2015-01-22T20:57:36.547Z,1421960256.547 [Supervisor](DEBUG): Initializing supervisor.
2015-01-22T20:57:36.550Z,1421960256.550 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-01-22T20:57:36.551Z,1421960256.551 [SyncHandler](INFO): Protected caller Thread ID is 1427
2015-01-22T20:57:36.551Z,1421960256.551 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-01-22T20:57:36.552Z,1421960256.552 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-01-22T20:57:36.553Z,1421960256.553 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1428
2015-01-22T20:57:36.556Z,1421960256.556 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-01-22T20:57:36.569Z,1421960256.569 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-01-22T20:57:36.570Z,1421960256.570 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-01-22T20:57:36.570Z,1421960256.570 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1429
2015-01-22T20:57:36.571Z,1421960256.571 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-01-22T20:57:36.572Z,1421960256.572 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-01-22T20:57:36.572Z,1421960256.572 [logger ThreadHandler](INFO): Protected caller Thread ID is 1430
2015-01-22T20:57:36.574Z,1421960256.574 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-01-22T20:57:36.575Z,1421960256.575 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-01-22T20:57:36.576Z,1421960256.576 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-01-22T20:57:36.895Z,1421960256.895 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-01-22T20:57:36.895Z,1421960256.895 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-01-22T20:57:37.049Z,1421960257.049 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-01-22T20:57:37.050Z,1421960257.050 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-01-22T20:57:37.156Z,1421960257.156 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-01-22T20:57:37.157Z,1421960257.157 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-01-22T20:57:37.276Z,1421960257.276 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-01-22T20:57:37.277Z,1421960257.277 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-01-22T20:57:37.361Z,1421960257.361 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-01-22T20:57:37.530Z,1421960257.530 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-01-22T20:57:37.531Z,1421960257.531 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-01-22T20:57:37.620Z,1421960257.620 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-01-22T20:57:37.621Z,1421960257.621 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-01-22T20:57:37.824Z,1421960257.824 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-01-22T20:57:37.825Z,1421960257.825 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-01-22T20:57:38.187Z,1421960258.187 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-01-22T20:57:38.188Z,1421960258.188 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-01-22T20:57:38.499Z,1421960258.499 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-01-22T20:57:38.500Z,1421960258.500 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-01-22T20:57:38.996Z,1421960258.996 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-01-22T20:57:38.997Z,1421960258.997 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-01-22T20:57:39.193Z,1421960259.193 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-01-22T20:57:39.194Z,1421960259.194 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-01-22T20:57:39.298Z,1421960259.298 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-01-22T20:57:39.299Z,1421960259.299 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-01-22T20:57:39.712Z,1421960259.712 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-01-22T20:57:39.713Z,1421960259.713 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-01-22T20:57:39.821Z,1421960259.821 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-01-22T20:57:39.823Z,1421960259.823 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-01-22T20:57:39.824Z,1421960259.824 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-01-22T20:57:40.144Z,1421960260.144 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-01-22T20:57:40.145Z,1421960260.145 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-01-22T20:57:40.264Z,1421960260.264 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-01-22T20:57:40.362Z,1421960260.362 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-01-22T20:57:40.458Z,1421960260.458 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-01-22T20:57:40.572Z,1421960260.572 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-01-22T20:57:40.712Z,1421960260.712 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-01-22T20:57:40.882Z,1421960260.882 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-01-22T20:57:40.982Z,1421960260.982 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-01-22T20:57:41.072Z,1421960261.072 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-01-22T20:57:41.171Z,1421960261.171 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-01-22T20:57:41.267Z,1421960261.267 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-01-22T20:57:41.450Z,1421960261.450 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-01-22T20:57:41.463Z,1421960261.463 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-01-22T20:57:41.514Z,1421960261.514 [VerticalControl](DEBUG): Construct VerticalControl.
2015-01-22T20:57:41.634Z,1421960261.634 [VerticalControl] Loaded
2015-01-22T20:57:41.634Z,1421960261.634 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-01-22T20:57:41.635Z,1421960261.635 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-01-22T20:57:41.708Z,1421960261.708 [HorizontalControl] Loaded
2015-01-22T20:57:41.708Z,1421960261.708 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-01-22T20:57:41.709Z,1421960261.709 [SpeedControl](DEBUG): Construct SpeedControl.
2015-01-22T20:57:41.715Z,1421960261.715 [SpeedControl] Loaded
2015-01-22T20:57:41.715Z,1421960261.715 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-01-22T20:57:41.716Z,1421960261.716 [LoopControl](DEBUG): Construct LoopControl.
2015-01-22T20:57:41.716Z,1421960261.716 [LoopControl] Loaded
2015-01-22T20:57:41.717Z,1421960261.717 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-01-22T20:57:41.717Z,1421960261.717 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-01-22T20:57:41.718Z,1421960261.718 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-01-22T20:57:41.815Z,1421960261.815 [SBIT](DEBUG): Construct Startup Built In Test.
