2015-01-22T20:47:38.489Z,1421959658.489 [Supervisor](DEBUG): Initializing supervisor.
2015-01-22T20:47:38.492Z,1421959658.492 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-01-22T20:47:38.493Z,1421959658.493 [SyncHandler](INFO): Protected caller Thread ID is 1312
2015-01-22T20:47:38.493Z,1421959658.493 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-01-22T20:47:38.494Z,1421959658.494 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-01-22T20:47:38.495Z,1421959658.495 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1313
2015-01-22T20:47:38.498Z,1421959658.498 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-01-22T20:47:38.510Z,1421959658.510 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-01-22T20:47:38.512Z,1421959658.512 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-01-22T20:47:38.512Z,1421959658.512 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1314
2015-01-22T20:47:38.513Z,1421959658.513 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-01-22T20:47:38.514Z,1421959658.514 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-01-22T20:47:38.514Z,1421959658.514 [logger ThreadHandler](INFO): Protected caller Thread ID is 1315
2015-01-22T20:47:38.516Z,1421959658.516 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-01-22T20:47:38.517Z,1421959658.517 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-01-22T20:47:38.518Z,1421959658.518 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-01-22T20:47:38.839Z,1421959658.839 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-01-22T20:47:38.840Z,1421959658.840 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-01-22T20:47:38.995Z,1421959658.995 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-01-22T20:47:38.996Z,1421959658.996 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-01-22T20:47:39.102Z,1421959659.102 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-01-22T20:47:39.103Z,1421959659.103 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-01-22T20:47:39.222Z,1421959659.222 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-01-22T20:47:39.223Z,1421959659.223 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-01-22T20:47:39.307Z,1421959659.307 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-01-22T20:47:39.464Z,1421959659.464 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-01-22T20:47:39.464Z,1421959659.464 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-01-22T20:47:39.550Z,1421959659.550 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-01-22T20:47:39.551Z,1421959659.551 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-01-22T20:47:39.755Z,1421959659.755 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-01-22T20:47:39.755Z,1421959659.755 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-01-22T20:47:40.119Z,1421959660.119 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-01-22T20:47:40.120Z,1421959660.120 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-01-22T20:47:40.428Z,1421959660.428 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-01-22T20:47:40.429Z,1421959660.429 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-01-22T20:47:40.954Z,1421959660.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-01-22T20:47:40.954Z,1421959660.954 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-01-22T20:47:41.148Z,1421959661.148 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-01-22T20:47:41.148Z,1421959661.148 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-01-22T20:47:41.253Z,1421959661.253 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-01-22T20:47:41.254Z,1421959661.254 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-01-22T20:47:41.698Z,1421959661.698 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-01-22T20:47:41.699Z,1421959661.699 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-01-22T20:47:41.807Z,1421959661.807 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-01-22T20:47:41.810Z,1421959661.810 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-01-22T20:47:41.810Z,1421959661.810 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-01-22T20:47:42.046Z,1421959662.046 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-01-22T20:47:42.047Z,1421959662.047 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-01-22T20:47:42.160Z,1421959662.160 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-01-22T20:47:42.263Z,1421959662.263 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-01-22T20:47:42.360Z,1421959662.360 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-01-22T20:47:42.492Z,1421959662.492 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-01-22T20:47:42.632Z,1421959662.632 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-01-22T20:47:42.804Z,1421959662.804 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-01-22T20:47:42.903Z,1421959662.903 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-01-22T20:47:42.995Z,1421959662.995 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-01-22T20:47:43.096Z,1421959663.096 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-01-22T20:47:43.194Z,1421959663.194 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-01-22T20:47:43.386Z,1421959663.386 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-01-22T20:47:43.400Z,1421959663.400 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-01-22T20:47:43.448Z,1421959663.448 [VerticalControl](DEBUG): Construct VerticalControl.
2015-01-22T20:47:43.564Z,1421959663.564 [VerticalControl] Loaded
2015-01-22T20:47:43.565Z,1421959663.565 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-01-22T20:47:43.565Z,1421959663.565 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-01-22T20:47:43.635Z,1421959663.635 [HorizontalControl] Loaded
2015-01-22T20:47:43.635Z,1421959663.635 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-01-22T20:47:43.636Z,1421959663.636 [SpeedControl](DEBUG): Construct SpeedControl.
2015-01-22T20:47:43.642Z,1421959663.642 [SpeedControl] Loaded
2015-01-22T20:47:43.642Z,1421959663.642 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-01-22T20:47:43.643Z,1421959663.643 [LoopControl](DEBUG): Construct LoopControl.
2015-01-22T20:47:43.643Z,1421959663.643 [LoopControl] Loaded
2015-01-22T20:47:43.643Z,1421959663.643 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-01-22T20:47:43.644Z,1421959663.644 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-01-22T20:47:43.644Z,1421959663.644 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-01-22T20:47:43.737Z,1421959663.737 [SBIT](DEBUG): Construct Startup Built In Test.
