Startup:StartupSatComms:A] Stopped
2015-01-22T20:10:07.891Z,1421957407.891 [Startup:StartupSatComms:B] Running Loop=1
2015-01-22T20:10:08.287Z,1421957408.287 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2015-01-22T20:10:12.664Z,1421957412.664 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20150122T190753/Courier0020.lzma
2015-01-22T20:10:13.464Z,1421957413.464 [DataOverHttps](INFO): Moved sent file to Logs/20150122T190753/Courier0020.lzma.bak
2015-01-22T20:10:13.464Z,1421957413.464 [DataOverHttps](INFO): SBD MOMSN=1503806
2015-01-22T20:10:28.759Z,1421957428.759 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20150122T200749/Courier0000.lzma
2015-01-22T20:10:29.659Z,1421957429.659 [DataOverHttps](INFO): Moved sent file to Logs/20150122T200749/Courier0000.lzma.bak
2015-01-22T20:10:29.659Z,1421957429.659 [DataOverHttps](INFO): SBD MOMSN=1503809
2015-01-22T20:10:39.295Z,1421957439.295 [DataOverHttps](INFO): Sending 220 bytes from file Logs/20150122T190753/Express0021.lzma
2015-01-22T20:10:40.089Z,1421957440.089 [DataOverHttps](INFO): Moved sent file to Logs/20150122T190753/Express0021.lzma.bak
2015-01-22T20:10:40.089Z,1421957440.089 [DataOverHttps](INFO): SBD MOMSN=1503813
2015-01-22T20:10:49.446Z,1421957449.446 [DataOverHttps](INFO): Sending 557 bytes from file Logs/20150122T200749/Express0001.lzma
2015-01-22T20:10:50.245Z,1421957450.245 [DataOverHttps](INFO): Moved sent file to Logs/20150122T200749/Express0001.lzma.bak
2015-01-22T20:10:50.245Z,1421957450.245 [DataOverHttps](INFO): SBD MOMSN=1503829
2015-01-22T20:10:50.957Z,1421957450.957 [Startup:StartupSatComms:B] Stopped
2015-01-22T20:10:50.957Z,1421957450.957 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2015-01-22T20:10:50.957Z,1421957450.957 [Startup:StartupSatComms] Stopped
2015-01-22T20:10:50.957Z,1421957450.957 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2015-01-22T20:10:50.958Z,1421957450.958 [Startup](INFO): Completed Startup
2015-01-22T20:10:50.958Z,1421957450.958 [Startup] Stopped
2015-01-22T20:10:50.958Z,1421957450.958 [Startup](INFO): Aggregate::uninitialize Startup
2015-01-22T20:10:50.959Z,1421957450.959 [Startup:A.GoToSurface] Stopped
2015-01-22T20:10:50.959Z,1421957450.959 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-22T20:10:51.074Z,1421957451.074 [MissionManager](IMPORTANT): Started mission Default
2015-01-22T20:10:51.074Z,1421957451.074 [Default] Running Loop=1
2015-01-22T20:10:51.074Z,1421957451.074 [Default](INFO): Aggregate::initialize Default
2015-01-22T20:10:51.074Z,1421957451.074 [Default:B.GoToSurface] Running Loop=1
2015-01-22T20:10:51.074Z,1421957451.074 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-22T20:10:51.075Z,1421957451.075 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-22T20:10:51.075Z,1421957451.075 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-22T20:10:51.075Z,1421957451.075 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-22T20:10:51.075Z,1421957451.075 [Default:StartClock] Running Loop=1
2015-01-22T20:10:51.076Z,1421957451.076 [Default:StartClock](INFO): Aggregate::initialize Default:StartClock
2015-01-22T20:10:51.076Z,1421957451.076 [Default:StartClock:A] Running Loop=1
2015-01-22T20:10:51.088Z,1421957451.088 [Default:StartClock:A] Stopped
2015-01-22T20:10:51.088Z,1421957451.088 [Default:StartClock](INFO): Completed Default:StartClock
2015-01-22T20:10:51.088Z,1421957451.088 [Default:StartClock] Stopped
2015-01-22T20:10:51.088Z,1421957451.088 [Default:StartClock](INFO): Aggregate::uninitialize Default:StartClock
2015-01-22T20:10:54.301Z,1421957454.301 [Default:WaitAtTheSurface] Running Loop=1
2015-01-22T20:10:54.301Z,1421957454.301 [Default:WaitAtTheSurface](INFO): Aggregate::initialize Default:WaitAtTheSurface
2015-01-22T20:10:54.302Z,1421957454.302 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-22T20:10:54.302Z,1421957454.302 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Initialize.