2015-01-22T20:57:41.827Z,1421960261.827 [SBIT] Loaded
2015-01-22T20:57:41.827Z,1421960261.827 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-01-22T20:57:41.828Z,1421960261.828 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-01-22T20:57:41.857Z,1421960261.857 [IBIT] Loaded
2015-01-22T20:57:41.857Z,1421960261.857 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-01-22T20:57:41.860Z,1421960261.860 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-01-22T20:57:41.982Z,1421960261.982 [CBIT] Loaded
2015-01-22T20:57:41.982Z,1421960261.982 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-01-22T20:57:41.982Z,1421960261.982 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-01-22T20:57:41.983Z,1421960261.983 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-01-22T20:57:42.001Z,1421960262.001 [DepthRateCalculator] Loaded
2015-01-22T20:57:42.002Z,1421960262.002 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-01-22T20:57:42.007Z,1421960262.007 [PitchRateCalculator] Loaded
2015-01-22T20:57:42.007Z,1421960262.007 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-01-22T20:57:42.019Z,1421960262.019 [SpeedCalculator] Loaded
2015-01-22T20:57:42.019Z,1421960262.019 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-01-22T20:57:42.036Z,1421960262.036 [TempGradientCalculator] Loaded
2015-01-22T20:57:42.037Z,1421960262.037 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-01-22T20:57:42.042Z,1421960262.042 [YawRateCalculator] Loaded
2015-01-22T20:57:42.042Z,1421960262.042 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-01-22T20:57:42.043Z,1421960262.043 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-01-22T20:57:42.043Z,1421960262.043 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-01-22T20:57:42.094Z,1421960262.094 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-01-22T20:57:42.094Z,1421960262.094 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-01-22T20:57:42.344Z,1421960262.344 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-01-22T20:57:42.345Z,1421960262.345 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-01-22T20:57:42.388Z,1421960262.388 [NavChart] Loaded
2015-01-22T20:57:42.389Z,1421960262.389 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-01-22T20:57:42.395Z,1421960262.395 [UniversalFixResidualReporter] Loaded
2015-01-22T20:57:42.395Z,1421960262.395 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-01-22T20:57:42.396Z,1421960262.396 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-01-22T20:57:42.396Z,1421960262.396 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-01-22T20:57:42.402Z,1421960262.402 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-01-22T20:57:42.403Z,1421960262.403 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-01-22T20:57:42.491Z,1421960262.491 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-01-22T20:57:42.492Z,1421960262.492 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-01-22T20:57:42.806Z,1421960262.806 [DataOverHttps] Loaded
2015-01-22T20:57:42.806Z,1421960262.806 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-01-22T20:57:42.887Z,1421960262.887 [Depth_Keller] Loaded
2015-01-22T20:57:42.887Z,1421960262.887 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-01-22T20:57:43.012Z,1421960263.012 [NAL9602] Loaded
2015-01-22T20:57:43.012Z,1421960263.012 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-01-22T20:57:43.070Z,1421960263.070 [Onboard] Loaded
2015-01-22T20:57:43.070Z,1421960263.070 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-01-22T20:57:43.077Z,1421960263.077 [Radio_Surface] Loaded
2015-01-22T20:57:43.077Z,1421960263.077 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-01-22T20:57:43.079Z,1421960263.079 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2015-01-22T20:57:43.079Z,1421960263.079 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1513
2015-01-22T20:57:44.973Z,1421960264.973 [BPC1] Loaded
2015-01-22T20:57:44.974Z,1421960264.974 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-01-22T20:57:44.974Z,1421960264.974 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-01-22T20:57:44.975Z,1421960264.975 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-01-22T20:57:45.075Z,1421960265.075 [BuoyancyServo] Loaded
2015-01-22T20:57:45.075Z,1421960265.075 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-01-22T20:57:45.087Z,1421960265.087 [ElevatorServo] Loaded
2015-01-22T20:57:45.087Z,1421960265.087 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-01-22T20:57:45.099Z,1421960265.099 [RudderServo] Loaded
2015-01-22T20:57:45.100Z,1421960265.100 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-01-22T20:57:45.111Z,1421960265.111 [ThrusterServo] Loaded
2015-01-22T20:57:45.112Z,1421960265.112 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-01-22T20:57:45.112Z,1421960265.112 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-01-22T20:57:45.113Z,1421960265.113 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-01-22T20:57:45.216Z,1421960265.216 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-01-22T20:57:45.217Z,1421960265.217 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-01-22T20:57:45.242Z,1421960265.242 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-01-22T20:57:45.244Z,1421960265.244 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-01-22T20:57:45.245Z,1421960265.245 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-01-22T20:57:45.251Z,1421960265.251 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-01-22T20:57:45.252Z,1421960265.252 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083C4E0
2015-01-22T20:57:45.253Z,1421960265.253 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1514
2015-01-22T20:57:45.258Z,1421960265.258 [Supervisor](INFO): Main Thread ID is 1426
2015-01-22T20:57:45.258Z,1421960265.258 [Supervisor](DEBUG): Running supervisor.