2015-01-22T20:47:43.748Z,1421959663.748 [SBIT] Loaded
2015-01-22T20:47:43.748Z,1421959663.748 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-01-22T20:47:43.749Z,1421959663.749 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-01-22T20:47:43.777Z,1421959663.777 [IBIT] Loaded
2015-01-22T20:47:43.778Z,1421959663.778 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-01-22T20:47:43.780Z,1421959663.780 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-01-22T20:47:43.897Z,1421959663.897 [CBIT] Loaded
2015-01-22T20:47:43.897Z,1421959663.897 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-01-22T20:47:43.898Z,1421959663.898 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-01-22T20:47:43.898Z,1421959663.898 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-01-22T20:47:43.916Z,1421959663.916 [DepthRateCalculator] Loaded
2015-01-22T20:47:43.917Z,1421959663.917 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-01-22T20:47:43.922Z,1421959663.922 [PitchRateCalculator] Loaded
2015-01-22T20:47:43.922Z,1421959663.922 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-01-22T20:47:43.934Z,1421959663.934 [SpeedCalculator] Loaded
2015-01-22T20:47:43.934Z,1421959663.934 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-01-22T20:47:43.950Z,1421959663.950 [TempGradientCalculator] Loaded
2015-01-22T20:47:43.950Z,1421959663.950 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-01-22T20:47:43.956Z,1421959663.956 [YawRateCalculator] Loaded
2015-01-22T20:47:43.956Z,1421959663.956 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-01-22T20:47:43.956Z,1421959663.956 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-01-22T20:47:43.957Z,1421959663.957 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-01-22T20:47:44.005Z,1421959664.005 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-01-22T20:47:44.006Z,1421959664.006 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-01-22T20:47:44.244Z,1421959664.244 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-01-22T20:47:44.245Z,1421959664.245 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-01-22T20:47:44.287Z,1421959664.287 [NavChart] Loaded
2015-01-22T20:47:44.287Z,1421959664.287 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-01-22T20:47:44.294Z,1421959664.294 [UniversalFixResidualReporter] Loaded
2015-01-22T20:47:44.294Z,1421959664.294 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-01-22T20:47:44.294Z,1421959664.294 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-01-22T20:47:44.295Z,1421959664.295 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-01-22T20:47:44.301Z,1421959664.301 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-01-22T20:47:44.301Z,1421959664.301 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-01-22T20:47:44.385Z,1421959664.385 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-01-22T20:47:44.386Z,1421959664.386 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-01-22T20:47:44.677Z,1421959664.677 [DataOverHttps] Loaded
2015-01-22T20:47:44.677Z,1421959664.677 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-01-22T20:47:44.760Z,1421959664.760 [Depth_Keller] Loaded
2015-01-22T20:47:44.760Z,1421959664.760 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-01-22T20:47:44.928Z,1421959664.928 [NAL9602] Loaded
2015-01-22T20:47:44.928Z,1421959664.928 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-01-22T20:47:44.981Z,1421959664.981 [Onboard] Loaded
2015-01-22T20:47:44.981Z,1421959664.981 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-01-22T20:47:44.988Z,1421959664.988 [Radio_Surface] Loaded
2015-01-22T20:47:44.988Z,1421959664.988 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-01-22T20:47:44.989Z,1421959664.989 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2015-01-22T20:47:44.990Z,1421959664.990 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1398
2015-01-22T20:47:46.836Z,1421959666.836 [BPC1] Loaded
2015-01-22T20:47:46.836Z,1421959666.836 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-01-22T20:47:46.836Z,1421959666.836 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-01-22T20:47:46.837Z,1421959666.837 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-01-22T20:47:46.933Z,1421959666.933 [BuoyancyServo] Loaded
2015-01-22T20:47:46.933Z,1421959666.933 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-01-22T20:47:46.945Z,1421959666.945 [ElevatorServo] Loaded
2015-01-22T20:47:46.945Z,1421959666.945 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-01-22T20:47:46.957Z,1421959666.957 [RudderServo] Loaded
2015-01-22T20:47:46.957Z,1421959666.957 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-01-22T20:47:46.968Z,1421959666.968 [ThrusterServo] Loaded
2015-01-22T20:47:46.968Z,1421959666.968 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-01-22T20:47:46.969Z,1421959666.969 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-01-22T20:47:46.969Z,1421959666.969 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-01-22T20:47:47.067Z,1421959667.067 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-01-22T20:47:47.068Z,1421959667.068 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-01-22T20:47:47.092Z,1421959667.092 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-01-22T20:47:47.094Z,1421959667.094 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-01-22T20:47:47.095Z,1421959667.095 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-01-22T20:47:47.101Z,1421959667.101 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-01-22T20:47:47.102Z,1421959667.102 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083C4E0
2015-01-22T20:47:47.103Z,1421959667.103 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1399
2015-01-22T20:47:47.108Z,1421959667.108 [Supervisor](INFO): Main Thread ID is 1311
2015-01-22T20:47:47.108Z,1421959667.108 [Supervisor](DEBUG): Running supervisor.
2015-01-22T20:47:47.109Z,1421959667.109 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1400
2015-01-22T20:47:47.113Z,1421959667.113 [controlThread ThreadHandler](INFO): Handler Thread ID is 1401
2015-01-22T20:47:47.113Z,1421959667.113 [controlThread](DEBUG): Initializing ControlThread
2015-01-22T20:47:47.114Z,1421959667.114 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-01-22T20:47:47.116Z,1421959667.116 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-01-22T20:47:47.117Z,1421959667.117 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-01-22T20:47:47.117Z,1421959667.117 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-01-22T20:47:47.117Z,1421959667.117 [SBIT](INFO): Initialize SBIT Component.
2015-01-22T20:47:47.118Z,1421959667.118 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11963
2015-01-22T20:47:47.118Z,1421959667.118 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-01-22T20:47:47.118Z,1421959667.118 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-01-22T20:47:47.119Z,1421959667.119 [IBIT](INFO): Initialize IBIT Component.
2015-01-22T20:47:47.120Z,1421959667.120 [CBIT](DEBUG): Initialize CBIT Component.