2015-01-22T20:10:54.391Z,1421957454.391 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-22T20:12:59.373Z,1421957579.373 [Default:UpdateAndReportMinutesSinceMissionStarted] Running Loop=1
2015-01-22T20:12:59.373Z,1421957579.373 [Default:UpdateAndReportMinutesSinceMissionStarted](INFO): Aggregate::initialize Default:UpdateAndReportMinutesSinceMissionStarted
2015-01-22T20:12:59.373Z,1421957579.373 [Default:UpdateAndReportMinutesSinceMissionStarted:A] Running Loop=1
2015-01-22T20:12:59.375Z,1421957579.375 [Default:UpdateAndReportMinutesSinceMissionStarted:A] Stopped
2015-01-22T20:12:59.375Z,1421957579.375 [Default:UpdateAndReportMinutesSinceMissionStarted:B] Running Loop=1
2015-01-22T20:13:04.459Z,1421957584.459 [Default:UpdateAndReportMinutesSinceMissionStarted:B](IMPORTANT): Default mission has been running for 2.138457 min 
2015-01-22T20:13:04.461Z,1421957584.461 [Default:UpdateAndReportMinutesSinceMissionStarted:B] Stopped
2015-01-22T20:13:04.461Z,1421957584.461 [Default:UpdateAndReportMinutesSinceMissionStarted](INFO): Completed Default:UpdateAndReportMinutesSinceMissionStarted
2015-01-22T20:13:04.461Z,1421957584.461 [Default:UpdateAndReportMinutesSinceMissionStarted] Stopped
2015-01-22T20:13:04.461Z,1421957584.461 [Default:UpdateAndReportMinutesSinceMissionStarted](INFO): Aggregate::uninitialize Default:UpdateAndReportMinutesSinceMissionStarted
2015-01-22T20:13:24.363Z,1421957604.363 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2015-01-22T20:13:39.366Z,1421957619.366 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:14:04.366Z,1421957644.366 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:14:29.353Z,1421957669.353 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:14:54.356Z,1421957694.356 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:15:19.359Z,1421957719.359 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:15:34.361Z,1421957734.361 [BPC1](DEBUG): Received data from all battery sticks
2015-01-22T20:15:44.354Z,1421957744.354 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:15:54.402Z,1421957754.402 [Default:CheckIn] Running Loop=1
2015-01-22T20:15:54.402Z,1421957754.402 [Default:CheckIn](INFO): Aggregate::initialize Default:CheckIn
2015-01-22T20:15:54.402Z,1421957754.402 [Default:CheckIn:A.SetSpeed] Running Loop=1
2015-01-22T20:15:54.402Z,1421957754.402 [Default:CheckIn:A.SetSpeed](DEBUG): Initialize.
2015-01-22T20:15:54.402Z,1421957754.402 [Default:CheckIn:Read_GPS] Running Loop=1
2015-01-22T20:15:54.403Z,1421957754.403 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2015-01-22T20:15:54.405Z,1421957754.405 [Default:CheckIn:A.SetSpeed] Running Loop=1
2015-01-22T20:15:55.559Z,1421957755.559 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:15:55.597Z,1421957755.597 [Default:CheckIn:Read_GPS] Stopped
2015-01-22T20:15:55.597Z,1421957755.597 [Default:CheckIn:Read_Iridium] Running Loop=1
2015-01-22T20:15:55.985Z,1421957755.985 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2015-01-22T20:15:59.537Z,1421957759.537 [CommandLine](IMPORTANT): got command quit
2015-01-22T20:16:00.546Z,1421957760.546 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T20:16:00.546Z,1421957760.546 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:00.627Z,1421957760.627 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2015-01-22T20:16:00.627Z,1421957760.627 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:00.628Z,1421957760.628 [CommandLine](INFO): Join timeout helper Thread ID is 1073
2015-01-22T20:16:00.639Z,1421957760.639 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2015-01-22T20:16:00.639Z,1421957760.639 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:00.640Z,1421957760.640 [NavChartDb](INFO): Join timeout helper Thread ID is 1074
2015-01-22T20:16:00.776Z,1421957760.776 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T20:16:00.777Z,1421957760.777 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:00.795Z,1421957760.795 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2015-01-22T20:16:00.795Z,1421957760.795 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:00.796Z,1421957760.796 [Radio_Surface](INFO): Join timeout helper Thread ID is 1075