2015-01-22T20:57:45.258Z,1421960265.258 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1515
2015-01-22T20:57:45.263Z,1421960265.263 [controlThread ThreadHandler](INFO): Handler Thread ID is 1516
2015-01-22T20:57:45.263Z,1421960265.263 [controlThread](DEBUG): Initializing ControlThread
2015-01-22T20:57:45.264Z,1421960265.264 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-01-22T20:57:45.266Z,1421960265.266 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-01-22T20:57:45.266Z,1421960265.266 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-01-22T20:57:45.267Z,1421960265.267 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-01-22T20:57:45.267Z,1421960265.267 [SBIT](INFO): Initialize SBIT Component.
2015-01-22T20:57:45.268Z,1421960265.268 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11963
2015-01-22T20:57:45.268Z,1421960265.268 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-01-22T20:57:45.268Z,1421960265.268 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-01-22T20:57:45.269Z,1421960265.269 [IBIT](INFO): Initialize IBIT Component.
2015-01-22T20:57:45.270Z,1421960265.270 [CBIT](DEBUG): Initialize CBIT Component.
2015-01-22T20:57:45.270Z,1421960265.270 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-01-22T20:57:45.271Z,1421960265.271 [logger ThreadHandler](INFO): Handler Thread ID is 1517
2015-01-22T20:57:45.292Z,1421960265.292 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1518
2015-01-22T20:57:45.295Z,1421960265.295 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-22T20:57:45.296Z,1421960265.296 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-01-22T20:57:45.296Z,1421960265.296 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-01-22T20:57:45.296Z,1421960265.296 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-01-22T20:57:45.297Z,1421960265.297 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-01-22T20:57:45.297Z,1421960265.297 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-01-22T20:57:45.297Z,1421960265.297 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-01-22T20:57:45.304Z,1421960265.304 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-01-22T20:57:45.312Z,1421960265.312 [Radio_Surface](INFO): Powering up
2015-01-22T20:57:45.318Z,1421960265.318 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-22T20:57:45.328Z,1421960265.328 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1519
2015-01-22T20:57:45.331Z,1421960265.331 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-01-22T20:57:45.332Z,1421960265.332 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-01-22T20:57:45.332Z,1421960265.332 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-01-22T20:57:45.332Z,1421960265.332 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-01-22T20:57:45.333Z,1421960265.333 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-01-22T20:57:45.333Z,1421960265.333 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-01-22T20:57:45.333Z,1421960265.333 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-01-22T20:57:45.334Z,1421960265.334 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-01-22T20:57:45.334Z,1421960265.334 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-01-22T20:57:45.376Z,1421960265.376 [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>


2015-01-22T20:57:45.377Z,1421960265.377 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-01-22T20:57:45.453Z,1421960265.453 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-01-22T20:57:45.461Z,1421960265.461 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-01-22T20:57:45.465Z,1421960265.465 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-22T20:57:45.501Z,1421960265.501 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-01-22T20:57:45.527Z,1421960265.527 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-01-22T20:57:45.577Z,1421960265.577 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-01-22T20:57:45.583Z,1421960265.583 [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>


2015-01-22T20:57:45.601Z,1421960265.601 [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,
2015-01-22T20:57:45.725Z,1421960265.725 [NAL9602](INFO): Start
2015-01-22T20:57:46.034Z,1421960266.034 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:57:46.041Z,1421960266.041 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-01-22T20:57:46.063Z,1421960266.063 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:57:46.069Z,1421960266.069 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-22T20:57:46.091Z,1421960266.091 [RudderServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:57:46.097Z,1421960266.097 [RudderServo](DEBUG): Initializing RudderServo.
2015-01-22T20:57:46.102Z,1421960266.102 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-01-22T20:57:46.109Z,1421960266.109 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-01-22T20:57:46.286Z,1421960266.286 [NAL9602](INFO): Start
2015-01-22T20:57:55.447Z,1421960275.447 [NAL9602](INFO): Start
2015-01-22T20:57:55.447Z,1421960275.447 [NAL9602](INFO): Powering up NAL9602
2015-01-22T20:57:56.568Z,1421960276.568 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003400
2015-01-22T20:58:00.713Z,1421960280.713 [SBIT](IMPORTANT): Beginning Startup BIT
2015-01-22T20:58:00.715Z,1421960280.715 [CBIT](IMPORTANT): Beginning GF scan
2015-01-22T20:58:06.642Z,1421960286.642 [NAL9602](INFO): ************** CMDMODE **************

2015-01-22T20:58:06.642Z,1421960286.642 [NAL9602](INFO): NAL9602 initialized
2015-01-22T20:58:13.957Z,1421960293.957 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T20:58:27.169Z,1421960307.169 [CBIT](IMPORTANT): No ground fault detected
2015-01-22T20:58:40.771Z,1421960320.771 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T20:58:40.772Z,1421960320.772 [SBIT](FAULT): Control surface position failure.