2015-01-22T20:47:47.120Z,1421959667.120 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-01-22T20:47:47.121Z,1421959667.121 [logger ThreadHandler](INFO): Handler Thread ID is 1402
2015-01-22T20:47:47.141Z,1421959667.141 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1403
2015-01-22T20:47:47.145Z,1421959667.145 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-22T20:47:47.145Z,1421959667.145 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-01-22T20:47:47.146Z,1421959667.146 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-01-22T20:47:47.146Z,1421959667.146 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-01-22T20:47:47.147Z,1421959667.147 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-01-22T20:47:47.147Z,1421959667.147 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-01-22T20:47:47.147Z,1421959667.147 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-01-22T20:47:47.154Z,1421959667.154 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-01-22T20:47:47.161Z,1421959667.161 [Radio_Surface](INFO): Powering up
2015-01-22T20:47:47.173Z,1421959667.173 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-22T20:47:47.175Z,1421959667.175 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1404
2015-01-22T20:47:47.178Z,1421959667.178 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-01-22T20:47:47.179Z,1421959667.179 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-01-22T20:47:47.179Z,1421959667.179 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-01-22T20:47:47.179Z,1421959667.179 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-01-22T20:47:47.179Z,1421959667.179 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-01-22T20:47:47.180Z,1421959667.180 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-01-22T20:47:47.180Z,1421959667.180 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-01-22T20:47:47.180Z,1421959667.180 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-01-22T20:47:47.181Z,1421959667.181 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-01-22T20:47:47.212Z,1421959667.212 [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>


2015-01-22T20:47:47.225Z,1421959667.225 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-01-22T20:47:47.299Z,1421959667.299 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-01-22T20:47:47.312Z,1421959667.312 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-01-22T20:47:47.316Z,1421959667.316 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-22T20:47:47.348Z,1421959667.348 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-01-22T20:47:47.385Z,1421959667.385 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-01-22T20:47:47.433Z,1421959667.433 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-01-22T20:47:47.479Z,1421959667.479 [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>


2015-01-22T20:47:47.483Z,1421959667.483 [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,
2015-01-22T20:47:47.597Z,1421959667.597 [NAL9602](INFO): Start
2015-01-22T20:47:47.973Z,1421959667.973 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:47:47.978Z,1421959667.978 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-01-22T20:47:47.996Z,1421959667.996 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:47:48.002Z,1421959668.002 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-22T20:47:48.008Z,1421959668.008 [RudderServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:47:48.014Z,1421959668.014 [RudderServo](DEBUG): Initializing RudderServo.
2015-01-22T20:47:48.028Z,1421959668.028 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:47:48.034Z,1421959668.034 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-01-22T20:47:48.194Z,1421959668.194 [NAL9602](INFO): Start
2015-01-22T20:47:57.206Z,1421959677.206 [NAL9602](INFO): Start
2015-01-22T20:47:57.206Z,1421959677.206 [NAL9602](INFO): Powering up NAL9602
2015-01-22T20:47:58.346Z,1421959678.346 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003500
2015-01-22T20:48:02.819Z,1421959682.819 [SBIT](IMPORTANT): Beginning Startup BIT
2015-01-22T20:48:02.821Z,1421959682.821 [CBIT](IMPORTANT): Beginning GF scan
2015-01-22T20:48:08.347Z,1421959688.347 [NAL9602](INFO): ************** CMDMODE **************

2015-01-22T20:48:08.347Z,1421959688.347 [NAL9602](INFO): NAL9602 initialized
2015-01-22T20:48:16.140Z,1421959696.140 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T20:48:29.335Z,1421959709.335 [CBIT](IMPORTANT): No ground fault detected
2015-01-22T20:48:42.870Z,1421959722.870 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T20:48:42.870Z,1421959722.870 [SBIT](FAULT): Control surface position failure.
2015-01-22T20:48:56.568Z,1421959736.568 [BPC1](ERROR): A bank expecting battery number:1 and read number: uart read:X
$S,01,270F,02,00,04,5C%51
$C1,01,FF,02,00,03,FF,04,00,05,00,06,00,07,00%72
$B11,0A,FFFC%36
$B12,0A,FFFB%34
$B13,0A,FFFB%35
$B14,0A,FFFC%33
$B15,0A,0000%37
$B16,0A,0000%34
$B17,0A,0000%35
$B18,0A,0000%3A
$S,01,270F,02,00,04,5C%51
$C1,01,FF,02,00,03,FF,04,00,05,00,06,00,07,00%72
$B11,02,000A,01,026C,03,0001,08,0B98,09,3D2F,0A,FFFC,0B,FFFD%30
$B11,0C,0001,0D,0058,0E,0051,0F,136E,10,16D9,11,FFFF,12,FFFF%47
$B11,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%41
$B11,1A,0031,1B,4357,1C,00BE%33
$B12,02,000A,01,026C,03,0001,08,0B91,09,3D31,0A,FFFB,0B,FFFC%4A
$B12,0C,0001,0D,0055,0E,0051,0F,1387,10,1722,11,EA54,12,FFFF%4C
$B12,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%42
$B12,1A,0031,1B,4357,1C,00A3%45
$B13,02,000A,01,026C,03,0001,08,0B91,09,3D2F,0A,FFFB,0B,FFFC%3D
$B13,0C,0001,0D,005F,0E,0051,0F,1396,10,170F,11,EB08,12,FFFF%42
$B13,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%43
$B13,1A,0031,1B,4357,1C,0091%3E
$B14,02,000A,01,026C,03,0001,08,0B98,09,3D38,0A,FFFC,0B,FFFD%4A
$B14,0C,0001,0D,0059,0E,0054,0F,1427,10,16C5,11,FFFF,12,FFFF%3C
$B14,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%44
$B14,1A,0031,1B,4357,1C,00B7%44
$B15,02,000A,01,026C,03,0001,08,0B9B,09,3C27,0A,0000,0B,0000%3F
$B15,0C,0001,0D,0064,0E,005D,0F,1657,10,177E,11,FFFF,12,FFFF%43
$B15,13,FFFF,14,0000,15,41A0,16,00E0,17,0001,18,1838,19,3840%48
$B15,1A,0031,1B,4357,1C,008F%4E
$B16,02,000A,01,026C,03,0001,08,0B94,09,3C3A,0A,0000,0B,0001%3C
$B16,0C,0001,0D,0064,0E,005A,0F,15AE,10,16B8,11,FFFF,12,FFFF%49
$B16,13,3E58,14,0000,15,41A0,16,00E0,17,0001,18,1838,19,3840%30
$B16,1A,0031,1B,4357,1C,0088%33
$B17,02,000A,01,026C,03,0001,08,0B91,09,3C36,0A,0000,0B,0001%4F
$B17,0C,0001,0D,0064,0E,005E,0F,16BC,10,16D1,11,FFFF,12,FFFF%45
$B17,13,04EC,14,0000,15,41A0,16,00E0,17,0001,18,1838,19,3840%48
$B17,1A,0031,1B,4357,1C,0098%33
$B18,02,000A,01,026C,03,0001,08,0B91,09,3CEF,0A,0000,0B,0000%47
$B18,0C,0001,0D,0054,0E,004C,0F,1266,10,1692,11,FFFF,12,FFFF%35
$B18,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%48
$B18,1A,0031,1B,4357,1C,00B3%4C

2015-01-22T20:48:56.568Z,1421959736.568 [BPC1](FAULT): Failed to parse bank A battery data
2015-01-22T20:48:56.568Z,1421959736.568 [BPC1] Data Fault, FailCount= 1
2015-01-22T20:48:56.569Z,1421959736.569 [BPC1](ERROR): Data Fault
2015-01-22T20:48:56.581Z,1421959736.581 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T20:48:56.581Z,1421959736.581 [SBIT](FAULT): Control surface position failure.
