2015-01-22T21:23:07.652Z,1421961787.652 [Supervisor](DEBUG): Initializing supervisor.
2015-01-22T21:23:07.655Z,1421961787.655 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-01-22T21:23:07.656Z,1421961787.656 [SyncHandler](INFO): Protected caller Thread ID is 2056
2015-01-22T21:23:07.656Z,1421961787.656 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-01-22T21:23:07.657Z,1421961787.657 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-01-22T21:23:07.658Z,1421961787.658 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2057
2015-01-22T21:23:07.661Z,1421961787.661 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-01-22T21:23:07.673Z,1421961787.673 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-01-22T21:23:07.675Z,1421961787.675 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-01-22T21:23:07.675Z,1421961787.675 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2058
2015-01-22T21:23:07.676Z,1421961787.676 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-01-22T21:23:07.677Z,1421961787.677 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-01-22T21:23:07.677Z,1421961787.677 [logger ThreadHandler](INFO): Protected caller Thread ID is 2059
2015-01-22T21:23:07.680Z,1421961787.680 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-01-22T21:23:07.680Z,1421961787.680 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-01-22T21:23:07.682Z,1421961787.682 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-01-22T21:23:08.054Z,1421961788.054 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-01-22T21:23:08.055Z,1421961788.055 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-01-22T21:23:08.269Z,1421961788.269 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-01-22T21:23:08.269Z,1421961788.269 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-01-22T21:23:08.431Z,1421961788.431 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-01-22T21:23:08.432Z,1421961788.432 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-01-22T21:23:08.609Z,1421961788.609 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-01-22T21:23:08.610Z,1421961788.610 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-01-22T21:23:08.742Z,1421961788.742 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-01-22T21:23:08.990Z,1421961788.990 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-01-22T21:23:08.991Z,1421961788.991 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-01-22T21:23:09.114Z,1421961789.114 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-01-22T21:23:09.115Z,1421961789.115 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-01-22T21:23:09.441Z,1421961789.441 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-01-22T21:23:09.441Z,1421961789.441 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-01-22T21:23:10.025Z,1421961790.025 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-01-22T21:23:10.025Z,1421961790.025 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-01-22T21:23:10.587Z,1421961790.587 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-01-22T21:23:10.588Z,1421961790.588 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-01-22T21:23:11.560Z,1421961791.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-01-22T21:23:11.560Z,1421961791.560 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-01-22T21:23:11.765Z,1421961791.765 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-01-22T21:23:11.766Z,1421961791.766 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-01-22T21:23:11.872Z,1421961791.872 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-01-22T21:23:11.873Z,1421961791.873 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-01-22T21:23:12.309Z,1421961792.309 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-01-22T21:23:12.310Z,1421961792.310 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-01-22T21:23:12.422Z,1421961792.422 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-01-22T21:23:12.424Z,1421961792.424 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-01-22T21:23:12.425Z,1421961792.425 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-01-22T21:23:12.719Z,1421961792.719 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-01-22T21:23:12.720Z,1421961792.720 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-01-22T21:23:12.839Z,1421961792.839 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-01-22T21:23:12.939Z,1421961792.939 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-01-22T21:23:13.057Z,1421961793.057 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-01-22T21:23:13.184Z,1421961793.184 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-01-22T21:23:13.329Z,1421961793.329 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-01-22T21:23:13.505Z,1421961793.505 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-01-22T21:23:13.607Z,1421961793.607 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-01-22T21:23:13.698Z,1421961793.698 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-01-22T21:23:13.800Z,1421961793.800 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-01-22T21:23:13.897Z,1421961793.897 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-01-22T21:23:14.099Z,1421961794.099 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2015-01-22T21:23:14.100Z,1421961794.100 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-01-22T21:23:14.113Z,1421961794.113 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-01-22T21:23:14.163Z,1421961794.163 [VerticalControl](DEBUG): Construct VerticalControl.
