2015-01-22T21:27:25.784Z,1421962045.784 [Supervisor](DEBUG): Initializing supervisor.
2015-01-22T21:27:25.787Z,1421962045.787 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-01-22T21:27:25.788Z,1421962045.788 [SyncHandler](INFO): Protected caller Thread ID is 2254
2015-01-22T21:27:25.788Z,1421962045.788 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-01-22T21:27:25.789Z,1421962045.789 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-01-22T21:27:25.790Z,1421962045.790 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2255
2015-01-22T21:27:25.793Z,1421962045.793 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-01-22T21:27:25.806Z,1421962045.806 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-01-22T21:27:25.807Z,1421962045.807 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-01-22T21:27:25.807Z,1421962045.807 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2256
2015-01-22T21:27:25.808Z,1421962045.808 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-01-22T21:27:25.809Z,1421962045.809 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-01-22T21:27:25.809Z,1421962045.809 [logger ThreadHandler](INFO): Protected caller Thread ID is 2257
2015-01-22T21:27:25.811Z,1421962045.811 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-01-22T21:27:25.812Z,1421962045.812 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-01-22T21:27:25.813Z,1421962045.813 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-01-22T21:27:26.144Z,1421962046.144 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-01-22T21:27:26.144Z,1421962046.144 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-01-22T21:27:26.302Z,1421962046.302 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-01-22T21:27:26.302Z,1421962046.302 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-01-22T21:27:26.414Z,1421962046.414 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-01-22T21:27:26.415Z,1421962046.415 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-01-22T21:27:26.541Z,1421962046.541 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-01-22T21:27:26.541Z,1421962046.541 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-01-22T21:27:26.630Z,1421962046.630 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-01-22T21:27:26.789Z,1421962046.789 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-01-22T21:27:26.790Z,1421962046.790 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-01-22T21:27:26.875Z,1421962046.875 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-01-22T21:27:26.876Z,1421962046.876 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-01-22T21:27:27.090Z,1421962047.090 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-01-22T21:27:27.091Z,1421962047.091 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-01-22T21:27:27.459Z,1421962047.459 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-01-22T21:27:27.460Z,1421962047.460 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-01-22T21:27:27.776Z,1421962047.776 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-01-22T21:27:27.777Z,1421962047.777 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-01-22T21:27:28.266Z,1421962048.266 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-01-22T21:27:28.266Z,1421962048.266 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-01-22T21:27:28.461Z,1421962048.461 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-01-22T21:27:28.462Z,1421962048.462 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-01-22T21:27:28.650Z,1421962048.650 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-01-22T21:27:28.650Z,1421962048.650 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-01-22T21:27:29.069Z,1421962049.069 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-01-22T21:27:29.070Z,1421962049.070 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-01-22T21:27:29.180Z,1421962049.180 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-01-22T21:27:29.182Z,1421962049.182 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-01-22T21:27:29.183Z,1421962049.183 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-01-22T21:27:29.420Z,1421962049.420 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-01-22T21:27:29.421Z,1421962049.421 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-01-22T21:27:29.536Z,1421962049.536 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-01-22T21:27:29.633Z,1421962049.633 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-01-22T21:27:29.730Z,1421962049.730 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-01-22T21:27:29.844Z,1421962049.844 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-01-22T21:27:29.984Z,1421962049.984 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-01-22T21:27:30.153Z,1421962050.153 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-01-22T21:27:30.253Z,1421962050.253 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-01-22T21:27:30.343Z,1421962050.343 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-01-22T21:27:30.446Z,1421962050.446 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-01-22T21:27:30.543Z,1421962050.543 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-01-22T21:27:30.724Z,1421962050.724 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2015-01-22T21:27:30.725Z,1421962050.725 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-01-22T21:27:30.738Z,1421962050.738 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-01-22T21:27:30.787Z,1421962050.787 [VerticalControl](DEBUG): Construct VerticalControl.
2015-01-22T21:27:30.904Z,1421962050.904 [VerticalControl] Loaded
2015-01-22T21:27:30.904Z,1421962050.904 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-01-22T21:27:30.905Z,1421962050.905 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-01-22T21:27:30.976Z,1421962050.976 [HorizontalControl] Loaded
2015-01-22T21:27:30.976Z,1421962050.976 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-01-22T21:27:30.976Z,1421962050.976 [SpeedControl](DEBUG): Construct SpeedControl.