2015-01-22T20:48:56.583Z,1421959736.583 [CBIT](ERROR): Data Fault in component: BPC1
2015-01-22T20:48:56.979Z,1421959736.979 [SBIT](CRITICAL): SBIT FAILED
2015-01-22T20:48:56.980Z,1421959736.980 [CommandLine](FAULT): Scheduling is paused
2015-01-22T20:48:57.349Z,1421959737.349 [MissionManager](IMPORTANT): Started mission Startup
2015-01-22T20:48:57.349Z,1421959737.349 [Startup] Running Loop=1
2015-01-22T20:48:57.350Z,1421959737.350 [Startup](INFO): Aggregate::initialize Startup
2015-01-22T20:48:57.350Z,1421959737.350 [Startup:A.GoToSurface] Running Loop=1
2015-01-22T20:48:57.358Z,1421959737.358 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-22T20:48:57.359Z,1421959737.359 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-22T20:48:57.359Z,1421959737.359 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-22T20:48:57.359Z,1421959737.359 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-22T20:48:57.366Z,1421959737.366 [Startup:StartupSatComms] Running Loop=1
2015-01-22T20:48:57.366Z,1421959737.366 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2015-01-22T20:48:57.366Z,1421959737.366 [Startup:StartupSatComms:A] Running Loop=1
2015-01-22T20:48:57.766Z,1421959737.766 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2015-01-22T20:48:57.776Z,1421959737.776 [CBIT](INFO): Clearing failed state for component BPC1
2015-01-22T20:48:57.776Z,1421959737.776 [BPC1] No Fault, FailCount= 1
2015-01-22T20:49:24.552Z,1421959764.552 [BPC1](ERROR): A bank expecting battery number:1 and read number: uart read:X
$S,01,270F,02,00,04,5C%51
$C1,01,FF,02,00,03,FF,04,00,05,00,06,00,07,00%72
$B11,0A,FFFC%36
$B12,0A,FFFB%34
$B13,0A,FFFB%35
$B14,0A,FFFC%33
$B15,0A,0000%37
$B16,0A,0000%34
$B17,0A,0000%35
$B18,0A,0000%3A
$S,01,270F,02,00,04,5C%51
$C1,01,FF,02,00,03,FF,04,00,05,00,06,00,07,00%72
$B11,02,000A,01,026C,03,0001,08,0B98,09,3D2F,0A,FFFC,0B,FFFC%37
$B11,0C,0001,0D,0058,0E,0051,0F,136E,10,16D9,11,FFFF,12,FFFF%47
$B11,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%41
$B11,1A,0031,1B,4357,1C,00BE%33
$B12,02,000A,01,026C,03,0001,08,0B91,09,3D31,0A,FFFB,0B,FFFB%4B
$B12,0C,0001,0D,0055,0E,0051,0F,1387,10,1722,11,EA54,12,EA54%49
$B12,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%42
$B12,1A,0031,1B,4357,1C,00A3%45
$B13,02,000A,01,026C,03,0001,08,0B92,09,3D2E,0A,FFFB,0B,FFFB%3C
$B13,0C,0001,0D,005F,0E,0051,0F,1396,10,170F,11,EB08,12,EB08%4D
$B13,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%43
$B13,1A,0031,1B,4357,1C,0091%3E
$B14,02,000A,01,026C,03,0001,08,0B98,09,3D38,0A,FFFC,0B,FFFC%4D
$B14,0C,0001,0D,0059,0E,0054,0F,1427,10,16C5,11,FFFF,12,FFFF%3C
$B14,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%44
$B14,1A,0031,1B,4357,1C,00B7%44
$B15,02,000A,01,026C,03,0001,08,0B9C,09,3C28,0A,0000,0B,0000%31
$B15,0C,0001,0D,0064,0E,005D,0F,1657,10,177E,11,FFFF,12,FFFF%43
$B15,13,FFFF,14,0000,15,41A0,16,00E0,17,0001,18,1838,19,3840%48
$B15,1A,0031,1B,4357,1C,008F%4E
$B16,02,000A,01,026C,03,0001,08,0B94,09,3C3B,0A,0000,0B,0000%3E
$B16,0C,0001,0D,0064,0E,005A,0F,15AE,10,16B8,11,FFFF,12,FFFF%49
$B16,13,FFFF,14,0000,15,41A0,16,00E0,17,0001,18,1838,19,3840%4B
$B16,1A,0031,1B,4357,1C,0088%33
$B17,02,000A,01,026C,03,0001,08,0B92,09,3C36,0A,0000,0B,0000%4D
$B17,0C,0001,0D,0064,0E,005E,0F,16BC,10,16D1,11,FFFF,12,FFFF%45
$B17,13,FFFF,14,0000,15,41A0,16,00E0,17,0001,18,1838,19,3840%4A
$B17,1A,0031,1B,4357,1C,0098%33
$B18,02,000A,01,026C,03,0001,08,0B91,09,3CF0,0A,0000,0B,0000%32
$B18,0C,0001,0D,0054,0E,004C,0F,1266,10,1692,11,FFFF,12,FFFF%35
$B18,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%48
$B18,1A,0031,1B,4357,1C,00B3%4C

2015-01-22T20:49:24.553Z,1421959764.553 [BPC1](FAULT): Failed to parse bank A battery data
2015-01-22T20:49:24.553Z,1421959764.553 [BPC1] Data Fault, FailCount= 1
2015-01-22T20:49:24.553Z,1421959764.553 [BPC1](ERROR): Data Fault
2015-01-22T20:49:24.608Z,1421959764.608 [CBIT](ERROR): Data Fault in component: BPC1
2015-01-22T20:49:25.762Z,1421959765.762 [CBIT](INFO): Clearing failed state for component BPC1
2015-01-22T20:49:25.762Z,1421959765.762 [BPC1] No Fault, FailCount= 1
2015-01-22T20:49:31.227Z,1421959771.227 [CommandLine](IMPORTANT): got command show stack
2015-01-22T20:49:31.227Z,1421959771.227 [CommandLine](IMPORTANT): Behavior Stack:

2015-01-22T20:49:31.227Z,1421959771.227 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2015-01-22T20:49:31.228Z,1421959771.228 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:A