2015-01-22T20:16:01.112Z,1421957761.112 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T20:16:01.112Z,1421957761.112 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:01.128Z,1421957761.128 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2015-01-22T20:16:01.128Z,1421957761.128 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:01.128Z,1421957761.128 [logger](INFO): Join timeout helper Thread ID is 1077
2015-01-22T20:16:01.168Z,1421957761.168 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T20:16:01.168Z,1421957761.168 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:01.184Z,1421957761.184 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2015-01-22T20:16:01.184Z,1421957761.184 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:01.184Z,1421957761.184 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2015-01-22T20:16:01.184Z,1421957761.184 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:01.185Z,1421957761.185 [controlThread](INFO): Join timeout helper Thread ID is 1078
2015-01-22T20:16:01.423Z,1421957761.423 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T20:16:01.423Z,1421957761.423 [controlThread](DEBUG): Uninitializing ControlThread
2015-01-22T20:16:01.426Z,1421957761.426 [NAL9602](INFO): Uninitialize
2015-01-22T20:16:01.426Z,1421957761.426 [NAL9602](INFO): Powering down
2015-01-22T20:16:01.428Z,1421957761.428 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-22T20:16:01.433Z,1421957761.433 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2015-01-22T20:16:01.434Z,1421957761.434 [Default] Stopped
2015-01-22T20:16:01.434Z,1421957761.434 [Default](INFO): Aggregate::uninitialize Default
2015-01-22T20:16:01.434Z,1421957761.434 [Default:B.GoToSurface] Stopped
2015-01-22T20:16:01.434Z,1421957761.434 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-22T20:16:01.434Z,1421957761.434 [Default:CheckIn] Stopped
2015-01-22T20:16:01.434Z,1421957761.434 [Default:CheckIn](INFO): Aggregate::uninitialize Default:CheckIn
2015-01-22T20:16:01.434Z,1421957761.434 [Default:CheckIn:A.SetSpeed] Stopped
2015-01-22T20:16:01.434Z,1421957761.434 [Default:CheckIn:A.SetSpeed](DEBUG): Uninitialize.
2015-01-22T20:16:01.434Z,1421957761.434 [Default:CheckIn:Read_Iridium] Stopped
2015-01-22T20:16:01.435Z,1421957761.435 [Default:WaitAtTheSurface] Stopped
2015-01-22T20:16:01.435Z,1421957761.435 [Default:WaitAtTheSurface](INFO): Aggregate::uninitialize Default:WaitAtTheSurface
2015-01-22T20:16:01.435Z,1421957761.435 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Stopped
2015-01-22T20:16:01.435Z,1421957761.435 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Uninitialize.
2015-01-22T20:16:01.447Z,1421957761.447 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2015-01-22T20:16:01.447Z,1421957761.447 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2015-01-22T20:16:01.447Z,1421957761.447 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2015-01-22T20:16:01.448Z,1421957761.448 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2015-01-22T20:16:01.448Z,1421957761.448 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-01-22T20:16:01.448Z,1421957761.448 [BuoyancyServo](INFO): Powering down
2015-01-22T20:16:01.481Z,1421957761.481 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-01-22T20:16:01.481Z,1421957761.481 [ElevatorServo](INFO): Powering down
2015-01-22T20:16:01.482Z,1421957761.482 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-01-22T20:16:01.482Z,1421957761.482 [RudderServo](INFO): Powering down
2015-01-22T20:16:01.483Z,1421957761.483 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-01-22T20:16:01.483Z,1421957761.483 [ThrusterServo](INFO): Powering down
2015-01-22T20:16:01.484Z,1421957761.484 [SBIT](DEBUG): Uninitialize SBIT Component.
2015-01-22T20:16:01.484Z,1421957761.484 [IBIT](DEBUG): Uninitialize IBIT Component.
2015-01-22T20:16:01.489Z,1421957761.489 [CBIT](DEBUG): Uninitialize CBIT Component.
2015-01-22T20:16:01.521Z,1421957761.521 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:01.796Z,1421957761.796 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:01.950Z,1421957761.950 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:16:02.145Z,1421957762.145 [logger ThreadHandler](INFO): Thread cancelled.