2015-01-22T21:27:30.982Z,1421962050.982 [SpeedControl] Loaded
2015-01-22T21:27:30.982Z,1421962050.982 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-01-22T21:27:30.983Z,1421962050.983 [LoopControl](DEBUG): Construct LoopControl.
2015-01-22T21:27:30.984Z,1421962050.984 [LoopControl] Loaded
2015-01-22T21:27:30.984Z,1421962050.984 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-01-22T21:27:30.984Z,1421962050.984 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-01-22T21:27:30.985Z,1421962050.985 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-01-22T21:27:31.077Z,1421962051.077 [SBIT](DEBUG): Construct Startup Built In Test.
2015-01-22T21:27:31.089Z,1421962051.089 [SBIT] Loaded
2015-01-22T21:27:31.089Z,1421962051.089 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-01-22T21:27:31.090Z,1421962051.090 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-01-22T21:27:31.118Z,1421962051.118 [IBIT] Loaded
2015-01-22T21:27:31.118Z,1421962051.118 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-01-22T21:27:31.121Z,1421962051.121 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-01-22T21:27:31.263Z,1421962051.263 [CBIT] Loaded
2015-01-22T21:27:31.264Z,1421962051.264 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-01-22T21:27:31.264Z,1421962051.264 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-01-22T21:27:31.265Z,1421962051.265 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-01-22T21:27:31.283Z,1421962051.283 [DepthRateCalculator] Loaded
2015-01-22T21:27:31.283Z,1421962051.283 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-01-22T21:27:31.288Z,1421962051.288 [PitchRateCalculator] Loaded
2015-01-22T21:27:31.289Z,1421962051.289 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-01-22T21:27:31.300Z,1421962051.300 [SpeedCalculator] Loaded
2015-01-22T21:27:31.300Z,1421962051.300 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-01-22T21:27:31.317Z,1421962051.317 [TempGradientCalculator] Loaded
2015-01-22T21:27:31.317Z,1421962051.317 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-01-22T21:27:31.322Z,1421962051.322 [YawRateCalculator] Loaded
2015-01-22T21:27:31.323Z,1421962051.323 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-01-22T21:27:31.323Z,1421962051.323 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-01-22T21:27:31.324Z,1421962051.324 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-01-22T21:27:31.372Z,1421962051.372 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-01-22T21:27:31.373Z,1421962051.373 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-01-22T21:27:31.595Z,1421962051.595 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-01-22T21:27:31.595Z,1421962051.595 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-01-22T21:27:31.638Z,1421962051.638 [NavChart] Loaded
2015-01-22T21:27:31.638Z,1421962051.638 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-01-22T21:27:31.645Z,1421962051.645 [UniversalFixResidualReporter] Loaded
2015-01-22T21:27:31.645Z,1421962051.645 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-01-22T21:27:31.645Z,1421962051.645 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-01-22T21:27:31.646Z,1421962051.646 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-01-22T21:27:31.652Z,1421962051.652 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-01-22T21:27:31.652Z,1421962051.652 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-01-22T21:27:31.757Z,1421962051.757 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-01-22T21:27:31.758Z,1421962051.758 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-01-22T21:27:32.061Z,1421962052.061 [DataOverHttps] Loaded
2015-01-22T21:27:32.061Z,1421962052.061 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-01-22T21:27:32.142Z,1421962052.142 [Depth_Keller] Loaded