2015-01-22T20:58:54.448Z,1421960334.448 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T20:58:54.449Z,1421960334.449 [SBIT](FAULT): Control surface position failure.
2015-01-22T20:58:54.845Z,1421960334.845 [SBIT](CRITICAL): SBIT FAILED
2015-01-22T20:58:54.846Z,1421960334.846 [CommandLine](FAULT): Scheduling is paused
2015-01-22T20:58:55.248Z,1421960335.248 [MissionManager](IMPORTANT): Started mission Startup
2015-01-22T20:58:55.248Z,1421960335.248 [Startup] Running Loop=1
2015-01-22T20:58:55.248Z,1421960335.248 [Startup](INFO): Aggregate::initialize Startup
2015-01-22T20:58:55.248Z,1421960335.248 [Startup:A.GoToSurface] Running Loop=1
2015-01-22T20:58:55.248Z,1421960335.248 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-22T20:58:55.249Z,1421960335.249 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-22T20:58:55.249Z,1421960335.249 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-22T20:58:55.249Z,1421960335.249 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-22T20:58:55.255Z,1421960335.255 [Startup:StartupSatComms] Running Loop=1
2015-01-22T20:58:55.255Z,1421960335.255 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2015-01-22T20:58:55.255Z,1421960335.255 [Startup:StartupSatComms:A] Running Loop=1
2015-01-22T20:58:55.669Z,1421960335.669 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2015-01-22T20:59:55.362Z,1421960395.362 [Startup:StartupSatComms:A](INFO): Timed out from 2015-01-22T20:58:55.3Z
2015-01-22T20:59:55.362Z,1421960395.362 [Startup:StartupSatComms:A] Stopped
2015-01-22T20:59:55.362Z,1421960395.362 [Startup:StartupSatComms:B] Running Loop=1
2015-01-22T20:59:55.698Z,1421960395.698 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2015-01-22T21:00:00.184Z,1421960400.184 [DataOverHttps](INFO): Sending 57 bytes from file Logs/20150122T204738/Courier0008.lzma
2015-01-22T21:00:00.979Z,1421960400.979 [DataOverHttps](INFO): Moved sent file to Logs/20150122T204738/Courier0008.lzma.bak
2015-01-22T21:00:00.979Z,1421960400.979 [DataOverHttps](INFO): SBD MOMSN=1504110
2015-01-22T21:00:10.752Z,1421960410.752 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20150122T205736/Courier0000.lzma
2015-01-22T21:00:11.551Z,1421960411.551 [DataOverHttps](INFO): Moved sent file to Logs/20150122T205736/Courier0000.lzma.bak
2015-01-22T21:00:11.552Z,1421960411.552 [DataOverHttps](INFO): SBD MOMSN=1504113
2015-01-22T21:00:23.375Z,1421960423.375 [DataOverHttps](INFO): Sending 201 bytes from file Logs/20150122T204738/Express0009.lzma
2015-01-22T21:00:23.423Z,1421960423.423 [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,FFFD%31
$B12,0A,FFFC%35
$B13,0A,FFFC%34
$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,FFFD,0B,FFFD%37
$B11,0C,0001,0D,0057,0E,0051,0F,136E,10,16D9,11,FFFF,12,FFFF%48
$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,FFFC,0B,FFFC%4B
$B12,0C,0001,0D,0055,0E,0051,0F,1387,10,1722,11,FFFF,12,FFFF%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,03,0001,08,0B92,09,3D2F,0A,FFFB,0B,FFFC%3E
$B13,0C,0001,0D,005F,0E,0051,0F,1395,10,170F,11,EAFC,12,FFFF%4F
$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,03,0001,08,0B91,09,3C35,0A,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,1717,10,1692,11,FFFF,12,FFFF%36
$B18,13,FFFF,14,0BB8,15,41A0,16,00C0,17,0002,18,1838,19,3840%48
$B18,1A,0031,1B,4357,1C,00B3%4C

