2015-01-27T22:29:37.599Z,1422397777.599 [Supervisor](DEBUG): Initializing supervisor.
2015-01-27T22:29:37.602Z,1422397777.602 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-01-27T22:29:37.603Z,1422397777.603 [SyncHandler](INFO): Protected caller Thread ID is 1510
2015-01-27T22:29:37.603Z,1422397777.603 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-01-27T22:29:37.604Z,1422397777.604 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-01-27T22:29:37.604Z,1422397777.604 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1511
2015-01-27T22:29:37.607Z,1422397777.607 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-01-27T22:29:37.619Z,1422397777.619 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-01-27T22:29:37.620Z,1422397777.620 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-01-27T22:29:37.620Z,1422397777.620 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1512
2015-01-27T22:29:37.621Z,1422397777.621 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-01-27T22:29:37.622Z,1422397777.622 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-01-27T22:29:37.622Z,1422397777.622 [logger ThreadHandler](INFO): Protected caller Thread ID is 1513
2015-01-27T22:29:37.624Z,1422397777.624 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-01-27T22:29:37.625Z,1422397777.625 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-01-27T22:29:37.626Z,1422397777.626 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-01-27T22:29:37.964Z,1422397777.964 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-01-27T22:29:37.965Z,1422397777.965 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-01-27T22:29:38.125Z,1422397778.125 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-01-27T22:29:38.125Z,1422397778.125 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-01-27T22:29:38.233Z,1422397778.233 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-01-27T22:29:38.233Z,1422397778.233 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-01-27T22:29:38.356Z,1422397778.356 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-01-27T22:29:38.357Z,1422397778.357 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-01-27T22:29:38.442Z,1422397778.442 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-01-27T22:29:38.604Z,1422397778.604 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-01-27T22:29:38.604Z,1422397778.604 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-01-27T22:29:38.689Z,1422397778.689 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-01-27T22:29:38.690Z,1422397778.690 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-01-27T22:29:38.901Z,1422397778.901 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-01-27T22:29:38.902Z,1422397778.902 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-01-27T22:29:39.280Z,1422397779.280 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-01-27T22:29:39.280Z,1422397779.280 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-01-27T22:29:39.605Z,1422397779.605 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-01-27T22:29:39.606Z,1422397779.606 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-01-27T22:29:40.137Z,1422397780.137 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-01-27T22:29:40.138Z,1422397780.138 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-01-27T22:29:40.339Z,1422397780.339 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-01-27T22:29:40.340Z,1422397780.340 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-01-27T22:29:40.450Z,1422397780.450 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-01-27T22:29:40.451Z,1422397780.451 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-01-27T22:29:40.915Z,1422397780.915 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-01-27T22:29:40.916Z,1422397780.916 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-01-27T22:29:41.029Z,1422397781.029 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-01-27T22:29:41.031Z,1422397781.031 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-01-27T22:29:41.032Z,1422397781.032 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-01-27T22:29:41.275Z,1422397781.275 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-01-27T22:29:41.275Z,1422397781.275 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-01-27T22:29:41.395Z,1422397781.395 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Estimation.cfg
2015-01-27T22:29:41.493Z,1422397781.493 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-01-27T22:29:41.609Z,1422397781.609 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-01-27T22:29:41.726Z,1422397781.726 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-01-27T22:29:41.870Z,1422397781.870 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-01-27T22:29:42.128Z,1422397782.128 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-01-27T22:29:42.229Z,1422397782.229 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-01-27T22:29:42.319Z,1422397782.319 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-01-27T22:29:42.432Z,1422397782.432 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-01-27T22:29:42.528Z,1422397782.528 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-01-27T22:29:42.712Z,1422397782.712 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-01-27T22:29:42.726Z,1422397782.726 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-01-27T22:29:42.780Z,1422397782.780 [VerticalControl](DEBUG): Construct VerticalControl.
2015-01-27T22:29:42.901Z,1422397782.901 [VerticalControl] Loaded
2015-01-27T22:29:42.901Z,1422397782.901 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-01-27T22:29:42.902Z,1422397782.902 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-01-27T22:29:42.976Z,1422397782.976 [HorizontalControl] Loaded
2015-01-27T22:29:42.977Z,1422397782.977 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-01-27T22:29:42.977Z,1422397782.977 [SpeedControl](DEBUG): Construct SpeedControl.
2015-01-27T22:29:42.983Z,1422397782.983 [SpeedControl] Loaded
2015-01-27T22:29:42.984Z,1422397782.984 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-01-27T22:29:42.984Z,1422397782.984 [LoopControl](DEBUG): Construct LoopControl.