2015-01-22T20:49:53.252Z,1421959793.252 [CommandLine](IMPORTANT): got command show variable quality
2015-01-22T20:49:53.280Z,1421959793.280 [CommandLine](IMPORTANT): NAL9602.sigQuality (count)
2015-01-22T20:49:57.475Z,1421959797.475 [Startup:StartupSatComms:A](INFO): Timed out from 2015-01-22T20:48:57.4Z
2015-01-22T20:49:57.475Z,1421959797.475 [Startup:StartupSatComms:A] Stopped
2015-01-22T20:49:57.475Z,1421959797.475 [Startup:StartupSatComms:B] Running Loop=1
2015-01-22T20:49:57.876Z,1421959797.876 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2015-01-22T20:50:00.001Z,1421959800.001 [CommandLine](IMPORTANT): got command report mod NAL9602.sigQuality
2015-01-22T20:50:02.351Z,1421959802.351 [Reporter](INFO): NAL9602.sigQuality 0 count
2015-01-22T20:50:02.762Z,1421959802.762 [DataOverHttps](INFO): Sending 57 bytes from file Logs/20150122T202926/Courier0012.lzma
2015-01-22T20:50:03.559Z,1421959803.559 [DataOverHttps](INFO): Moved sent file to Logs/20150122T202926/Courier0012.lzma.bak
2015-01-22T20:50:03.559Z,1421959803.559 [DataOverHttps](INFO): SBD MOMSN=1504023
2015-01-22T20:50:13.307Z,1421959813.307 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20150122T204738/Courier0000.lzma
2015-01-22T20:50:14.106Z,1421959814.106 [DataOverHttps](INFO): Moved sent file to Logs/20150122T204738/Courier0000.lzma.bak
2015-01-22T20:50:14.106Z,1421959814.106 [DataOverHttps](INFO): SBD MOMSN=1504026
2015-01-22T20:50:24.778Z,1421959824.778 [DataOverHttps](INFO): Sending 356 bytes from file Logs/20150122T202926/Express0013.lzma
2015-01-22T20:50:25.576Z,1421959825.576 [DataOverHttps](INFO): Moved sent file to Logs/20150122T202926/Express0013.lzma.bak
2015-01-22T20:50:25.576Z,1421959825.576 [DataOverHttps](INFO): SBD MOMSN=1504030
2015-01-22T20:50:35.279Z,1421959835.279 [DataOverHttps](INFO): Sending 690 bytes from file Logs/20150122T204738/Express0001.lzma
2015-01-22T20:50:36.076Z,1421959836.076 [DataOverHttps](INFO): Moved sent file to Logs/20150122T204738/Express0001.lzma.bak
2015-01-22T20:50:36.076Z,1421959836.076 [DataOverHttps](INFO): SBD MOMSN=1504064
2015-01-22T20:50:36.814Z,1421959836.814 [Startup:StartupSatComms:B] Stopped
2015-01-22T20:50:36.814Z,1421959836.814 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2015-01-22T20:50:36.814Z,1421959836.814 [Startup:StartupSatComms] Stopped
2015-01-22T20:50:36.814Z,1421959836.814 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2015-01-22T20:50:36.815Z,1421959836.815 [Startup](INFO): Completed Startup
2015-01-22T20:50:36.815Z,1421959836.815 [Startup] Stopped
2015-01-22T20:50:36.815Z,1421959836.815 [Startup](INFO): Aggregate::uninitialize Startup
2015-01-22T20:50:36.816Z,1421959836.816 [Startup:A.GoToSurface] Stopped
2015-01-22T20:50:36.816Z,1421959836.816 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-22T20:50:36.924Z,1421959836.924 [MissionManager](IMPORTANT): Started mission Default
2015-01-22T20:50:36.924Z,1421959836.924 [Default] Running Loop=1
2015-01-22T20:50:36.924Z,1421959836.924 [Default](INFO): Aggregate::initialize Default
2015-01-22T20:50:36.924Z,1421959836.924 [Default:B.GoToSurface] Running Loop=1
2015-01-22T20:50:36.929Z,1421959836.929 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-22T20:50:36.929Z,1421959836.929 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-22T20:50:36.929Z,1421959836.929 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-22T20:50:36.930Z,1421959836.930 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-22T20:50:36.930Z,1421959836.930 [Default:StartClock] Running Loop=1
2015-01-22T20:50:36.930Z,1421959836.930 [Default:StartClock](INFO): Aggregate::initialize Default:StartClock
2015-01-22T20:50:36.930Z,1421959836.930 [Default:StartClock:A] Running Loop=1
2015-01-22T20:50:36.946Z,1421959836.946 [Default:StartClock:A] Stopped
2015-01-22T20:50:36.947Z,1421959836.947 [Default:StartClock](INFO): Completed Default:StartClock
2015-01-22T20:50:36.947Z,1421959836.947 [Default:StartClock] Stopped
2015-01-22T20:50:36.947Z,1421959836.947 [Default:StartClock](INFO): Aggregate::uninitialize Default:StartClock
2015-01-22T20:50:40.122Z,1421959840.122 [Default:WaitAtTheSurface] Running Loop=1
2015-01-22T20:50:40.122Z,1421959840.122 [Default:WaitAtTheSurface](INFO): Aggregate::initialize Default:WaitAtTheSurface
2015-01-22T20:50:40.122Z,1421959840.122 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-22T20:50:40.122Z,1421959840.122 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Initialize.