2015-01-22T21:00:23.424Z,1421960423.424 [BPC1](FAULT): Failed to parse bank A battery data
2015-01-22T21:00:23.424Z,1421960423.424 [BPC1] Data Fault, FailCount= 1
2015-01-22T21:00:23.424Z,1421960423.424 [BPC1](ERROR): Data Fault
2015-01-22T21:00:23.438Z,1421960423.438 [CBIT](ERROR): Data Fault in component: BPC1
2015-01-22T21:00:24.247Z,1421960424.247 [DataOverHttps](INFO): Moved sent file to Logs/20150122T204738/Express0009.lzma.bak
2015-01-22T21:00:24.247Z,1421960424.247 [DataOverHttps](INFO): SBD MOMSN=1504117
2015-01-22T21:00:24.301Z,1421960424.301 [CBIT](INFO): Clearing failed state for component BPC1
2015-01-22T21:00:24.301Z,1421960424.301 [BPC1] No Fault, FailCount= 1
2015-01-22T21:00:33.659Z,1421960433.659 [DataOverHttps](INFO): Sending 506 bytes from file Logs/20150122T205736/Express0001.lzma
2015-01-22T21:00:34.447Z,1421960434.447 [DataOverHttps](INFO): Moved sent file to Logs/20150122T205736/Express0001.lzma.bak
2015-01-22T21:00:34.447Z,1421960434.447 [DataOverHttps](INFO): SBD MOMSN=1504133
2015-01-22T21:00:35.174Z,1421960435.174 [Startup:StartupSatComms:B] Stopped
2015-01-22T21:00:35.174Z,1421960435.174 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2015-01-22T21:00:35.174Z,1421960435.174 [Startup:StartupSatComms] Stopped
2015-01-22T21:00:35.175Z,1421960435.175 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2015-01-22T21:00:35.176Z,1421960435.176 [Startup](INFO): Completed Startup
2015-01-22T21:00:35.176Z,1421960435.176 [Startup] Stopped
2015-01-22T21:00:35.176Z,1421960435.176 [Startup](INFO): Aggregate::uninitialize Startup
2015-01-22T21:00:35.176Z,1421960435.176 [Startup:A.GoToSurface] Stopped
2015-01-22T21:00:35.176Z,1421960435.176 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-22T21:00:35.278Z,1421960435.278 [MissionManager](IMPORTANT): Started mission Default
2015-01-22T21:00:35.278Z,1421960435.278 [Default] Running Loop=1
2015-01-22T21:00:35.278Z,1421960435.278 [Default](INFO): Aggregate::initialize Default
2015-01-22T21:00:35.278Z,1421960435.278 [Default:B.GoToSurface] Running Loop=1
2015-01-22T21:00:35.278Z,1421960435.278 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-22T21:00:35.278Z,1421960435.278 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-22T21:00:35.279Z,1421960435.279 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-22T21:00:35.279Z,1421960435.279 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-22T21:00:35.279Z,1421960435.279 [Default:StartClock] Running Loop=1
2015-01-22T21:00:35.284Z,1421960435.284 [Default:StartClock](INFO): Aggregate::initialize Default:StartClock
2015-01-22T21:00:35.284Z,1421960435.284 [Default:StartClock:A] Running Loop=1
2015-01-22T21:00:35.297Z,1421960435.297 [Default:StartClock:A] Stopped
2015-01-22T21:00:35.297Z,1421960435.297 [Default:StartClock](INFO): Completed Default:StartClock
2015-01-22T21:00:35.297Z,1421960435.297 [Default:StartClock] Stopped
2015-01-22T21:00:35.297Z,1421960435.297 [Default:StartClock](INFO): Aggregate::uninitialize Default:StartClock
2015-01-22T21:00:38.471Z,1421960438.471 [Default:WaitAtTheSurface] Running Loop=1
2015-01-22T21:00:38.471Z,1421960438.471 [Default:WaitAtTheSurface](INFO): Aggregate::initialize Default:WaitAtTheSurface
2015-01-22T21:00:38.471Z,1421960438.471 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-22T21:00:38.471Z,1421960438.471 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Initialize.