2015-01-22T21:23:14.286Z,1421961794.286 [VerticalControl] Loaded
2015-01-22T21:23:14.287Z,1421961794.287 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-01-22T21:23:14.287Z,1421961794.287 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-01-22T21:23:14.362Z,1421961794.362 [HorizontalControl] Loaded
2015-01-22T21:23:14.362Z,1421961794.362 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-01-22T21:23:14.363Z,1421961794.363 [SpeedControl](DEBUG): Construct SpeedControl.
2015-01-22T21:23:14.369Z,1421961794.369 [SpeedControl] Loaded
2015-01-22T21:23:14.369Z,1421961794.369 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-01-22T21:23:14.370Z,1421961794.370 [LoopControl](DEBUG): Construct LoopControl.
2015-01-22T21:23:14.370Z,1421961794.370 [LoopControl] Loaded
2015-01-22T21:23:14.371Z,1421961794.371 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-01-22T21:23:14.371Z,1421961794.371 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-01-22T21:23:14.372Z,1421961794.372 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-01-22T21:23:14.465Z,1421961794.465 [SBIT](DEBUG): Construct Startup Built In Test.
2015-01-22T21:23:14.492Z,1421961794.492 [SBIT] Loaded
2015-01-22T21:23:14.493Z,1421961794.493 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-01-22T21:23:14.493Z,1421961794.493 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-01-22T21:23:14.524Z,1421961794.524 [IBIT] Loaded
2015-01-22T21:23:14.524Z,1421961794.524 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-01-22T21:23:14.526Z,1421961794.526 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-01-22T21:23:14.649Z,1421961794.649 [CBIT] Loaded
2015-01-22T21:23:14.650Z,1421961794.650 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-01-22T21:23:14.650Z,1421961794.650 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-01-22T21:23:14.651Z,1421961794.651 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-01-22T21:23:14.669Z,1421961794.669 [DepthRateCalculator] Loaded
2015-01-22T21:23:14.669Z,1421961794.669 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-01-22T21:23:14.675Z,1421961794.675 [PitchRateCalculator] Loaded
2015-01-22T21:23:14.676Z,1421961794.676 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-01-22T21:23:14.687Z,1421961794.687 [SpeedCalculator] Loaded
2015-01-22T21:23:14.688Z,1421961794.688 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-01-22T21:23:14.705Z,1421961794.705 [TempGradientCalculator] Loaded
2015-01-22T21:23:14.706Z,1421961794.706 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-01-22T21:23:14.711Z,1421961794.711 [YawRateCalculator] Loaded
2015-01-22T21:23:14.711Z,1421961794.711 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-01-22T21:23:14.712Z,1421961794.712 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-01-22T21:23:14.712Z,1421961794.712 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-01-22T21:23:14.761Z,1421961794.761 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-01-22T21:23:14.762Z,1421961794.762 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-01-22T21:23:14.986Z,1421961794.986 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-01-22T21:23:14.987Z,1421961794.987 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-01-22T21:23:15.030Z,1421961795.030 [NavChart] Loaded
2015-01-22T21:23:15.031Z,1421961795.031 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-01-22T21:23:15.038Z,1421961795.038 [UniversalFixResidualReporter] Loaded
2015-01-22T21:23:15.038Z,1421961795.038 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-01-22T21:23:15.038Z,1421961795.038 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-01-22T21:23:15.039Z,1421961795.039 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-01-22T21:23:15.045Z,1421961795.045 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-01-22T21:23:15.046Z,1421961795.046 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-01-22T21:23:15.129Z,1421961795.129 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-01-22T21:23:15.130Z,1421961795.130 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-01-22T21:23:15.464Z,1421961795.464 [DataOverHttps] Loaded