2015-01-22T21:27:32.142Z,1421962052.142 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-01-22T21:27:32.235Z,1421962052.235 [NAL9602] Loaded
2015-01-22T21:27:32.236Z,1421962052.236 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-01-22T21:27:32.277Z,1421962052.277 [Onboard] Loaded
2015-01-22T21:27:32.277Z,1421962052.277 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-01-22T21:27:32.284Z,1421962052.284 [Radio_Surface] Loaded
2015-01-22T21:27:32.284Z,1421962052.284 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-01-22T21:27:32.285Z,1421962052.285 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2015-01-22T21:27:32.286Z,1421962052.286 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2340
2015-01-22T21:27:34.132Z,1421962054.132 [BPC1] Loaded
2015-01-22T21:27:34.132Z,1421962054.132 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-01-22T21:27:34.132Z,1421962054.132 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-01-22T21:27:34.133Z,1421962054.133 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-01-22T21:27:34.229Z,1421962054.229 [BuoyancyServo] Loaded
2015-01-22T21:27:34.229Z,1421962054.229 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-01-22T21:27:34.241Z,1421962054.241 [ElevatorServo] Loaded
2015-01-22T21:27:34.241Z,1421962054.241 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-01-22T21:27:34.253Z,1421962054.253 [RudderServo] Loaded
2015-01-22T21:27:34.253Z,1421962054.253 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-01-22T21:27:34.265Z,1421962054.265 [ThrusterServo] Loaded
2015-01-22T21:27:34.265Z,1421962054.265 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-01-22T21:27:34.265Z,1421962054.265 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-01-22T21:27:34.266Z,1421962054.266 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-01-22T21:27:34.379Z,1421962054.379 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-01-22T21:27:34.379Z,1421962054.379 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-01-22T21:27:34.403Z,1421962054.403 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-01-22T21:27:34.405Z,1421962054.405 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-01-22T21:27:34.406Z,1421962054.406 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-01-22T21:27:34.412Z,1421962054.412 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-01-22T21:27:34.413Z,1421962054.413 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083C4E0
2015-01-22T21:27:34.414Z,1421962054.414 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2341
2015-01-22T21:27:34.419Z,1421962054.419 [Supervisor](INFO): Main Thread ID is 2253
2015-01-22T21:27:34.419Z,1421962054.419 [Supervisor](DEBUG): Running supervisor.
2015-01-22T21:27:34.420Z,1421962054.420 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2342
2015-01-22T21:27:34.424Z,1421962054.424 [controlThread ThreadHandler](INFO): Handler Thread ID is 2343
2015-01-22T21:27:34.425Z,1421962054.425 [controlThread](DEBUG): Initializing ControlThread
2015-01-22T21:27:34.426Z,1421962054.426 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-01-22T21:27:34.427Z,1421962054.427 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-01-22T21:27:34.428Z,1421962054.428 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-01-22T21:27:34.428Z,1421962054.428 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-01-22T21:27:34.429Z,1421962054.429 [SBIT](INFO): Initialize SBIT Component.
2015-01-22T21:27:34.429Z,1421962054.429 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11963
2015-01-22T21:27:34.429Z,1421962054.429 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-01-22T21:27:34.430Z,1421962054.430 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-01-22T21:27:34.430Z,1421962054.430 [IBIT](INFO): Initialize IBIT Component.
2015-01-22T21:27:34.431Z,1421962054.431 [CBIT](DEBUG): Initialize CBIT Component.