2015-01-22T21:00:38.560Z,1421960438.560 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-22T21:01:27.249Z,1421960487.249 [CommandLine](IMPORTANT): got command show stack
2015-01-22T21:01:27.249Z,1421960487.249 [CommandLine](IMPORTANT): Behavior Stack:

2015-01-22T21:01:27.249Z,1421960487.249 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2015-01-22T21:01:27.250Z,1421960487.250 [Default:WaitAtTheSurface](IMPORTANT): Priority 1: Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed
2015-01-22T21:01:29.927Z,1421960489.927 [CommandLine](IMPORTANT): got command show variable quality
2015-01-22T21:01:29.964Z,1421960489.964 [CommandLine](IMPORTANT): NAL9602.sigQuality (count)
2015-01-22T21:01:40.502Z,1421960500.502 [CommandLine](IMPORTANT): got command report
2015-01-22T21:01:45.389Z,1421960505.389 [CommandLine](IMPORTANT): got command report mod NAL9602.sigQuality
2015-01-22T21:01:51.328Z,1421960511.328 [Reporter](INFO): NAL9602.sigQuality 0 count
2015-01-22T21:02:50.860Z,1421960570.860 [CommandLine](INFO): End of History
2015-01-22T21:02:50.865Z,1421960570.865 [CommandLine](INFO): End of History
2015-01-22T21:02:50.871Z,1421960570.871 [CommandLine](INFO): End of History
2015-01-22T21:02:50.877Z,1421960570.877 [CommandLine](INFO): End of History
2015-01-22T21:02:50.915Z,1421960570.915 [CommandLine](INFO): End of History
2015-01-22T21:02:50.916Z,1421960570.916 [CommandLine](INFO): End of History
2015-01-22T21:02:50.917Z,1421960570.917 [CommandLine](INFO): End of History
2015-01-22T21:02:50.918Z,1421960570.918 [CommandLine](INFO): End of History
2015-01-22T21:02:50.920Z,1421960570.920 [CommandLine](INFO): End of History
2015-01-22T21:02:50.921Z,1421960570.921 [CommandLine](INFO): End of History
2015-01-22T21:02:50.922Z,1421960570.922 [CommandLine](INFO): End of History
2015-01-22T21:02:50.943Z,1421960570.943 [CommandLine](INFO): End of History
2015-01-22T21:02:50.945Z,1421960570.945 [CommandLine](INFO): End of History
2015-01-22T21:02:50.946Z,1421960570.946 [CommandLine](INFO): End of History
2015-01-22T21:02:50.967Z,1421960570.967 [CommandLine](INFO): End of History
2015-01-22T21:02:50.968Z,1421960570.968 [CommandLine](INFO): End of History
2015-01-22T21:02:50.970Z,1421960570.970 [CommandLine](INFO): End of History
2015-01-22T21:02:50.971Z,1421960570.971 [CommandLine](INFO): End of History
2015-01-22T21:02:50.972Z,1421960570.972 [CommandLine](INFO): End of History
2015-01-22T21:02:50.973Z,1421960570.973 [CommandLine](INFO): End of History
2015-01-22T21:02:50.974Z,1421960570.974 [CommandLine](INFO): End of History
2015-01-22T21:02:50.992Z,1421960570.992 [CommandLine](INFO): End of History
2015-01-22T21:02:50.993Z,1421960570.993 [CommandLine](INFO): End of History
2015-01-22T21:02:50.994Z,1421960570.994 [CommandLine](INFO): End of History
2015-01-22T21:02:52.028Z,1421960572.028 [Default:UpdateAndReportMinutesSinceMissionStarted] Running Loop=1
2015-01-22T21:02:52.029Z,1421960572.029 [Default:UpdateAndReportMinutesSinceMissionStarted](INFO): Aggregate::initialize Default:UpdateAndReportMinutesSinceMissionStarted
2015-01-22T21:02:52.030Z,1421960572.030 [Default:UpdateAndReportMinutesSinceMissionStarted:A] Running Loop=1
2015-01-22T21:02:52.032Z,1421960572.032 [Default:UpdateAndReportMinutesSinceMissionStarted:A] Stopped
2015-01-22T21:02:52.032Z,1421960572.032 [Default:UpdateAndReportMinutesSinceMissionStarted:B] Running Loop=1
2015-01-22T21:02:53.535Z,1421960573.535 [Default:UpdateAndReportMinutesSinceMissionStarted:B](IMPORTANT): Default mission has been running for 2.220653 min 
2015-01-22T21:02:53.537Z,1421960573.537 [Default:UpdateAndReportMinutesSinceMissionStarted:B] Stopped
2015-01-22T21:02:53.537Z,1421960573.537 [Default:UpdateAndReportMinutesSinceMissionStarted](INFO): Completed Default:UpdateAndReportMinutesSinceMissionStarted
2015-01-22T21:02:53.537Z,1421960573.537 [Default:UpdateAndReportMinutesSinceMissionStarted] Stopped
2015-01-22T21:02:53.537Z,1421960573.537 [Default:UpdateAndReportMinutesSinceMissionStarted](INFO): Aggregate::uninitialize Default:UpdateAndReportMinutesSinceMissionStarted
2015-01-22T21:02:56.904Z,1421960576.904 [CommandLine](IMPORTANT): got command show stack
2015-01-22T21:02:56.904Z,1421960576.904 [CommandLine](IMPORTANT): Behavior Stack:

2015-01-22T21:02:56.905Z,1421960576.905 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2015-01-22T21:02:56.905Z,1421960576.905 [Default:WaitAtTheSurface](IMPORTANT): Priority 1: Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed
2015-01-22T21:03:13.491Z,1421960593.491 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2015-01-22T21:03:40.775Z,1421960620.775 [CommandLine](IMPORTANT): got command show stack