2015-01-22T21:23:15.464Z,1421961795.464 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-01-22T21:23:15.547Z,1421961795.547 [Depth_Keller] Loaded
2015-01-22T21:23:15.548Z,1421961795.548 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-01-22T21:23:15.643Z,1421961795.643 [NAL9602] Loaded
2015-01-22T21:23:15.643Z,1421961795.643 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-01-22T21:23:15.686Z,1421961795.686 [Onboard] Loaded
2015-01-22T21:23:15.687Z,1421961795.687 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-01-22T21:23:15.694Z,1421961795.694 [Radio_Surface] Loaded
2015-01-22T21:23:15.694Z,1421961795.694 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-01-22T21:23:15.695Z,1421961795.695 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2015-01-22T21:23:15.696Z,1421961795.696 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2145
2015-01-22T21:23:17.565Z,1421961797.565 [BPC1] Loaded
2015-01-22T21:23:17.565Z,1421961797.565 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-01-22T21:23:17.566Z,1421961797.566 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-01-22T21:23:17.566Z,1421961797.566 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-01-22T21:23:17.663Z,1421961797.663 [BuoyancyServo] Loaded
2015-01-22T21:23:17.664Z,1421961797.664 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-01-22T21:23:17.676Z,1421961797.676 [ElevatorServo] Loaded
2015-01-22T21:23:17.677Z,1421961797.677 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-01-22T21:23:17.689Z,1421961797.689 [RudderServo] Loaded
2015-01-22T21:23:17.689Z,1421961797.689 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-01-22T21:23:17.701Z,1421961797.701 [ThrusterServo] Loaded
2015-01-22T21:23:17.702Z,1421961797.702 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-01-22T21:23:17.702Z,1421961797.702 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-01-22T21:23:17.703Z,1421961797.703 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-01-22T21:23:17.802Z,1421961797.802 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-01-22T21:23:17.802Z,1421961797.802 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-01-22T21:23:17.826Z,1421961797.826 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-01-22T21:23:17.829Z,1421961797.829 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-01-22T21:23:17.830Z,1421961797.830 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-01-22T21:23:17.836Z,1421961797.836 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-01-22T21:23:17.838Z,1421961797.838 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083C4E0
2015-01-22T21:23:17.838Z,1421961797.838 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2146
2015-01-22T21:23:17.843Z,1421961797.843 [Supervisor](INFO): Main Thread ID is 2054
2015-01-22T21:23:17.843Z,1421961797.843 [Supervisor](DEBUG): Running supervisor.
2015-01-22T21:23:17.844Z,1421961797.844 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2147
2015-01-22T21:23:17.848Z,1421961797.848 [controlThread ThreadHandler](INFO): Handler Thread ID is 2148
2015-01-22T21:23:17.849Z,1421961797.849 [controlThread](DEBUG): Initializing ControlThread
2015-01-22T21:23:17.849Z,1421961797.849 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-01-22T21:23:17.851Z,1421961797.851 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-01-22T21:23:17.852Z,1421961797.852 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-01-22T21:23:17.852Z,1421961797.852 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-01-22T21:23:17.853Z,1421961797.853 [SBIT](INFO): Initialize SBIT Component.
2015-01-22T21:23:17.853Z,1421961797.853 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11963
2015-01-22T21:23:17.853Z,1421961797.853 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-01-22T21:23:17.854Z,1421961797.854 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-01-22T21:23:17.854Z,1421961797.854 [IBIT](INFO): Initialize IBIT Component.
2015-01-22T21:23:17.855Z,1421961797.855 [CBIT](DEBUG): Initialize CBIT Component.