2015-01-22T21:27:34.431Z,1421962054.431 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-01-22T21:27:34.432Z,1421962054.432 [logger ThreadHandler](INFO): Handler Thread ID is 2344
2015-01-22T21:27:34.451Z,1421962054.451 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2345
2015-01-22T21:27:34.456Z,1421962054.456 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-22T21:27:34.457Z,1421962054.457 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-01-22T21:27:34.457Z,1421962054.457 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-01-22T21:27:34.457Z,1421962054.457 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-01-22T21:27:34.458Z,1421962054.458 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-01-22T21:27:34.458Z,1421962054.458 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-01-22T21:27:34.459Z,1421962054.459 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-01-22T21:27:34.465Z,1421962054.465 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-01-22T21:27:34.471Z,1421962054.471 [Radio_Surface](INFO): Powering up
2015-01-22T21:27:34.484Z,1421962054.484 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-22T21:27:34.487Z,1421962054.487 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2346
2015-01-22T21:27:34.490Z,1421962054.490 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-01-22T21:27:34.491Z,1421962054.491 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-01-22T21:27:34.491Z,1421962054.491 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-01-22T21:27:34.492Z,1421962054.492 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-01-22T21:27:34.492Z,1421962054.492 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-01-22T21:27:34.492Z,1421962054.492 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-01-22T21:27:34.492Z,1421962054.492 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-01-22T21:27:34.493Z,1421962054.493 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-01-22T21:27:34.493Z,1421962054.493 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-01-22T21:27:34.534Z,1421962054.534 [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>


2015-01-22T21:27:34.535Z,1421962054.535 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-01-22T21:27:34.623Z,1421962054.623 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-01-22T21:27:34.626Z,1421962054.626 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-01-22T21:27:34.671Z,1421962054.671 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-22T21:27:34.699Z,1421962054.699 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-01-22T21:27:34.737Z,1421962054.737 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-01-22T21:27:34.773Z,1421962054.773 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-01-22T21:27:34.792Z,1421962054.792 [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>


2015-01-22T21:27:34.802Z,1421962054.802 [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,
2015-01-22T21:27:34.935Z,1421962054.935 [NAL9602](INFO): Start
2015-01-22T21:27:35.256Z,1421962055.256 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-01-22T21:27:35.264Z,1421962055.264 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-01-22T21:27:35.286Z,1421962055.286 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-22T21:27:35.292Z,1421962055.292 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-22T21:27:35.306Z,1421962055.306 [RudderServo](DEBUG): Initializing EZServoServo.
2015-01-22T21:27:35.312Z,1421962055.312 [RudderServo](DEBUG): Initializing RudderServo.
2015-01-22T21:27:35.318Z,1421962055.318 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-01-22T21:27:35.324Z,1421962055.324 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-01-22T21:27:35.469Z,1421962055.469 [NAL9602](INFO): Start
2015-01-22T21:27:44.631Z,1421962064.631 [NAL9602](INFO): Start
2015-01-22T21:27:44.632Z,1421962064.632 [NAL9602](INFO): Powering up NAL9602
2015-01-22T21:27:45.796Z,1421962065.796 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003400
2015-01-22T21:27:49.886Z,1421962069.886 [SBIT](IMPORTANT): Beginning Startup BIT
2015-01-22T21:27:49.896Z,1421962069.896 [CBIT](IMPORTANT): Beginning GF scan
2015-01-22T21:27:55.436Z,1421962075.436 [NAL9602](INFO): ************** CMDMODE **************

2015-01-22T21:27:55.437Z,1421962075.437 [NAL9602](INFO): NAL9602 initialized
2015-01-22T21:28:03.181Z,1421962083.181 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T21:28:16.344Z,1421962096.344 [CBIT](IMPORTANT): No ground fault detected
2015-01-22T21:28:17.688Z,1421962097.688 [CommandLine](IMPORTANT): got command show variable quality
2015-01-22T21:28:17.745Z,1421962097.745 [CommandLine](IMPORTANT): NAL9602.sigQuality (count)
2015-01-22T21:28:25.063Z,1421962105.063 [CommandLine](IMPORTANT): got command report mod NAL9602.sigQuality
2015-01-22T21:28:25.178Z,1421962105.178 [Reporter](INFO): NAL9602.sigQuality 0 count
2015-01-22T21:28:28.343Z,1421962108.343 [CommandLine](IMPORTANT): got command show stack
2015-01-22T21:28:28.343Z,1421962108.343 [CommandLine](IMPORTANT): Behavior Stack:

2015-01-22T21:28:28.343Z,1421962108.343 [MissionManager](IMPORTANT): Mission loaded, but not running.
2015-01-22T21:28:29.542Z,1421962109.542 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T21:28:29.542Z,1421962109.542 [SBIT](FAULT): Control surface position failure.
2015-01-22T21:28:43.145Z,1421962123.145 [SBIT](ERROR): Could not read massPosReader_.
2015-01-22T21:28:43.145Z,1421962123.145 [SBIT](FAULT): Control surface position failure.