2015-01-27T22:29:42.985Z,1422397782.985 [LoopControl] Loaded
2015-01-27T22:29:42.985Z,1422397782.985 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-01-27T22:29:42.985Z,1422397782.985 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-01-27T22:29:42.986Z,1422397782.986 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-01-27T22:29:43.090Z,1422397783.090 [SBIT](DEBUG): Construct Startup Built In Test.
2015-01-27T22:29:43.102Z,1422397783.102 [SBIT] Loaded
2015-01-27T22:29:43.102Z,1422397783.102 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-01-27T22:29:43.103Z,1422397783.103 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-01-27T22:29:43.132Z,1422397783.132 [IBIT] Loaded
2015-01-27T22:29:43.132Z,1422397783.132 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-01-27T22:29:43.134Z,1422397783.134 [CBIT](DEBUG): Construct CBIT Built In Test.
2015-01-27T22:29:43.273Z,1422397783.273 [CBIT] Loaded
2015-01-27T22:29:43.273Z,1422397783.273 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-01-27T22:29:43.274Z,1422397783.274 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-01-27T22:29:43.274Z,1422397783.274 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-01-27T22:29:43.293Z,1422397783.293 [DepthRateCalculator] Loaded
2015-01-27T22:29:43.293Z,1422397783.293 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-01-27T22:29:43.299Z,1422397783.299 [PitchRateCalculator] Loaded
2015-01-27T22:29:43.299Z,1422397783.299 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-01-27T22:29:43.311Z,1422397783.311 [SpeedCalculator] Loaded
2015-01-27T22:29:43.312Z,1422397783.312 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-01-27T22:29:43.329Z,1422397783.329 [TempGradientCalculator] Loaded
2015-01-27T22:29:43.329Z,1422397783.329 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-01-27T22:29:43.335Z,1422397783.335 [YawRateCalculator] Loaded
2015-01-27T22:29:43.335Z,1422397783.335 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-01-27T22:29:43.335Z,1422397783.335 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-01-27T22:29:43.336Z,1422397783.336 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-01-27T22:29:43.389Z,1422397783.389 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-01-27T22:29:43.389Z,1422397783.389 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-01-27T22:29:43.638Z,1422397783.638 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-01-27T22:29:43.638Z,1422397783.638 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-01-27T22:29:43.683Z,1422397783.683 [NavChart] Loaded
2015-01-27T22:29:43.684Z,1422397783.684 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-01-27T22:29:43.690Z,1422397783.690 [UniversalFixResidualReporter] Loaded
2015-01-27T22:29:43.690Z,1422397783.690 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-01-27T22:29:43.691Z,1422397783.691 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-01-27T22:29:43.691Z,1422397783.691 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-01-27T22:29:43.697Z,1422397783.697 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-01-27T22:29:43.698Z,1422397783.698 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-01-27T22:29:43.789Z,1422397783.789 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-01-27T22:29:43.790Z,1422397783.790 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-01-27T22:29:44.145Z,1422397784.145 [DataOverHttps] Loaded
2015-01-27T22:29:44.145Z,1422397784.145 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-01-27T22:29:44.227Z,1422397784.227 [Depth_Keller] Loaded
2015-01-27T22:29:44.227Z,1422397784.227 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-01-27T22:29:44.326Z,1422397784.326 [NAL9602] Loaded
2015-01-27T22:29:44.327Z,1422397784.327 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-01-27T22:29:44.370Z,1422397784.370 [Onboard] Loaded
2015-01-27T22:29:44.370Z,1422397784.370 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-01-27T22:29:44.377Z,1422397784.377 [Radio_Surface] Loaded
2015-01-27T22:29:44.377Z,1422397784.377 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-01-27T22:29:44.378Z,1422397784.378 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2015-01-27T22:29:44.379Z,1422397784.379 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1596
2015-01-27T22:29:46.448Z,1422397786.448 [BPC1] Loaded
2015-01-27T22:29:46.449Z,1422397786.449 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-01-27T22:29:46.449Z,1422397786.449 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-01-27T22:29:46.450Z,1422397786.450 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-01-27T22:29:46.553Z,1422397786.553 [BuoyancyServo] Loaded
2015-01-27T22:29:46.553Z,1422397786.553 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-01-27T22:29:46.565Z,1422397786.565 [ElevatorServo] Loaded
2015-01-27T22:29:46.566Z,1422397786.566 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-01-27T22:29:46.578Z,1422397786.578 [RudderServo] Loaded
2015-01-27T22:29:46.578Z,1422397786.578 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-01-27T22:29:46.589Z,1422397786.589 [ThrusterServo] Loaded
2015-01-27T22:29:46.590Z,1422397786.590 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-01-27T22:29:46.590Z,1422397786.590 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-01-27T22:29:46.591Z,1422397786.591 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-01-27T22:29:46.700Z,1422397786.700 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-01-27T22:29:46.701Z,1422397786.701 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-01-27T22:29:46.726Z,1422397786.726 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-01-27T22:29:46.728Z,1422397786.728 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-01-27T22:29:46.729Z,1422397786.729 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-01-27T22:29:46.736Z,1422397786.736 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-01-27T22:29:46.737Z,1422397786.737 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4083C4E0
2015-01-27T22:29:46.737Z,1422397786.737 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1597
2015-01-27T22:29:46.742Z,1422397786.742 [Supervisor](INFO): Main Thread ID is 1509
2015-01-27T22:29:46.742Z,1422397786.742 [Supervisor](DEBUG): Running supervisor.