2015-01-22T21:23:17.855Z,1421961797.855 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-01-22T21:23:17.856Z,1421961797.856 [logger ThreadHandler](INFO): Handler Thread ID is 2149
2015-01-22T21:23:17.876Z,1421961797.876 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2150
2015-01-22T21:23:17.882Z,1421961797.882 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-22T21:23:17.882Z,1421961797.882 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-01-22T21:23:17.882Z,1421961797.882 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-01-22T21:23:17.883Z,1421961797.883 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-01-22T21:23:17.883Z,1421961797.883 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-01-22T21:23:17.884Z,1421961797.884 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-01-22T21:23:17.884Z,1421961797.884 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-01-22T21:23:17.889Z,1421961797.889 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-01-22T21:23:17.900Z,1421961797.900 [Radio_Surface](INFO): Powering up
2015-01-22T21:23:17.907Z,1421961797.907 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-22T21:23:17.912Z,1421961797.912 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2151
2015-01-22T21:23:17.915Z,1421961797.915 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-01-22T21:23:17.916Z,1421961797.916 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-01-22T21:23:17.916Z,1421961797.916 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-01-22T21:23:17.917Z,1421961797.917 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-01-22T21:23:17.917Z,1421961797.917 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-01-22T21:23:17.917Z,1421961797.917 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-01-22T21:23:17.917Z,1421961797.917 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-01-22T21:23:17.918Z,1421961797.918 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-01-22T21:23:17.918Z,1421961797.918 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-01-22T21:23:17.949Z,1421961797.949 [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>


2015-01-22T21:23:17.949Z,1421961797.949 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-01-22T21:23:18.028Z,1421961798.028 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-01-22T21:23:18.031Z,1421961798.031 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-01-22T21:23:18.052Z,1421961798.052 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-22T21:23:18.072Z,1421961798.072 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-01-22T21:23:18.102Z,1421961798.102 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-01-22T21:23:18.126Z,1421961798.126 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-01-22T21:23:18.166Z,1421961798.166 [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>


2015-01-22T21:23:18.170Z,1421961798.170 [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,
2015-01-22T21:23:18.331Z,1421961798.331 [NAL9602](INFO): Start
2015-01-22T21:23:18.609Z,1421961798.609 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-01-22T21:23:18.617Z,1421961798.617 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-01-22T21:23:18.639Z,1421961798.639 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-22T21:23:18.645Z,1421961798.645 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-22T21:23:18.655Z,1421961798.655 [RudderServo](DEBUG): Initializing EZServoServo.
2015-01-22T21:23:18.661Z,1421961798.661 [RudderServo](DEBUG): Initializing RudderServo.
2015-01-22T21:23:18.682Z,1421961798.682 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-01-22T21:23:18.689Z,1421961798.689 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-01-22T21:23:18.870Z,1421961798.870 [NAL9602](INFO): Start
2015-01-22T21:23:29.647Z,1421961809.647 [NAL9602](INFO): Start
2015-01-22T21:23:29.648Z,1421961809.648 [NAL9602](INFO): Powering up NAL9602
2015-01-22T21:23:30.795Z,1421961810.795 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003400
2015-01-22T21:23:33.268Z,1421961813.268 [SBIT](IMPORTANT): Beginning Startup BIT
2015-01-22T21:23:33.270Z,1421961813.270 [CBIT](IMPORTANT): Beginning GF scan
2015-01-22T21:23:40.796Z,1421961820.796 [NAL9602](INFO): ************** CMDMODE **************

2015-01-22T21:23:40.797Z,1421961820.797 [NAL9602](INFO): NAL9602 initialized
2015-01-22T21:23:46.498Z,1421961826.498 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T21:23:59.760Z,1421961839.760 [CBIT](IMPORTANT): No ground fault detected
2015-01-22T21:24:12.991Z,1421961852.991 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T21:24:12.991Z,1421961852.991 [SBIT](FAULT): Control surface position failure.
2015-01-22T21:24:26.584Z,1421961866.584 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T21:24:26.585Z,1421961866.585 [SBIT](FAULT): Control surface position failure.