2015-01-22T21:28:43.590Z,1421962123.590 [SBIT](CRITICAL): SBIT FAILED
2015-01-22T21:28:43.591Z,1421962123.591 [CommandLine](FAULT): Scheduling is paused
2015-01-22T21:28:43.940Z,1421962123.940 [MissionManager](IMPORTANT): Started mission Startup
2015-01-22T21:28:43.940Z,1421962123.940 [Startup] Running Loop=1
2015-01-22T21:28:43.940Z,1421962123.940 [Startup](INFO): Aggregate::initialize Startup
2015-01-22T21:28:43.940Z,1421962123.940 [Startup:A.GoToSurface] Running Loop=1
2015-01-22T21:28:43.940Z,1421962123.940 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-22T21:28:43.941Z,1421962123.941 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-22T21:28:43.941Z,1421962123.941 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-22T21:28:43.941Z,1421962123.941 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-22T21:28:43.947Z,1421962123.947 [Startup:StartupSatComms] Running Loop=1
2015-01-22T21:28:43.947Z,1421962123.947 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2015-01-22T21:28:43.947Z,1421962123.947 [Startup:StartupSatComms:A] Running Loop=1
2015-01-22T21:28:44.373Z,1421962124.373 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2015-01-22T21:28:46.248Z,1421962126.248 [CommandLine](IMPORTANT): got command show stack
2015-01-22T21:28:46.248Z,1421962126.248 [CommandLine](IMPORTANT): Behavior Stack:

2015-01-22T21:28:46.248Z,1421962126.248 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2015-01-22T21:28:46.249Z,1421962126.249 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:A
2015-01-22T21:28:57.729Z,1421962137.729 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2015-01-22T21:29:42.403Z,1421962182.403 [BPC1](FAULT): Failed to receive battery data
2015-01-22T21:29:42.403Z,1421962182.403 [BPC1] Communications Fault, FailCount= 1
2015-01-22T21:29:42.403Z,1421962182.403 [BPC1](ERROR): Communications Fault
2015-01-22T21:29:42.417Z,1421962182.417 [CBIT](ERROR): Communications Fault in component: BPC1
2015-01-22T21:29:43.639Z,1421962183.639 [CBIT](INFO): Clearing failed state for component BPC1
2015-01-22T21:29:43.639Z,1421962183.639 [BPC1] No Fault, FailCount= 1
2015-01-22T21:29:44.057Z,1421962184.057 [Startup:StartupSatComms:A](INFO): Timed out from 2015-01-22T21:28:43.9Z
2015-01-22T21:29:44.057Z,1421962184.057 [Startup:StartupSatComms:A] Stopped
2015-01-22T21:29:44.057Z,1421962184.057 [Startup:StartupSatComms:B] Running Loop=1
2015-01-22T21:29:44.459Z,1421962184.459 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2015-01-22T21:29:48.830Z,1421962188.830 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20150122T212307/Courier0004.lzma
2015-01-22T21:29:49.625Z,1421962189.625 [DataOverHttps](INFO): Moved sent file to Logs/20150122T212307/Courier0004.lzma.bak
2015-01-22T21:29:49.625Z,1421962189.625 [DataOverHttps](INFO): SBD MOMSN=1504235
2015-01-22T21:29:50.663Z,1421962190.663 [CommandLine](IMPORTANT): got command show stack
2015-01-22T21:29:50.663Z,1421962190.663 [CommandLine](IMPORTANT): Behavior Stack:

2015-01-22T21:29:50.663Z,1421962190.663 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2015-01-22T21:29:50.664Z,1421962190.664 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2015-01-22T21:29:59.803Z,1421962199.803 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20150122T212725/Courier0000.lzma
2015-01-22T21:30:00.602Z,1421962200.602 [DataOverHttps](INFO): Moved sent file to Logs/20150122T212725/Courier0000.lzma.bak
2015-01-22T21:30:00.603Z,1421962200.603 [DataOverHttps](INFO): SBD MOMSN=1504237
2015-01-22T21:30:10.292Z,1421962210.292 [DataOverHttps](INFO): Sending 222 bytes from file Logs/20150122T212307/Express0005.lzma
2015-01-22T21:30:11.087Z,1421962211.087 [DataOverHttps](INFO): Moved sent file to Logs/20150122T212307/Express0005.lzma.bak
2015-01-22T21:30:11.087Z,1421962211.087 [DataOverHttps](INFO): SBD MOMSN=1504241