2015-01-27T22:29:46.743Z,1422397786.743 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1598
2015-01-27T22:29:46.747Z,1422397786.747 [controlThread ThreadHandler](INFO): Handler Thread ID is 1599
2015-01-27T22:29:46.747Z,1422397786.747 [controlThread](DEBUG): Initializing ControlThread
2015-01-27T22:29:46.748Z,1422397786.748 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-01-27T22:29:46.750Z,1422397786.750 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-01-27T22:29:46.751Z,1422397786.751 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-01-27T22:29:46.751Z,1422397786.751 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-01-27T22:29:46.751Z,1422397786.751 [SBIT](INFO): Initialize SBIT Component.
2015-01-27T22:29:46.752Z,1422397786.752 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:11963
2015-01-27T22:29:46.752Z,1422397786.752 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-01-27T22:29:46.752Z,1422397786.752 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-01-27T22:29:46.753Z,1422397786.753 [IBIT](INFO): Initialize IBIT Component.
2015-01-27T22:29:46.754Z,1422397786.754 [CBIT](DEBUG): Initialize CBIT Component.
2015-01-27T22:29:46.754Z,1422397786.754 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-01-27T22:29:46.755Z,1422397786.755 [logger ThreadHandler](INFO): Handler Thread ID is 1600
2015-01-27T22:29:46.776Z,1422397786.776 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1601
2015-01-27T22:29:46.779Z,1422397786.779 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-27T22:29:46.780Z,1422397786.780 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-01-27T22:29:46.780Z,1422397786.780 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-01-27T22:29:46.780Z,1422397786.780 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-01-27T22:29:46.781Z,1422397786.781 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-01-27T22:29:46.781Z,1422397786.781 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-01-27T22:29:46.781Z,1422397786.781 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-01-27T22:29:46.788Z,1422397786.788 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-01-27T22:29:46.801Z,1422397786.801 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-27T22:29:46.804Z,1422397786.804 [Radio_Surface](INFO): Powering up
2015-01-27T22:29:46.816Z,1422397786.816 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1602
2015-01-27T22:29:46.819Z,1422397786.819 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-01-27T22:29:46.820Z,1422397786.820 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-01-27T22:29:46.820Z,1422397786.820 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-01-27T22:29:46.820Z,1422397786.820 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-01-27T22:29:46.821Z,1422397786.821 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-01-27T22:29:46.821Z,1422397786.821 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-01-27T22:29:46.821Z,1422397786.821 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-01-27T22:29:46.821Z,1422397786.821 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-01-27T22:29:46.822Z,1422397786.822 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-01-27T22:29:46.860Z,1422397786.860 [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>


2015-01-27T22:29:46.861Z,1422397786.861 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-01-27T22:29:46.946Z,1422397786.946 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-01-27T22:29:46.949Z,1422397786.949 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-01-27T22:29:46.970Z,1422397786.970 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-01-27T22:29:46.994Z,1422397786.994 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-01-27T22:29:47.016Z,1422397787.016 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-01-27T22:29:47.053Z,1422397787.053 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-01-27T22:29:47.058Z,1422397787.058 [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>


2015-01-27T22:29:47.063Z,1422397787.063 [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,
2015-01-27T22:29:47.220Z,1422397787.220 [NAL9602](INFO): Start
2015-01-27T22:29:47.542Z,1422397787.542 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:29:47.549Z,1422397787.549 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-01-27T22:29:47.571Z,1422397787.571 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:29:47.577Z,1422397787.577 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-01-27T22:29:47.583Z,1422397787.583 [RudderServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:29:47.589Z,1422397787.589 [RudderServo](DEBUG): Initializing RudderServo.