2015-01-22T21:03:40.775Z,1421960620.775 [CommandLine](IMPORTANT): Behavior Stack:

2015-01-22T21:03:40.776Z,1421960620.776 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2015-01-22T21:03:40.776Z,1421960620.776 [Default:WaitAtTheSurface](IMPORTANT): Priority 1: Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed
2015-01-22T21:04:18.522Z,1421960658.522 [BPC1](DEBUG): Received data from all battery sticks
2015-01-22T21:05:04.858Z,1421960704.858 [CommandLine](IMPORTANT): got command get latitude
2015-01-22T21:05:04.858Z,1421960704.858 [CommandLine](FAULT): Element has no value
2015-01-22T21:05:08.110Z,1421960708.110 [CommandLine](IMPORTANT): got command show stack
2015-01-22T21:05:08.110Z,1421960708.110 [CommandLine](IMPORTANT): Behavior Stack:

2015-01-22T21:05:08.111Z,1421960708.111 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2015-01-22T21:05:08.111Z,1421960708.111 [Default:WaitAtTheSurface](IMPORTANT): Priority 1: Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed
2015-01-22T21:05:33.497Z,1421960733.497 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T21:05:33.497Z,1421960733.497 [NAL9602](IMPORTANT): GPS month:1
2015-01-22T21:05:33.497Z,1421960733.497 [NAL9602](IMPORTANT): GPS fix at: 1421960728.00
2015-01-22T21:05:38.544Z,1421960738.544 [Default:CheckIn] Running Loop=1
2015-01-22T21:05:38.544Z,1421960738.544 [Default:CheckIn](INFO): Aggregate::initialize Default:CheckIn
2015-01-22T21:05:38.544Z,1421960738.544 [Default:CheckIn:A.SetSpeed] Running Loop=1
2015-01-22T21:05:38.544Z,1421960738.544 [Default:CheckIn:A.SetSpeed](DEBUG): Initialize.
2015-01-22T21:05:38.544Z,1421960738.544 [Default:CheckIn:Read_GPS] Running Loop=1
2015-01-22T21:05:38.545Z,1421960738.545 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2015-01-22T21:05:38.547Z,1421960738.547 [Default:CheckIn:A.SetSpeed] Running Loop=1
2015-01-22T21:05:40.491Z,1421960740.491 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T21:05:40.491Z,1421960740.491 [NAL9602](IMPORTANT): GPS month:1
2015-01-22T21:05:40.491Z,1421960740.491 [NAL9602](IMPORTANT): GPS fix at: 1421960740.00
2015-01-22T21:05:40.502Z,1421960740.502 [Default:CheckIn:Read_GPS] Stopped
2015-01-22T21:05:40.502Z,1421960740.502 [Default:CheckIn:Read_Iridium] Running Loop=1
2015-01-22T21:05:40.923Z,1421960740.923 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2015-01-22T21:05:45.341Z,1421960745.341 [DataOverHttps](INFO): Sending 297 bytes from file Logs/20150122T205736/Courier0004.lzma
2015-01-22T21:05:45.751Z,1421960745.751 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T21:05:45.751Z,1421960745.751 [NAL9602](IMPORTANT): GPS month:1
2015-01-22T21:05:45.751Z,1421960745.751 [NAL9602](IMPORTANT): GPS fix at: 1421960745.00
2015-01-22T21:05:46.141Z,1421960746.141 [DataOverHttps](INFO): Moved sent file to Logs/20150122T205736/Courier0004.lzma.bak
2015-01-22T21:05:46.141Z,1421960746.141 [DataOverHttps](INFO): SBD MOMSN=1504146
2015-01-22T21:05:50.999Z,1421960750.999 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T21:05:50.999Z,1421960750.999 [NAL9602](IMPORTANT): GPS month:1
2015-01-22T21:05:50.000Z,1421960751.000 [NAL9602](IMPORTANT): GPS fix at: 1421960750.00
2015-01-22T21:05:54.716Z,1421960754.716 [CommandLine](IMPORTANT): got command quit
2015-01-22T21:05:59.082Z,1421960759.082 [DataOverHttps](INFO): Sending 651 bytes from file Logs/20150122T205736/Express0005.lzma
2015-01-22T21:05:59.092Z,1421960759.092 [NAL9602](IMPORTANT): GPS fix at: -1.000000
2015-01-22T21:05:59.092Z,1421960759.092 [NAL9602](IMPORTANT): GPS month:1
2015-01-22T21:05:59.092Z,1421960759.092 [NAL9602](IMPORTANT): GPS fix at: 1421960755.00
2015-01-22T21:05:59.114Z,1421960759.114 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:05:59.114Z,1421960759.114 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:05:59.291Z,1421960759.291 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2015-01-22T21:05:59.292Z,1421960759.292 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:05:59.292Z,1421960759.292 [CommandLine](INFO): Join timeout helper Thread ID is 1529
2015-01-22T21:05:59.293Z,1421960759.293 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2015-01-22T21:05:59.293Z,1421960759.293 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:05:59.294Z,1421960759.294 [NavChartDb](INFO): Join timeout helper Thread ID is 1530
2015-01-22T21:05:59.628Z,1421960759.628 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:05:59.628Z,1421960759.628 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:05:59.636Z,1421960759.636 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2015-01-22T21:05:59.636Z,1421960759.636 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:05:59.637Z,1421960759.637 [Radio_Surface](INFO): Join timeout helper Thread ID is 1531