2015-01-22T21:30:13.143Z,1421962213.143 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2015-01-22T21:30:15.838Z,1421962215.838 [Startup:StartupSatComms:B] Stopped
2015-01-22T21:30:15.838Z,1421962215.838 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2015-01-22T21:30:15.838Z,1421962215.838 [Startup:StartupSatComms] Stopped
2015-01-22T21:30:15.838Z,1421962215.838 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2015-01-22T21:30:15.839Z,1421962215.839 [Startup](INFO): Completed Startup
2015-01-22T21:30:15.839Z,1421962215.839 [Startup] Stopped
2015-01-22T21:30:15.839Z,1421962215.839 [Startup](INFO): Aggregate::uninitialize Startup
2015-01-22T21:30:15.839Z,1421962215.839 [Startup:A.GoToSurface] Stopped
2015-01-22T21:30:15.839Z,1421962215.839 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-22T21:30:15.946Z,1421962215.946 [MissionManager](IMPORTANT): Started mission Default
2015-01-22T21:30:15.946Z,1421962215.946 [Default] Running Loop=1
2015-01-22T21:30:15.946Z,1421962215.946 [Default](INFO): Aggregate::initialize Default
2015-01-22T21:30:15.946Z,1421962215.946 [Default:B.GoToSurface] Running Loop=1
2015-01-22T21:30:15.947Z,1421962215.947 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-22T21:30:15.947Z,1421962215.947 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-22T21:30:15.947Z,1421962215.947 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-22T21:30:15.948Z,1421962215.948 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-22T21:30:15.948Z,1421962215.948 [Default:StartClock] Running Loop=1
2015-01-22T21:30:15.948Z,1421962215.948 [Default:StartClock](INFO): Aggregate::initialize Default:StartClock
2015-01-22T21:30:15.948Z,1421962215.948 [Default:StartClock:A] Running Loop=1
2015-01-22T21:30:15.956Z,1421962215.956 [Default:StartClock:A] Stopped
2015-01-22T21:30:15.956Z,1421962215.956 [Default:StartClock](INFO): Completed Default:StartClock
2015-01-22T21:30:15.956Z,1421962215.956 [Default:StartClock] Stopped
2015-01-22T21:30:15.956Z,1421962215.956 [Default:StartClock](INFO): Aggregate::uninitialize Default:StartClock
2015-01-22T21:30:16.331Z,1421962216.331 [Default:WaitAtTheSurface] Running Loop=1
2015-01-22T21:30:16.331Z,1421962216.331 [Default:WaitAtTheSurface](INFO): Aggregate::initialize Default:WaitAtTheSurface
2015-01-22T21:30:16.331Z,1421962216.331 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-22T21:30:16.331Z,1421962216.331 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Initialize.
2015-01-22T21:30:16.679Z,1421962216.679 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-22T21:30:23.062Z,1421962223.062 [CommandLine](IMPORTANT): got command show stack
2015-01-22T21:30:23.062Z,1421962223.062 [CommandLine](IMPORTANT): Behavior Stack:

2015-01-22T21:30:23.063Z,1421962223.063 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2015-01-22T21:30:23.063Z,1421962223.063 [Default:WaitAtTheSurface](IMPORTANT): Priority 1: Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed
2015-01-22T21:30:36.663Z,1421962236.663 [DataOverHttps](INFO): Sending 764 bytes from file Logs/20150122T212725/Express0001.lzma
2015-01-22T21:30:46.658Z,1421962246.658 [DataOverHttps](INFO): Moved sent file to Logs/20150122T212725/Express0001.lzma.bak
2015-01-22T21:30:46.658Z,1421962246.658 [DataOverHttps](INFO): SBD MOMSN=1504247
2015-01-22T21:31:29.390Z,1421962289.390 [CommandLine](IMPORTANT): got command report
2015-01-22T21:31:29.390Z,1421962289.390 [Reporter](INFO): NAL9602.sigQuality reporting changes
2015-01-22T21:32:39.461Z,1421962359.461 [Default:UpdateAndReportMinutesSinceMissionStarted] Running Loop=1
2015-01-22T21:32:39.461Z,1421962359.461 [Default:UpdateAndReportMinutesSinceMissionStarted](INFO): Aggregate::initialize Default:UpdateAndReportMinutesSinceMissionStarted
2015-01-22T21:32:39.461Z,1421962359.461 [Default:UpdateAndReportMinutesSinceMissionStarted:A] Running Loop=1