2015-01-27T22:29:47.611Z,1422397787.611 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-01-27T22:29:47.617Z,1422397787.617 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-01-27T22:29:47.771Z,1422397787.771 [NAL9602](INFO): Start
2015-01-27T22:29:56.973Z,1422397796.973 [NAL9602](INFO): Start
2015-01-27T22:29:56.974Z,1422397796.974 [NAL9602](INFO): Powering up NAL9602
2015-01-27T22:29:58.169Z,1422397798.169 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003400
2015-01-27T22:30:02.333Z,1422397802.333 [SBIT](IMPORTANT): Beginning Startup BIT
2015-01-27T22:30:02.335Z,1422397802.335 [CBIT](IMPORTANT): Beginning GF scan
2015-01-27T22:30:07.837Z,1422397807.837 [NAL9602](INFO): ************** CMDMODE **************

2015-01-27T22:30:07.838Z,1422397807.838 [NAL9602](INFO): NAL9602 initialized
2015-01-27T22:30:10.237Z,1422397810.237 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:30:15.538Z,1422397815.538 [SBIT](ERROR): Could not read massPosReader_.
2015-01-27T22:30:28.797Z,1422397828.797 [CBIT](IMPORTANT): No ground fault detected
2015-01-27T22:30:40.639Z,1422397840.639 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2015-01-27T22:30:41.160Z,1422397841.160 [NAL9602](FAULT): received: 
2015-01-27T22:30:41.160Z,1422397841.160 [NAL9602] Data Fault, FailCount= 1
2015-01-27T22:30:41.160Z,1422397841.160 [NAL9602](ERROR): Data Fault
2015-01-27T22:30:41.351Z,1422397841.351 [CBIT](ERROR): Data Fault in component: NAL9602
2015-01-27T22:30:41.362Z,1422397841.362 [NAL9602](INFO): Stop
2015-01-27T22:30:41.362Z,1422397841.362 [NAL9602](INFO): Uninitialize
2015-01-27T22:30:41.362Z,1422397841.362 [NAL9602](INFO): Powering down
2015-01-27T22:30:41.774Z,1422397841.774 [NAL9602](INFO): Stopping
2015-01-27T22:30:42.380Z,1422397842.380 [SBIT](ERROR): Could not read massPosReader_.
2015-01-27T22:30:42.380Z,1422397842.380 [SBIT](FAULT): Control surface position failure.
2015-01-27T22:30:42.381Z,1422397842.381 [CBIT](INFO): Clearing failed state for component NAL9602
2015-01-27T22:30:42.381Z,1422397842.381 [NAL9602] No Fault, FailCount= 1
2015-01-27T22:30:42.563Z,1422397842.563 [NAL9602](INFO): Start
2015-01-27T22:30:42.960Z,1422397842.960 [NAL9602](INFO): Start
2015-01-27T22:30:43.360Z,1422397843.360 [NAL9602](INFO): Start
2015-01-27T22:30:43.761Z,1422397843.761 [NAL9602](INFO): Start
2015-01-27T22:30:44.162Z,1422397844.162 [NAL9602](INFO): Start
2015-01-27T22:30:44.562Z,1422397844.562 [NAL9602](INFO): Start
2015-01-27T22:30:44.959Z,1422397844.959 [NAL9602](INFO): Start
2015-01-27T22:30:45.360Z,1422397845.360 [NAL9602](INFO): Start
2015-01-27T22:30:45.760Z,1422397845.760 [NAL9602](INFO): Start
2015-01-27T22:30:46.161Z,1422397846.161 [NAL9602](INFO): Start
2015-01-27T22:30:46.565Z,1422397846.565 [NAL9602](INFO): Start
2015-01-27T22:30:46.566Z,1422397846.566 [NAL9602](INFO): Powering up NAL9602
2015-01-27T22:30:55.832Z,1422397855.832 [SBIT](ERROR): Could not read massPosReader_.
2015-01-27T22:30:55.832Z,1422397855.832 [SBIT](FAULT): Control surface position failure.
2015-01-27T22:30:56.232Z,1422397856.232 [SBIT](CRITICAL): SBIT FAILED
2015-01-27T22:30:56.234Z,1422397856.234 [CommandLine](FAULT): Scheduling is paused
2015-01-27T22:30:56.619Z,1422397856.619 [BPC1](ERROR): Failed to parse message.