2015-01-22T20:50:40.214Z,1421959840.214 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-22T20:51:20.151Z,1421959880.151 [BPC1](ERROR): Failed to parse message.
2015-01-22T20:51:20.151Z,1421959880.151 [BPC1](FAULT): Failed to parse bank B battery data
2015-01-22T20:51:20.151Z,1421959880.151 [BPC1] Data Fault, FailCount= 1
2015-01-22T20:51:20.151Z,1421959880.151 [BPC1](ERROR): Data Fault
2015-01-22T20:51:20.167Z,1421959880.167 [CBIT](ERROR): Data Fault in component: BPC1
2015-01-22T20:51:35.200Z,1421959895.200 [CBIT](INFO): Clearing failed state for component BPC1
2015-01-22T20:51:35.200Z,1421959895.200 [BPC1] No Fault, FailCount= 1
2015-01-22T20:52:50.181Z,1421959970.181 [Default:UpdateAndReportMinutesSinceMissionStarted] Running Loop=1
2015-01-22T20:52:50.181Z,1421959970.181 [Default:UpdateAndReportMinutesSinceMissionStarted](INFO): Aggregate::initialize Default:UpdateAndReportMinutesSinceMissionStarted
2015-01-22T20:52:50.181Z,1421959970.181 [Default:UpdateAndReportMinutesSinceMissionStarted:A] Running Loop=1
2015-01-22T20:52:50.183Z,1421959970.183 [Default:UpdateAndReportMinutesSinceMissionStarted:A] Stopped
2015-01-22T20:52:50.183Z,1421959970.183 [Default:UpdateAndReportMinutesSinceMissionStarted:B] Running Loop=1
2015-01-22T20:52:57.966Z,1421959977.966 [Default:UpdateAndReportMinutesSinceMissionStarted:B](IMPORTANT): Default mission has been running for 2.221070 min 
2015-01-22T20:52:57.968Z,1421959977.968 [Default:UpdateAndReportMinutesSinceMissionStarted:B] Stopped
2015-01-22T20:52:57.969Z,1421959977.969 [Default:UpdateAndReportMinutesSinceMissionStarted](INFO): Completed Default:UpdateAndReportMinutesSinceMissionStarted
2015-01-22T20:52:57.969Z,1421959977.969 [Default:UpdateAndReportMinutesSinceMissionStarted] Stopped
2015-01-22T20:52:57.969Z,1421959977.969 [Default:UpdateAndReportMinutesSinceMissionStarted](INFO): Aggregate::uninitialize Default:UpdateAndReportMinutesSinceMissionStarted
2015-01-22T20:53:15.155Z,1421959995.155 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2015-01-22T20:53:25.161Z,1421960005.161 [BPC1](FAULT): Failed to receive battery data
2015-01-22T20:53:25.162Z,1421960005.162 [BPC1] Communications Fault, FailCount= 1
2015-01-22T20:53:25.162Z,1421960005.162 [BPC1](ERROR): Communications Fault
2015-01-22T20:53:25.177Z,1421960005.177 [CBIT](ERROR): Communications Fault in component: BPC1
2015-01-22T20:53:30.143Z,1421960010.143 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:53:30.144Z,1421960010.144 [NAL9602](IMPORTANT): GPS fix at: 1421960005.00
2015-01-22T20:53:40.171Z,1421960020.171 [CBIT](INFO): Clearing failed state for component BPC1
2015-01-22T20:53:40.171Z,1421960020.171 [BPC1] No Fault, FailCount= 1
2015-01-22T20:53:57.947Z,1421960037.947 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:53:57.948Z,1421960037.948 [NAL9602](IMPORTANT): GPS fix at: 1421960030.00
2015-01-22T20:54:20.144Z,1421960060.144 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:54:20.145Z,1421960060.145 [NAL9602](IMPORTANT): GPS fix at: 1421960055.00
2015-01-22T20:54:35.150Z,1421960075.150 [BPC1](DEBUG): Received data from all battery sticks
2015-01-22T20:54:45.147Z,1421960085.147 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:54:45.148Z,1421960085.148 [NAL9602](IMPORTANT): GPS fix at: 1421960080.00
2015-01-22T20:55:10.150Z,1421960110.150 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:55:10.151Z,1421960110.151 [NAL9602](IMPORTANT): GPS fix at: 1421960105.00
2015-01-22T20:55:35.141Z,1421960135.141 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:55:35.141Z,1421960135.141 [NAL9602](IMPORTANT): GPS fix at: 1421960130.00
2015-01-22T20:55:40.169Z,1421960140.169 [Default:CheckIn] Running Loop=1
2015-01-22T20:55:40.169Z,1421960140.169 [Default:CheckIn](INFO): Aggregate::initialize Default:CheckIn
2015-01-22T20:55:40.169Z,1421960140.169 [Default:CheckIn:A.SetSpeed] Running Loop=1
2015-01-22T20:55:40.169Z,1421960140.169 [Default:CheckIn:A.SetSpeed](DEBUG): Initialize.