2015-01-22T21:05:59.637Z,1421960759.637 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:05:59.637Z,1421960759.637 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:05:59.638Z,1421960759.638 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2015-01-22T21:05:59.638Z,1421960759.638 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:05:59.638Z,1421960759.638 [logger](INFO): Join timeout helper Thread ID is 1532
2015-01-22T21:06:00.001Z,1421960760.001 [DataOverHttps](INFO): Moved sent file to Logs/20150122T205736/Express0005.lzma.bak
2015-01-22T21:06:00.001Z,1421960760.001 [DataOverHttps](INFO): SBD MOMSN=1504149
2015-01-22T21:06:00.848Z,1421960760.848 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:06:00.848Z,1421960760.848 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:06:00.859Z,1421960760.859 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2015-01-22T21:06:00.859Z,1421960760.859 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:06:00.859Z,1421960760.859 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2015-01-22T21:06:00.859Z,1421960760.859 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:06:00.859Z,1421960760.859 [controlThread](INFO): Join timeout helper Thread ID is 1533
2015-01-22T21:06:01.179Z,1421960761.179 [Default:CheckIn:Read_Iridium] Stopped
2015-01-22T21:06:01.179Z,1421960761.179 [Default:CheckIn](INFO): Completed Default:CheckIn
2015-01-22T21:06:01.179Z,1421960761.179 [Default:CheckIn] Stopped
2015-01-22T21:06:01.179Z,1421960761.179 [Default:CheckIn](INFO): Aggregate::uninitialize Default:CheckIn
2015-01-22T21:06:01.179Z,1421960761.179 [Default:CheckIn:A.SetSpeed] Stopped
2015-01-22T21:06:01.180Z,1421960761.180 [Default:CheckIn:A.SetSpeed](DEBUG): Uninitialize.
2015-01-22T21:06:01.190Z,1421960761.190 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:06:01.190Z,1421960761.190 [controlThread](DEBUG): Uninitializing ControlThread
2015-01-22T21:06:01.191Z,1421960761.191 [NAL9602](INFO): Uninitialize
2015-01-22T21:06:01.191Z,1421960761.191 [NAL9602](INFO): Powering down
2015-01-22T21:06:01.193Z,1421960761.193 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-22T21:06:01.194Z,1421960761.194 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2015-01-22T21:06:01.195Z,1421960761.195 [Default] Stopped
2015-01-22T21:06:01.195Z,1421960761.195 [Default](INFO): Aggregate::uninitialize Default
2015-01-22T21:06:01.195Z,1421960761.195 [Default:B.GoToSurface] Stopped
2015-01-22T21:06:01.195Z,1421960761.195 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-22T21:06:01.195Z,1421960761.195 [Default:WaitAtTheSurface] Stopped
2015-01-22T21:06:01.195Z,1421960761.195 [Default:WaitAtTheSurface](INFO): Aggregate::uninitialize Default:WaitAtTheSurface
2015-01-22T21:06:01.195Z,1421960761.195 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Stopped
2015-01-22T21:06:01.195Z,1421960761.195 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Uninitialize.
2015-01-22T21:06:01.199Z,1421960761.199 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2015-01-22T21:06:01.199Z,1421960761.199 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2015-01-22T21:06:01.199Z,1421960761.199 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2015-01-22T21:06:01.200Z,1421960761.200 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2015-01-22T21:06:01.200Z,1421960761.200 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-01-22T21:06:01.200Z,1421960761.200 [BuoyancyServo](INFO): Powering down
2015-01-22T21:06:01.215Z,1421960761.215 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-01-22T21:06:01.215Z,1421960761.215 [ElevatorServo](INFO): Powering down
2015-01-22T21:06:01.216Z,1421960761.216 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-01-22T21:06:01.216Z,1421960761.216 [RudderServo](INFO): Powering down
2015-01-22T21:06:01.217Z,1421960761.217 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-01-22T21:06:01.217Z,1421960761.217 [ThrusterServo](INFO): Powering down
2015-01-22T21:06:01.217Z,1421960761.217 [SBIT](DEBUG): Uninitialize SBIT Component.
2015-01-22T21:06:01.218Z,1421960761.218 [IBIT](DEBUG): Uninitialize IBIT Component.
2015-01-22T21:06:01.218Z,1421960761.218 [CBIT](DEBUG): Uninitialize CBIT Component.
2015-01-22T21:06:01.251Z,1421960761.251 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:06:01.351Z,1421960761.351 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:06:01.392Z,1421960761.392 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:06:01.441Z,1421960761.441 [logger ThreadHandler](INFO): Thread cancelled.