2015-01-27T22:30:56.619Z,1422397856.619 [BPC1](FAULT): Failed to parse bank B battery data
2015-01-27T22:30:56.619Z,1422397856.619 [BPC1] Data Fault, FailCount= 1
2015-01-27T22:30:56.619Z,1422397856.619 [BPC1](ERROR): Data Fault
2015-01-27T22:30:56.625Z,1422397856.625 [MissionManager](IMPORTANT): Started mission Startup
2015-01-27T22:30:56.625Z,1422397856.625 [Startup] Running Loop=1
2015-01-27T22:30:56.625Z,1422397856.625 [Startup](INFO): Aggregate::initialize Startup
2015-01-27T22:30:56.625Z,1422397856.625 [Startup:A.GoToSurface] Running Loop=1
2015-01-27T22:30:56.625Z,1422397856.625 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-27T22:30:56.626Z,1422397856.626 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-27T22:30:56.626Z,1422397856.626 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-27T22:30:56.627Z,1422397856.627 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-27T22:30:56.633Z,1422397856.633 [Startup:StartupSatComms] Running Loop=1
2015-01-27T22:30:56.633Z,1422397856.633 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2015-01-27T22:30:56.633Z,1422397856.633 [Startup:StartupSatComms:A] Running Loop=1
2015-01-27T22:30:56.692Z,1422397856.692 [CBIT](ERROR): Data Fault in component: BPC1
2015-01-27T22:30:57.045Z,1422397857.045 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2015-01-27T22:30:57.413Z,1422397857.413 [NAL9602](INFO): ************** CMDMODE **************

2015-01-27T22:30:57.413Z,1422397857.413 [NAL9602](INFO): NAL9602 initialized
2015-01-27T22:30:57.837Z,1422397857.837 [CBIT](INFO): Clearing failed state for component BPC1
2015-01-27T22:30:57.837Z,1422397857.837 [BPC1] No Fault, FailCount= 1
2015-01-27T22:30:59.814Z,1422397859.814 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:31:10.224Z,1422397870.224 [BPC1](ERROR): A bank expecting battery number:1 and read number: uart read:
2015-01-27T22:31:10.224Z,1422397870.224 [BPC1](FAULT): Failed to parse bank A battery data
2015-01-27T22:31:10.224Z,1422397870.224 [BPC1] Data Fault, FailCount= 2
2015-01-27T22:31:10.225Z,1422397870.225 [BPC1](ERROR): Data Fault
2015-01-27T22:31:10.240Z,1422397870.240 [CBIT](ERROR): Data Fault in component: BPC1
2015-01-27T22:31:11.438Z,1422397871.438 [CBIT](INFO): Clearing failed state for component BPC1
2015-01-27T22:31:11.438Z,1422397871.438 [BPC1] No Fault, FailCount= 2
2015-01-27T22:31:30.611Z,1422397890.611 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2015-01-27T22:31:31.134Z,1422397891.134 [NAL9602](FAULT): received: 
2015-01-27T22:31:31.134Z,1422397891.134 [NAL9602] Data Fault, FailCount= 2
2015-01-27T22:31:31.134Z,1422397891.134 [NAL9602](ERROR): Data Fault
2015-01-27T22:31:31.152Z,1422397891.152 [CBIT](ERROR): Data Fault in component: NAL9602
2015-01-27T22:31:31.232Z,1422397891.232 [NAL9602](INFO): Stop
2015-01-27T22:31:31.232Z,1422397891.232 [NAL9602](INFO): Uninitialize
2015-01-27T22:31:31.232Z,1422397891.232 [NAL9602](INFO): Powering down
2015-01-27T22:31:31.559Z,1422397891.559 [NAL9602](INFO): Stopping
2015-01-27T22:31:31.997Z,1422397891.997 [CBIT](INFO): Clearing failed state for component NAL9602
2015-01-27T22:31:31.998Z,1422397891.998 [NAL9602] No Fault, FailCount= 2
2015-01-27T22:31:32.361Z,1422397892.361 [NAL9602](INFO): Start
2015-01-27T22:31:32.761Z,1422397892.761 [NAL9602](INFO): Start
2015-01-27T22:31:33.162Z,1422397893.162 [NAL9602](INFO): Start
2015-01-27T22:31:33.562Z,1422397893.562 [NAL9602](INFO): Start
2015-01-27T22:31:33.959Z,1422397893.959 [NAL9602](INFO): Start
2015-01-27T22:31:34.360Z,1422397894.360 [NAL9602](INFO): Start