2015-01-22T20:55:40.169Z,1421960140.169 [Default:CheckIn:Read_GPS] Running Loop=1
2015-01-22T20:55:40.170Z,1421960140.170 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2015-01-22T20:55:40.172Z,1421960140.172 [Default:CheckIn:A.SetSpeed] Running Loop=1
2015-01-22T20:55:42.540Z,1421960142.540 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:55:42.541Z,1421960142.541 [NAL9602](IMPORTANT): GPS fix at: 1421960142.00
2015-01-22T20:55:42.552Z,1421960142.552 [Default:CheckIn:Read_GPS] Stopped
2015-01-22T20:55:42.552Z,1421960142.552 [Default:CheckIn:Read_Iridium] Running Loop=1
2015-01-22T20:55:42.972Z,1421960142.972 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2015-01-22T20:55:47.451Z,1421960147.451 [DataOverHttps](INFO): Sending 297 bytes from file Logs/20150122T204738/Courier0004.lzma
2015-01-22T20:55:47.857Z,1421960147.857 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:55:47.857Z,1421960147.857 [NAL9602](IMPORTANT): GPS fix at: 1421960147.00
2015-01-22T20:55:48.246Z,1421960148.246 [DataOverHttps](INFO): Moved sent file to Logs/20150122T204738/Courier0004.lzma.bak
2015-01-22T20:55:48.246Z,1421960148.246 [DataOverHttps](INFO): SBD MOMSN=1504085
2015-01-22T20:55:52.356Z,1421960152.356 [BPC1](ERROR): B bank expecting battery number:1 and read number: uart read:X
$S,01,270F,02,00,04,60%21
$C1,01,FF,02,00,03,FF,04,00,05,00,06,00,07,00%72
$B11,0A,FFFC%36
$B12,0A,0000%30
$B13,0A,FFFB%35
$B14,0A,FFFC%33
$B15,0A,0000%37
$B16,0A,0000%34
$B17,0A,0000%35
$B18,0A,0000%3A
$S,01,270F,02,00,04,60%21
$C1,01,FF,02,00,03,FF,04,00,05,00,06,00,07,00%72
$B11,02,000A,01,026C,03,0001,08,0B97,09,3D28,0A,FFFC,0B,0000%43
$B11,0C,0001,0D,005C,0E,0058,0F,153B,10,1787,11,FFFF,12,FFFF%42
$B11,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%41
$B11,1A,0031,1B,4357,1C,00A7%42
$B12,02,000A,01,026C,03,0001,08,0B96,09,3C41,0A,0000,0B,0002%4E
$B12,0C,0001,0D,0064,0E,0060,0F,170F,10,170F,11,FFFF,12,FFFF%42
$B12,13,0000,14,0000,15,41A0,16,00E0,17,0001,18,1838,19,3840%4F
$B12,1A,0031,1B,4357,1C,009E%4B
$B13,02,000A,01,026C,03,0001,08,0B94,09,3D2B,0A,FFFB,0B,FFFF%39
$B13,0C,0001,0D,0063,0E,0057,0F,14F9,10,17AC,11,FBAC,12,FFFF%38
$B13,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%43
$B13,1A,0031,1B,4357,1C,0089%37
$B14,02,000A,01,026C,03,0001,08,0B98,09,3D2C,0A,FFFC,0B,FFFF%32
$B14,0C,0001,0D,005B,0E,0056,0F,14C8,10,16F6,11,FFFF,12,FFFF%3D
$B14,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%44
$B14,1A,0031,1B,4357,1C,00A6%46
$B15,02,000A,01,026C,03,0001,08,0B9A,09,3C2C,0A,0000,0B,0002%4A
$B15,0C,0001,0D,0064,0E,005C,0F,162E,10,171F,11,FFFF,12,FFFF%34
$B15,13,1C3E,14,0000,15,41A0,16,00E0,17,0001,18,1838,19,3840%4C
$B15,1A,0031,1B,4357,1C,00A9%48
$B16,02,000A,01,026C,03,0001,08,0B90,09,3D35,0A,0000,0B,0002%48
$B16,0C,0001,0D,0063,0E,0059,0F,1556,10,1698,11,FFFF,12,FFFF%4A
$B16,13,25BC,14,0BB8,15,41A0,16,00C0,17,0001,18,1838,19,3840%43
$B16,1A,0031,1B,4357,1C,00A8%4A
$B17,02,000A,01,026C,03,0001,08,0B8A,09,3D30,0A,0000,0B,0001%3F
$B17,0C,0001,0D,005F,0E,0058,0F,153F,10,16E3,11,FFFF,12,FFFF%3D
$B17,13,6270,14,0BB8,15,41A0,16,00C0,17,0001,18,1838,19,3840%47
$B17,1A,0031,1B,4357,1C,00A5%46
$B18,02,000A,01,026C,03,0001,08,0B9A,09,3D04,0A,FFE5,0B,FFEB%40
$B18,0C,0001,0D,005B,0E,0053,0F,1401,10,16AA,11,2C74,12,3927%43
$B18,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%48
$B18,1A,0031,1B,4357,1C,00AE%39

2015-01-22T20:55:52.356Z,1421960152.356 [BPC1](FAULT): Failed to parse bank B battery data
2015-01-22T20:55:52.356Z,1421960152.356 [BPC1] Data Fault, FailCount= 1
2015-01-22T20:55:52.356Z,1421960152.356 [BPC1](ERROR): Data Fault
2015-01-22T20:55:52.440Z,1421960152.440 [CBIT](ERROR): Data Fault in component: BPC1
2015-01-22T20:55:53.105Z,1421960153.105 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:55:53.105Z,1421960153.105 [NAL9602](IMPORTANT): GPS fix at: 1421960152.00
2015-01-22T20:55:53.538Z,1421960153.538 [CBIT](INFO): Clearing failed state for component BPC1
2015-01-22T20:55:53.538Z,1421960153.538 [BPC1] No Fault, FailCount= 1
2015-01-22T20:55:57.932Z,1421960157.932 [DataOverHttps](INFO): Sending 436 bytes from file Logs/20150122T204738/Express0005.lzma
2015-01-22T20:55:57.940Z,1421960157.940 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:55:57.941Z,1421960157.941 [NAL9602](IMPORTANT): GPS fix at: 1421960157.00
2015-01-22T20:55:58.726Z,1421960158.726 [DataOverHttps](INFO): Moved sent file to Logs/20150122T204738/Express0005.lzma.bak
2015-01-22T20:55:58.726Z,1421960158.726 [DataOverHttps](INFO): SBD MOMSN=1504088
2015-01-22T20:55:59.441Z,1421960159.441 [Default:CheckIn:Read_Iridium] Stopped
2015-01-22T20:55:59.441Z,1421960159.441 [Default:CheckIn](INFO): Completed Default:CheckIn
2015-01-22T20:55:59.442Z,1421960159.442 [Default:CheckIn] Stopped
2015-01-22T20:55:59.442Z,1421960159.442 [Default:CheckIn](INFO): Aggregate::uninitialize Default:CheckIn
2015-01-22T20:55:59.442Z,1421960159.442 [Default:CheckIn:A.SetSpeed] Stopped
2015-01-22T20:55:59.442Z,1421960159.442 [Default:CheckIn:A.SetSpeed](DEBUG): Uninitialize.