2015-01-22T21:24:26.706Z,1421961866.706 [SBIT](CRITICAL): SBIT FAILED
2015-01-22T21:24:26.711Z,1421961866.711 [CommandLine](FAULT): Scheduling is paused
2015-01-22T21:24:27.083Z,1421961867.083 [MissionManager](IMPORTANT): Started mission Startup
2015-01-22T21:24:27.083Z,1421961867.083 [Startup] Running Loop=1
2015-01-22T21:24:27.083Z,1421961867.083 [Startup](INFO): Aggregate::initialize Startup
2015-01-22T21:24:27.083Z,1421961867.083 [Startup:A.GoToSurface] Running Loop=1
2015-01-22T21:24:27.083Z,1421961867.083 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-22T21:24:27.084Z,1421961867.084 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-22T21:24:27.084Z,1421961867.084 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-22T21:24:27.084Z,1421961867.084 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-22T21:24:27.142Z,1421961867.142 [Startup:StartupSatComms] Running Loop=1
2015-01-22T21:24:27.142Z,1421961867.142 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2015-01-22T21:24:27.142Z,1421961867.142 [Startup:StartupSatComms:A] Running Loop=1
2015-01-22T21:24:27.467Z,1421961867.467 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2015-01-22T21:25:27.516Z,1421961927.516 [Startup:StartupSatComms:A](INFO): Timed out from 2015-01-22T21:24:27.1Z
2015-01-22T21:25:27.516Z,1421961927.516 [Startup:StartupSatComms:A] Stopped
2015-01-22T21:25:27.516Z,1421961927.516 [Startup:StartupSatComms:B] Running Loop=1
2015-01-22T21:25:27.913Z,1421961927.913 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2015-01-22T21:25:32.728Z,1421961932.728 [DataOverHttps](INFO): Sending 57 bytes from file Logs/20150122T205736/Courier0008.lzma
2015-01-22T21:25:33.523Z,1421961933.523 [DataOverHttps](INFO): Moved sent file to Logs/20150122T205736/Courier0008.lzma.bak
2015-01-22T21:25:33.523Z,1421961933.523 [DataOverHttps](INFO): SBD MOMSN=1504183
2015-01-22T21:25:43.461Z,1421961943.461 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20150122T212116/Courier0000.lzma
2015-01-22T21:25:44.259Z,1421961944.259 [DataOverHttps](INFO): Moved sent file to Logs/20150122T212116/Courier0000.lzma.bak
2015-01-22T21:25:44.260Z,1421961944.260 [DataOverHttps](INFO): SBD MOMSN=1504186
2015-01-22T21:25:53.637Z,1421961953.637 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20150122T212307/Courier0000.lzma
2015-01-22T21:25:54.435Z,1421961954.435 [DataOverHttps](INFO): Moved sent file to Logs/20150122T212307/Courier0000.lzma.bak
2015-01-22T21:25:54.436Z,1421961954.436 [DataOverHttps](INFO): SBD MOMSN=1504190
2015-01-22T21:26:04.141Z,1421961964.141 [DataOverHttps](INFO): Sending 146 bytes from file Logs/20150122T205736/Express0009.lzma
2015-01-22T21:26:04.940Z,1421961964.940 [DataOverHttps](INFO): Moved sent file to Logs/20150122T205736/Express0009.lzma.bak
2015-01-22T21:26:04.940Z,1421961964.940 [DataOverHttps](INFO): SBD MOMSN=1504194
2015-01-22T21:26:09.064Z,1421961969.064 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:09.418Z,1421961969.418 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:09.814Z,1421961969.814 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:10.215Z,1421961970.215 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:10.619Z,1421961970.619 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:11.014Z,1421961971.014 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:14.225Z,1421961974.225 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:14.324Z,1421961974.324 [DataOverHttps](INFO): Sending 583 bytes from file Logs/20150122T212116/Express0001.lzma
2015-01-22T21:26:14.351Z,1421961974.351 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:14.720Z,1421961974.720 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:15.115Z,1421961975.115 [DataOverHttps](INFO): Moved sent file to Logs/20150122T212116/Express0001.lzma.bak
2015-01-22T21:26:15.116Z,1421961975.116 [DataOverHttps](INFO): SBD MOMSN=1504206