2015-01-27T22:31:34.760Z,1422397894.760 [NAL9602](INFO): Start
2015-01-27T22:31:35.165Z,1422397895.165 [NAL9602](INFO): Start
2015-01-27T22:31:35.562Z,1422397895.562 [NAL9602](INFO): Start
2015-01-27T22:31:35.962Z,1422397895.962 [NAL9602](INFO): Start
2015-01-27T22:31:36.367Z,1422397896.367 [NAL9602](INFO): Start
2015-01-27T22:31:36.367Z,1422397896.367 [NAL9602](INFO): Powering up NAL9602
2015-01-27T22:31:47.565Z,1422397907.565 [NAL9602](INFO): ************** CMDMODE **************

2015-01-27T22:31:47.565Z,1422397907.565 [NAL9602](INFO): NAL9602 initialized
2015-01-27T22:31:50.836Z,1422397910.836 [CommandLine](IMPORTANT): got command show variable quality
2015-01-27T22:31:50.888Z,1422397910.888 [CommandLine](IMPORTANT): NAL9602.sigQuality (count)
2015-01-27T22:31:52.961Z,1422397912.961 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:31:57.001Z,1422397917.001 [Startup:StartupSatComms:A](INFO): Timed out from 2015-01-27T22:30:56.6Z
2015-01-27T22:31:57.002Z,1422397917.002 [Startup:StartupSatComms:A] Stopped
2015-01-27T22:31:57.006Z,1422397917.006 [Startup:StartupSatComms:B] Running Loop=1
2015-01-27T22:31:57.402Z,1422397917.402 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2015-01-27T22:31:57.579Z,1422397917.579 [CommandLine](IMPORTANT): got command report mod NAL9602.sigQuality
2015-01-27T22:31:57.967Z,1422397917.967 [Reporter](INFO): NAL9602.sigQuality -1 count
2015-01-27T22:32:01.789Z,1422397921.789 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20150127T215354/Courier0008.lzma
2015-01-27T22:32:02.584Z,1422397922.584 [DataOverHttps](INFO): Moved sent file to Logs/20150127T215354/Courier0008.lzma.bak
2015-01-27T22:32:02.584Z,1422397922.584 [DataOverHttps](INFO): SBD MOMSN=1508753
2015-01-27T22:32:11.993Z,1422397931.993 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20150127T222937/Courier0000.lzma
2015-01-27T22:32:12.791Z,1422397932.791 [DataOverHttps](INFO): Moved sent file to Logs/20150127T222937/Courier0000.lzma.bak
2015-01-27T22:32:12.791Z,1422397932.791 [DataOverHttps](INFO): SBD MOMSN=1508755
2015-01-27T22:32:22.893Z,1422397942.893 [DataOverHttps](INFO): Sending 193 bytes from file Logs/20150127T215354/Express0009.lzma
2015-01-27T22:32:23.692Z,1422397943.692 [DataOverHttps](INFO): Moved sent file to Logs/20150127T215354/Express0009.lzma.bak
2015-01-27T22:32:23.692Z,1422397943.692 [DataOverHttps](INFO): SBD MOMSN=1508759
2015-01-27T22:32:23.697Z,1422397943.697 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2015-01-27T22:32:24.212Z,1422397944.212 [NAL9602](FAULT): received: 
2015-01-27T22:32:24.212Z,1422397944.212 [NAL9602] Data Fault, FailCount= 3
2015-01-27T22:32:24.212Z,1422397944.212 [NAL9602](ERROR): Data Fault
2015-01-27T22:32:24.317Z,1422397944.317 [CBIT](ERROR): Data Fault in component: NAL9602
2015-01-27T22:32:24.318Z,1422397944.318 [Reporter](INFO): NAL9602.sigQuality no_value
2015-01-27T22:32:24.806Z,1422397944.806 [NAL9602](INFO): Stop
2015-01-27T22:32:24.806Z,1422397944.806 [NAL9602](INFO): Uninitialize
2015-01-27T22:32:24.806Z,1422397944.806 [NAL9602](INFO): Powering down
2015-01-27T22:32:24.894Z,1422397944.894 [NAL9602](INFO): Stopping
2015-01-27T22:32:28.115Z,1422397948.115 [CBIT](INFO): Clearing failed state for component NAL9602
2015-01-27T22:32:28.115Z,1422397948.115 [NAL9602] No Fault, FailCount= 3
2015-01-27T22:32:28.179Z,1422397948.179 [NAL9602](INFO): Start
2015-01-27T22:32:28.534Z,1422397948.534 [NAL9602](INFO): Start
2015-01-27T22:32:28.929Z,1422397948.929 [NAL9602](INFO): Start
2015-01-27T22:32:29.335Z,1422397949.335 [NAL9602](INFO): Start
2015-01-27T22:32:29.730Z,1422397949.730 [NAL9602](INFO): Start