2015-01-22T21:32:39.463Z,1421962359.463 [Default:UpdateAndReportMinutesSinceMissionStarted:A] Stopped
2015-01-22T21:32:39.463Z,1421962359.463 [Default:UpdateAndReportMinutesSinceMissionStarted:B] Running Loop=1
2015-01-22T21:32:41.733Z,1421962361.733 [Default:UpdateAndReportMinutesSinceMissionStarted:B](IMPORTANT): Default mission has been running for 2.346701 min 
2015-01-22T21:32:41.735Z,1421962361.735 [Default:UpdateAndReportMinutesSinceMissionStarted:B] Stopped
2015-01-22T21:32:41.735Z,1421962361.735 [Default:UpdateAndReportMinutesSinceMissionStarted](INFO): Completed Default:UpdateAndReportMinutesSinceMissionStarted
2015-01-22T21:32:41.736Z,1421962361.736 [Default:UpdateAndReportMinutesSinceMissionStarted] Stopped
2015-01-22T21:32:41.736Z,1421962361.736 [Default:UpdateAndReportMinutesSinceMissionStarted](INFO): Aggregate::uninitialize Default:UpdateAndReportMinutesSinceMissionStarted
2015-01-22T21:33:01.661Z,1421962381.661 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2015-01-22T21:33:06.080Z,1421962386.080 [CommandLine](IMPORTANT): got command show stack
2015-01-22T21:33:06.080Z,1421962386.080 [CommandLine](IMPORTANT): Behavior Stack:

2015-01-22T21:33:06.081Z,1421962386.081 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2015-01-22T21:33:06.081Z,1421962386.081 [Default:WaitAtTheSurface](IMPORTANT): Priority 1: Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed
2015-01-22T21:33:07.455Z,1421962387.455 [CommandLine](IMPORTANT): got command report
2015-01-22T21:33:07.455Z,1421962387.455 [Reporter](INFO): NAL9602.sigQuality reporting changes
2015-01-22T21:33:09.791Z,1421962389.791 [CommandLine](IMPORTANT): got command get depth
2015-01-22T21:33:09.792Z,1421962389.792 [CommandLine](IMPORTANT): depth 0.038659 m
2015-01-22T21:33:16.608Z,1421962396.608 [CommandLine](IMPORTANT): got command get depth
2015-01-22T21:33:16.608Z,1421962396.608 [CommandLine](IMPORTANT): depth 0.047635 m
2015-01-22T21:33:16.663Z,1421962396.663 [NAL9602](IMPORTANT): GPS 1:1421962390.000000
2015-01-22T21:33:16.664Z,1421962396.664 [NAL9602](IMPORTANT): GPS year:15
2015-01-22T21:33:16.664Z,1421962396.664 [NAL9602](IMPORTANT): GPS fix at: 1421962390.000000
2015-01-22T21:33:16.665Z,1421962396.665 [NAL9602](IMPORTANT): GPS orig fix at: 1421962390.00
2015-01-22T21:33:41.670Z,1421962421.670 [NAL9602](IMPORTANT): GPS 1:1421962418.000000
2015-01-22T21:33:41.670Z,1421962421.670 [NAL9602](IMPORTANT): GPS year:15
2015-01-22T21:33:41.670Z,1421962421.670 [NAL9602](IMPORTANT): GPS fix at: 1421962418.000000
2015-01-22T21:33:41.671Z,1421962421.671 [NAL9602](IMPORTANT): GPS orig fix at: 1421962418.00
2015-01-22T21:33:51.968Z,1421962431.968 [CommandLine](IMPORTANT): got command quit
2015-01-22T21:33:52.978Z,1421962432.978 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:33:52.978Z,1421962432.978 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:53.103Z,1421962433.103 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2015-01-22T21:33:53.103Z,1421962433.103 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:53.104Z,1421962433.104 [CommandLine](INFO): Join timeout helper Thread ID is 2354
2015-01-22T21:33:53.105Z,1421962433.105 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2015-01-22T21:33:53.105Z,1421962433.105 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:53.105Z,1421962433.105 [NavChartDb](INFO): Join timeout helper Thread ID is 2355
2015-01-22T21:33:53.448Z,1421962433.448 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:33:53.448Z,1421962433.448 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:53.468Z,1421962433.468 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2015-01-22T21:33:53.468Z,1421962433.468 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:53.468Z,1421962433.468 [Radio_Surface](INFO): Join timeout helper Thread ID is 2356