2015-01-22T21:26:15.146Z,1421961975.146 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:15.827Z,1421961975.827 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:15.918Z,1421961975.918 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:19.119Z,1421961979.119 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:19.231Z,1421961979.231 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:19.575Z,1421961979.575 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:19.976Z,1421961979.976 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:20.383Z,1421961980.383 [NAL9602](INFO): ************** SESSION MT QUEUE VERIFY **************

2015-01-22T21:26:20.385Z,1421961980.385 [NAL9602](INFO): SBD MO Status=2, MOMSN=5379, MT Status=2, MTMSN=0
2015-01-22T21:26:20.385Z,1421961980.385 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2015-01-22T21:26:24.826Z,1421961984.826 [DataOverHttps](INFO): Sending 507 bytes from file Logs/20150122T212307/Express0001.lzma
2015-01-22T21:26:25.624Z,1421961985.624 [DataOverHttps](INFO): Moved sent file to Logs/20150122T212307/Express0001.lzma.bak
2015-01-22T21:26:25.624Z,1421961985.624 [DataOverHttps](INFO): SBD MOMSN=1504222
2015-01-22T21:26:26.354Z,1421961986.354 [Startup:StartupSatComms:B] Stopped
2015-01-22T21:26:26.355Z,1421961986.355 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2015-01-22T21:26:26.355Z,1421961986.355 [Startup:StartupSatComms] Stopped
2015-01-22T21:26:26.355Z,1421961986.355 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2015-01-22T21:26:26.356Z,1421961986.356 [Startup](INFO): Completed Startup
2015-01-22T21:26:26.356Z,1421961986.356 [Startup] Stopped
2015-01-22T21:26:26.356Z,1421961986.356 [Startup](INFO): Aggregate::uninitialize Startup
2015-01-22T21:26:26.356Z,1421961986.356 [Startup:A.GoToSurface] Stopped
2015-01-22T21:26:26.356Z,1421961986.356 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-22T21:26:26.466Z,1421961986.466 [MissionManager](IMPORTANT): Started mission Default
2015-01-22T21:26:26.466Z,1421961986.466 [Default] Running Loop=1
2015-01-22T21:26:26.466Z,1421961986.466 [Default](INFO): Aggregate::initialize Default
2015-01-22T21:26:26.466Z,1421961986.466 [Default:B.GoToSurface] Running Loop=1
2015-01-22T21:26:26.466Z,1421961986.466 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-22T21:26:26.467Z,1421961986.467 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-22T21:26:26.467Z,1421961986.467 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-22T21:26:26.467Z,1421961986.467 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-22T21:26:26.467Z,1421961986.467 [Default:StartClock] Running Loop=1
2015-01-22T21:26:26.468Z,1421961986.468 [Default:StartClock](INFO): Aggregate::initialize Default:StartClock
2015-01-22T21:26:26.468Z,1421961986.468 [Default:StartClock:A] Running Loop=1
2015-01-22T21:26:26.487Z,1421961986.487 [Default:StartClock:A] Stopped
2015-01-22T21:26:26.487Z,1421961986.487 [Default:StartClock](INFO): Completed Default:StartClock
2015-01-22T21:26:26.488Z,1421961986.488 [Default:StartClock] Stopped
2015-01-22T21:26:26.488Z,1421961986.488 [Default:StartClock](INFO): Aggregate::uninitialize Default:StartClock
2015-01-22T21:26:29.660Z,1421961989.660 [BPC1](FAULT): A bank: No match for serial number:5911 was found in the onboard configuration.
2015-01-22T21:26:29.661Z,1421961989.661 [BPC1](FAULT): Failed to parse bank A battery data
2015-01-22T21:26:29.661Z,1421961989.661 [BPC1] Data Fault, FailCount= 1
2015-01-22T21:26:29.661Z,1421961989.661 [BPC1](ERROR): Data Fault
2015-01-22T21:26:29.667Z,1421961989.667 [Default:WaitAtTheSurface] Running Loop=1
2015-01-22T21:26:29.667Z,1421961989.667 [Default:WaitAtTheSurface](INFO): Aggregate::initialize Default:WaitAtTheSurface
2015-01-22T21:26:29.668Z,1421961989.668 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-22T21:26:29.668Z,1421961989.668 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Initialize.