2015-01-27T22:32:30.127Z,1422397950.127 [NAL9602](INFO): Start
2015-01-27T22:32:30.127Z,1422397950.127 [NAL9602](INFO): Powering up NAL9602
2015-01-27T22:32:33.759Z,1422397953.759 [DataOverHttps](INFO): Sending 640 bytes from file Logs/20150127T222937/Express0001.lzma
2015-01-27T22:32:34.557Z,1422397954.557 [DataOverHttps](INFO): Moved sent file to Logs/20150127T222937/Express0001.lzma.bak
2015-01-27T22:32:34.557Z,1422397954.557 [DataOverHttps](INFO): SBD MOMSN=1508764
2015-01-27T22:32:40.253Z,1422397960.253 [Reporter](INFO): NAL9602.sigQuality -1 count
2015-01-27T22:32:41.020Z,1422397961.020 [NAL9602](INFO): ************** CMDMODE **************

2015-01-27T22:32:41.020Z,1422397961.020 [NAL9602](INFO): NAL9602 initialized
2015-01-27T22:32:48.080Z,1422397968.080 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20150127T222937/Express0002.lzma
2015-01-27T22:32:50.782Z,1422397970.782 [DataOverHttps](INFO): Moved sent file to Logs/20150127T222937/Express0002.lzma.bak
2015-01-27T22:32:50.782Z,1422397970.782 [DataOverHttps](INFO): SBD MOMSN=1508783
2015-01-27T22:32:51.347Z,1422397971.347 [NAL9602](INFO): MT Sig Qty requested
2015-01-27T22:32:51.372Z,1422397971.372 [Startup:StartupSatComms:B] Stopped
2015-01-27T22:32:51.373Z,1422397971.373 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2015-01-27T22:32:51.373Z,1422397971.373 [Startup:StartupSatComms] Stopped
2015-01-27T22:32:51.373Z,1422397971.373 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2015-01-27T22:32:51.374Z,1422397971.374 [Startup](INFO): Completed Startup
2015-01-27T22:32:51.374Z,1422397971.374 [Startup] Stopped
2015-01-27T22:32:51.374Z,1422397971.374 [Startup](INFO): Aggregate::uninitialize Startup
2015-01-27T22:32:51.374Z,1422397971.374 [Startup:A.GoToSurface] Stopped
2015-01-27T22:32:51.374Z,1422397971.374 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-27T22:32:51.479Z,1422397971.479 [MissionManager](IMPORTANT): Started mission Default
2015-01-27T22:32:51.479Z,1422397971.479 [Default] Running Loop=1
2015-01-27T22:32:51.479Z,1422397971.479 [Default](INFO): Aggregate::initialize Default
2015-01-27T22:32:51.479Z,1422397971.479 [Default:B.GoToSurface] Running Loop=1
2015-01-27T22:32:51.479Z,1422397971.479 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2015-01-27T22:32:51.479Z,1422397971.480 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2015-01-27T22:32:51.480Z,1422397971.480 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2015-01-27T22:32:51.480Z,1422397971.480 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 0.500000 m/s.
2015-01-27T22:32:51.480Z,1422397971.480 [Default:StartClock] Running Loop=1
2015-01-27T22:32:51.480Z,1422397971.480 [Default:StartClock](INFO): Aggregate::initialize Default:StartClock
2015-01-27T22:32:51.481Z,1422397971.481 [Default:StartClock:A] Running Loop=1
2015-01-27T22:32:51.489Z,1422397971.489 [Default:StartClock:A] Stopped
2015-01-27T22:32:51.489Z,1422397971.489 [Default:StartClock](INFO): Completed Default:StartClock
2015-01-27T22:32:51.489Z,1422397971.489 [Default:StartClock] Stopped
2015-01-27T22:32:51.489Z,1422397971.489 [Default:StartClock](INFO): Aggregate::uninitialize Default:StartClock
2015-01-27T22:32:51.819Z,1422397971.819 [Default:WaitAtTheSurface] Running Loop=1
2015-01-27T22:32:51.820Z,1422397971.820 [Default:WaitAtTheSurface](INFO): Aggregate::initialize Default:WaitAtTheSurface
2015-01-27T22:32:51.820Z,1422397971.820 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-27T22:32:51.820Z,1422397971.820 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Initialize.