2015-01-22T20:56:09.534Z,1421960169.534 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:56:09.535Z,1421960169.535 [NAL9602](IMPORTANT): GPS fix at: 1421960167.00
2015-01-22T20:56:34.533Z,1421960194.533 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:56:34.534Z,1421960194.534 [NAL9602](IMPORTANT): GPS fix at: 1421960189.00
2015-01-22T20:56:59.536Z,1421960219.536 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T20:56:59.537Z,1421960219.537 [NAL9602](IMPORTANT): GPS fix at: 1421960214.00
2015-01-22T20:57:07.852Z,1421960227.852 [CommandLine](IMPORTANT): got command quit
2015-01-22T20:57:08.857Z,1421960228.857 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T20:57:08.858Z,1421960228.858 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:09.031Z,1421960229.031 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2015-01-22T20:57:09.031Z,1421960229.031 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:09.031Z,1421960229.031 [CommandLine](INFO): Join timeout helper Thread ID is 1417
2015-01-22T20:57:09.032Z,1421960229.032 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2015-01-22T20:57:09.032Z,1421960229.032 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:09.032Z,1421960229.032 [NavChartDb](INFO): Join timeout helper Thread ID is 1418
2015-01-22T20:57:09.111Z,1421960229.111 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T20:57:09.112Z,1421960229.112 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:09.131Z,1421960229.131 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2015-01-22T20:57:09.131Z,1421960229.131 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:09.131Z,1421960229.131 [Radio_Surface](INFO): Join timeout helper Thread ID is 1419
2015-01-22T20:57:09.247Z,1421960229.247 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T20:57:09.248Z,1421960229.248 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:09.248Z,1421960229.248 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2015-01-22T20:57:09.248Z,1421960229.248 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:09.249Z,1421960229.249 [logger](INFO): Join timeout helper Thread ID is 1420
2015-01-22T20:57:09.251Z,1421960229.251 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T20:57:09.252Z,1421960229.252 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:09.255Z,1421960229.255 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2015-01-22T20:57:09.255Z,1421960229.255 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:09.255Z,1421960229.255 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2015-01-22T20:57:09.255Z,1421960229.255 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:09.256Z,1421960229.256 [controlThread](INFO): Join timeout helper Thread ID is 1421
2015-01-22T20:57:09.524Z,1421960229.524 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T20:57:09.524Z,1421960229.524 [controlThread](DEBUG): Uninitializing ControlThread
2015-01-22T20:57:09.526Z,1421960229.526 [NAL9602](INFO): Uninitialize
2015-01-22T20:57:09.526Z,1421960229.526 [NAL9602](INFO): Powering down
2015-01-22T20:57:09.528Z,1421960229.528 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-22T20:57:09.529Z,1421960229.529 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2015-01-22T20:57:09.529Z,1421960229.529 [Default] Stopped
2015-01-22T20:57:09.530Z,1421960229.530 [Default](INFO): Aggregate::uninitialize Default
2015-01-22T20:57:09.530Z,1421960229.530 [Default:B.GoToSurface] Stopped
2015-01-22T20:57:09.530Z,1421960229.530 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-22T20:57:09.530Z,1421960229.530 [Default:WaitAtTheSurface] Stopped
2015-01-22T20:57:09.530Z,1421960229.530 [Default:WaitAtTheSurface](INFO): Aggregate::uninitialize Default:WaitAtTheSurface
2015-01-22T20:57:09.530Z,1421960229.530 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Stopped
2015-01-22T20:57:09.530Z,1421960229.530 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Uninitialize.
2015-01-22T20:57:09.534Z,1421960229.534 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2015-01-22T20:57:09.534Z,1421960229.534 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2015-01-22T20:57:09.534Z,1421960229.534 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2015-01-22T20:57:09.535Z,1421960229.535 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2015-01-22T20:57:09.535Z,1421960229.535 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-01-22T20:57:09.535Z,1421960229.535 [BuoyancyServo](INFO): Powering down
2015-01-22T20:57:09.548Z,1421960229.548 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-01-22T20:57:09.548Z,1421960229.548 [ElevatorServo](INFO): Powering down
2015-01-22T20:57:09.549Z,1421960229.549 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-01-22T20:57:09.549Z,1421960229.549 [RudderServo](INFO): Powering down
2015-01-22T20:57:09.550Z,1421960229.550 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-01-22T20:57:09.550Z,1421960229.550 [ThrusterServo](INFO): Powering down
2015-01-22T20:57:09.550Z,1421960229.550 [SBIT](DEBUG): Uninitialize SBIT Component.
2015-01-22T20:57:09.551Z,1421960229.551 [IBIT](DEBUG): Uninitialize IBIT Component.
2015-01-22T20:57:09.551Z,1421960229.551 [CBIT](DEBUG): Uninitialize CBIT Component.
2015-01-22T20:57:09.584Z,1421960229.584 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:09.868Z,1421960229.868 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:10.006Z,1421960230.006 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T20:57:10.187Z,1421960230.187 [logger ThreadHandler](INFO): Thread cancelled.