2015-01-22T21:26:29.675Z,1421961989.675 [CBIT](ERROR): Data Fault in component: BPC1
2015-01-22T21:26:29.814Z,1421961989.814 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-22T21:26:39.725Z,1421961999.725 [CBIT](INFO): Clearing failed state for component BPC1
2015-01-22T21:26:39.725Z,1421961999.725 [BPC1] No Fault, FailCount= 1
2015-01-22T21:26:52.774Z,1421962012.774 [CommandLine](IMPORTANT): got command quit
2015-01-22T21:26:53.778Z,1421962013.778 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:26:53.778Z,1421962013.778 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:53.907Z,1421962013.907 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2015-01-22T21:26:53.907Z,1421962013.907 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:53.908Z,1421962013.908 [CommandLine](INFO): Join timeout helper Thread ID is 2208
2015-01-22T21:26:53.920Z,1421962013.920 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2015-01-22T21:26:53.920Z,1421962013.920 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:53.920Z,1421962013.920 [NavChartDb](INFO): Join timeout helper Thread ID is 2209
2015-01-22T21:26:53.932Z,1421962013.932 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:26:53.932Z,1421962013.932 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:53.932Z,1421962013.932 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2015-01-22T21:26:53.933Z,1421962013.933 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:53.933Z,1421962013.933 [Radio_Surface](INFO): Join timeout helper Thread ID is 2210
2015-01-22T21:26:53.967Z,1421962013.967 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:26:53.967Z,1421962013.967 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:53.968Z,1421962013.968 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2015-01-22T21:26:53.968Z,1421962013.968 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:53.969Z,1421962013.969 [logger](INFO): Join timeout helper Thread ID is 2211
2015-01-22T21:26:54.004Z,1421962014.004 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:26:54.004Z,1421962014.004 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:54.020Z,1421962014.020 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2015-01-22T21:26:54.020Z,1421962014.020 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:54.020Z,1421962014.020 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2015-01-22T21:26:54.020Z,1421962014.020 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:54.020Z,1421962014.020 [controlThread](INFO): Join timeout helper Thread ID is 2212
2015-01-22T21:26:54.681Z,1421962014.681 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:26:54.681Z,1421962014.681 [controlThread](DEBUG): Uninitializing ControlThread
2015-01-22T21:26:54.682Z,1421962014.682 [NAL9602](INFO): Uninitialize
2015-01-22T21:26:54.682Z,1421962014.682 [NAL9602](INFO): Powering down
2015-01-22T21:26:54.684Z,1421962014.684 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-22T21:26:54.685Z,1421962014.685 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2015-01-22T21:26:54.685Z,1421962014.685 [Default] Stopped
2015-01-22T21:26:54.685Z,1421962014.685 [Default](INFO): Aggregate::uninitialize Default
2015-01-22T21:26:54.685Z,1421962014.685 [Default:B.GoToSurface] Stopped
2015-01-22T21:26:54.685Z,1421962014.685 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-22T21:26:54.685Z,1421962014.685 [Default:WaitAtTheSurface] Stopped
2015-01-22T21:26:54.686Z,1421962014.686 [Default:WaitAtTheSurface](INFO): Aggregate::uninitialize Default:WaitAtTheSurface
2015-01-22T21:26:54.686Z,1421962014.686 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Stopped
2015-01-22T21:26:54.686Z,1421962014.686 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Uninitialize.
2015-01-22T21:26:54.689Z,1421962014.689 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2015-01-22T21:26:54.689Z,1421962014.689 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2015-01-22T21:26:54.689Z,1421962014.689 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2015-01-22T21:26:54.689Z,1421962014.689 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2015-01-22T21:26:54.690Z,1421962014.690 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-01-22T21:26:54.690Z,1421962014.690 [BuoyancyServo](INFO): Powering down
2015-01-22T21:26:54.705Z,1421962014.705 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-01-22T21:26:54.705Z,1421962014.705 [ElevatorServo](INFO): Powering down
2015-01-22T21:26:54.706Z,1421962014.706 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-01-22T21:26:54.706Z,1421962014.706 [RudderServo](INFO): Powering down
2015-01-22T21:26:54.707Z,1421962014.707 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-01-22T21:26:54.707Z,1421962014.707 [ThrusterServo](INFO): Powering down
2015-01-22T21:26:54.707Z,1421962014.707 [SBIT](DEBUG): Uninitialize SBIT Component.
2015-01-22T21:26:54.708Z,1421962014.708 [IBIT](DEBUG): Uninitialize IBIT Component.
2015-01-22T21:26:54.708Z,1421962014.708 [CBIT](DEBUG): Uninitialize CBIT Component.
2015-01-22T21:26:54.742Z,1421962014.742 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:54.852Z,1421962014.852 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:54.894Z,1421962014.894 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:26:54.949Z,1421962014.949 [logger ThreadHandler](INFO): Thread cancelled.