2015-01-22T21:33:53.793Z,1421962433.793 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:33:53.793Z,1421962433.793 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:53.808Z,1421962433.808 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2015-01-22T21:33:53.809Z,1421962433.809 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:53.809Z,1421962433.809 [logger](INFO): Join timeout helper Thread ID is 2357
2015-01-22T21:33:53.841Z,1421962433.841 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:33:53.841Z,1421962433.841 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:53.848Z,1421962433.848 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2015-01-22T21:33:53.849Z,1421962433.849 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:53.849Z,1421962433.849 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2015-01-22T21:33:53.849Z,1421962433.849 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:53.849Z,1421962433.849 [controlThread](INFO): Join timeout helper Thread ID is 2358
2015-01-22T21:33:56.653Z,1421962436.653 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-22T21:33:56.654Z,1421962436.654 [controlThread](DEBUG): Uninitializing ControlThread
2015-01-22T21:33:56.654Z,1421962436.654 [NAL9602](INFO): Uninitialize
2015-01-22T21:33:56.654Z,1421962436.654 [NAL9602](INFO): Powering down
2015-01-22T21:33:56.656Z,1421962436.656 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-22T21:33:56.657Z,1421962436.657 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2015-01-22T21:33:56.658Z,1421962436.658 [Default] Stopped
2015-01-22T21:33:56.658Z,1421962436.658 [Default](INFO): Aggregate::uninitialize Default
2015-01-22T21:33:56.658Z,1421962436.658 [Default:B.GoToSurface] Stopped
2015-01-22T21:33:56.658Z,1421962436.658 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-22T21:33:56.658Z,1421962436.658 [Default:WaitAtTheSurface] Stopped
2015-01-22T21:33:56.658Z,1421962436.658 [Default:WaitAtTheSurface](INFO): Aggregate::uninitialize Default:WaitAtTheSurface
2015-01-22T21:33:56.658Z,1421962436.658 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Stopped
2015-01-22T21:33:56.658Z,1421962436.658 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Uninitialize.
2015-01-22T21:33:56.662Z,1421962436.662 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2015-01-22T21:33:56.662Z,1421962436.662 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2015-01-22T21:33:56.662Z,1421962436.662 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2015-01-22T21:33:56.662Z,1421962436.662 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2015-01-22T21:33:56.662Z,1421962436.662 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-01-22T21:33:56.663Z,1421962436.663 [BuoyancyServo](INFO): Powering down
2015-01-22T21:33:56.677Z,1421962436.677 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-01-22T21:33:56.677Z,1421962436.677 [ElevatorServo](INFO): Powering down
2015-01-22T21:33:56.678Z,1421962436.678 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-01-22T21:33:56.678Z,1421962436.678 [RudderServo](INFO): Powering down
2015-01-22T21:33:56.679Z,1421962436.679 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-01-22T21:33:56.679Z,1421962436.679 [ThrusterServo](INFO): Powering down
2015-01-22T21:33:56.680Z,1421962436.680 [SBIT](DEBUG): Uninitialize SBIT Component.
2015-01-22T21:33:56.680Z,1421962436.680 [IBIT](DEBUG): Uninitialize IBIT Component.
2015-01-22T21:33:56.680Z,1421962436.680 [CBIT](DEBUG): Uninitialize CBIT Component.
2015-01-22T21:33:56.714Z,1421962436.714 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:56.827Z,1421962436.827 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:56.869Z,1421962436.869 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-22T21:33:56.919Z,1421962436.919 [logger ThreadHandler](INFO): Thread cancelled.