2015-01-27T22:32:55.046Z,1422397975.046 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Running Loop=1
2015-01-27T22:33:37.191Z,1422398017.191 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2015-01-27T22:33:37.715Z,1422398017.715 [NAL9602](FAULT): received: 
2015-01-27T22:33:37.715Z,1422398017.715 [NAL9602] Data Fault, FailCount= 4
2015-01-27T22:33:37.715Z,1422398017.715 [NAL9602](ERROR): Data Fault
2015-01-27T22:33:37.738Z,1422398017.738 [CBIT](ERROR): Data Fault in component: NAL9602
2015-01-27T22:33:37.739Z,1422398017.739 [Reporter](INFO): NAL9602.sigQuality no_value
2015-01-27T22:33:41.571Z,1422398021.571 [CommandLine](IMPORTANT): got command quit
2015-01-27T22:33:42.191Z,1422398022.191 [NAL9602](INFO): Stop
2015-01-27T22:33:42.191Z,1422398022.191 [NAL9602](INFO): Uninitialize
2015-01-27T22:33:42.191Z,1422398022.191 [NAL9602](INFO): Powering down
2015-01-27T22:33:42.581Z,1422398022.581 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:33:42.581Z,1422398022.581 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:42.738Z,1422398022.738 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2015-01-27T22:33:42.738Z,1422398022.738 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:42.739Z,1422398022.739 [CommandLine](INFO): Join timeout helper Thread ID is 1609
2015-01-27T22:33:42.740Z,1422398022.740 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2015-01-27T22:33:42.740Z,1422398022.740 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:42.740Z,1422398022.740 [NavChartDb](INFO): Join timeout helper Thread ID is 1610
2015-01-27T22:33:43.123Z,1422398023.123 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:33:43.123Z,1422398023.123 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:43.139Z,1422398023.139 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2015-01-27T22:33:43.139Z,1422398023.139 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:43.139Z,1422398023.139 [Radio_Surface](INFO): Join timeout helper Thread ID is 1611
2015-01-27T22:33:43.239Z,1422398023.239 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:33:43.240Z,1422398023.240 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:43.259Z,1422398023.259 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2015-01-27T22:33:43.259Z,1422398023.259 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:43.260Z,1422398023.260 [logger](INFO): Join timeout helper Thread ID is 1612
2015-01-27T22:33:43.263Z,1422398023.263 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:33:43.264Z,1422398023.264 [logger ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:43.279Z,1422398023.279 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2015-01-27T22:33:43.279Z,1422398023.279 [CommandLine ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:43.279Z,1422398023.279 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2015-01-27T22:33:43.279Z,1422398023.279 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:43.280Z,1422398023.280 [controlThread](INFO): Join timeout helper Thread ID is 1613
2015-01-27T22:33:47.185Z,1422398027.185 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2015-01-27T22:33:47.186Z,1422398027.186 [controlThread](DEBUG): Uninitializing ControlThread
2015-01-27T22:33:47.187Z,1422398027.187 [NAL9602](INFO): Uninitialize
2015-01-27T22:33:47.187Z,1422398027.187 [NAL9602](INFO): Powering down
2015-01-27T22:33:47.188Z,1422398027.188 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-01-27T22:33:47.189Z,1422398027.189 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2015-01-27T22:33:47.190Z,1422398027.190 [Default] Stopped
2015-01-27T22:33:47.190Z,1422398027.190 [Default](INFO): Aggregate::uninitialize Default
2015-01-27T22:33:47.190Z,1422398027.190 [Default:B.GoToSurface] Stopped
2015-01-27T22:33:47.190Z,1422398027.190 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2015-01-27T22:33:47.190Z,1422398027.190 [Default:WaitAtTheSurface] Stopped
2015-01-27T22:33:47.190Z,1422398027.190 [Default:WaitAtTheSurface](INFO): Aggregate::uninitialize Default:WaitAtTheSurface
2015-01-27T22:33:47.190Z,1422398027.190 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed] Stopped
2015-01-27T22:33:47.190Z,1422398027.190 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Uninitialize.
2015-01-27T22:33:47.193Z,1422398027.193 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2015-01-27T22:33:47.194Z,1422398027.194 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2015-01-27T22:33:47.194Z,1422398027.194 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2015-01-27T22:33:47.194Z,1422398027.194 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2015-01-27T22:33:47.194Z,1422398027.194 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-01-27T22:33:47.195Z,1422398027.195 [BuoyancyServo](INFO): Powering down
2015-01-27T22:33:47.209Z,1422398027.209 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2015-01-27T22:33:47.210Z,1422398027.210 [ElevatorServo](INFO): Powering down
2015-01-27T22:33:47.210Z,1422398027.210 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2015-01-27T22:33:47.210Z,1422398027.210 [RudderServo](INFO): Powering down
2015-01-27T22:33:47.211Z,1422398027.211 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2015-01-27T22:33:47.211Z,1422398027.211 [ThrusterServo](INFO): Powering down
2015-01-27T22:33:47.212Z,1422398027.212 [SBIT](DEBUG): Uninitialize SBIT Component.
2015-01-27T22:33:47.212Z,1422398027.212 [IBIT](DEBUG): Uninitialize IBIT Component.
2015-01-27T22:33:47.213Z,1422398027.213 [CBIT](DEBUG): Uninitialize CBIT Component.
2015-01-27T22:33:47.246Z,1422398027.246 [controlThread ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:47.358Z,1422398027.358 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:47.399Z,1422398027.399 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2015-01-27T22:33:47.439Z,1422398027.439 [logger ThreadHandler](INFO): Thread cancelled.