2013-11-08T00:04:43.882Z,1383869083.882 [Supervisor](DEBUG): Initializing supervisor.
2013-11-08T00:04:43.885Z,1383869083.885 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-11-08T00:04:43.885Z,1383869083.885 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-11-08T00:04:43.886Z,1383869083.886 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-11-08T00:04:43.889Z,1383869083.889 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-11-08T00:04:43.900Z,1383869083.900 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-11-08T00:04:43.901Z,1383869083.901 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-11-08T00:04:43.902Z,1383869083.902 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-11-08T00:04:43.903Z,1383869083.903 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-11-08T00:04:43.905Z,1383869083.905 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2013-11-08T00:04:43.906Z,1383869083.906 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-11-08T00:04:43.907Z,1383869083.907 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-11-08T00:04:44.184Z,1383869084.184 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-11-08T00:04:44.184Z,1383869084.184 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-11-08T00:04:44.382Z,1383869084.382 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-11-08T00:04:44.382Z,1383869084.382 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-11-08T00:04:44.468Z,1383869084.468 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-11-08T00:04:44.468Z,1383869084.468 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-11-08T00:04:44.584Z,1383869084.584 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-11-08T00:04:44.585Z,1383869084.585 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-11-08T00:04:44.723Z,1383869084.723 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-11-08T00:04:44.723Z,1383869084.723 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-11-08T00:04:44.962Z,1383869084.962 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-11-08T00:04:44.962Z,1383869084.962 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-11-08T00:04:45.129Z,1383869085.129 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-11-08T00:04:45.129Z,1383869085.129 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-11-08T00:04:45.391Z,1383869085.391 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-11-08T00:04:45.392Z,1383869085.392 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-11-08T00:04:45.493Z,1383869085.493 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-11-08T00:04:45.494Z,1383869085.494 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-11-08T00:04:45.920Z,1383869085.920 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-11-08T00:04:45.921Z,1383869085.921 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-11-08T00:04:46.033Z,1383869086.033 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-11-08T00:04:46.033Z,1383869086.033 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-11-08T00:04:46.118Z,1383869086.118 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2013-11-08T00:04:46.219Z,1383869086.219 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2013-11-08T00:04:46.221Z,1383869086.221 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-11-08T00:04:46.222Z,1383869086.222 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-11-08T00:04:46.318Z,1383869086.318 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-11-08T00:04:46.446Z,1383869086.446 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-11-08T00:04:46.546Z,1383869086.546 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-11-08T00:04:46.650Z,1383869086.650 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-11-08T00:04:46.746Z,1383869086.746 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-11-08T00:04:46.860Z,1383869086.860 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-11-08T00:04:46.955Z,1383869086.955 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-11-08T00:04:47.040Z,1383869087.040 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2013-11-08T00:04:47.133Z,1383869087.133 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-11-08T00:04:47.133Z,1383869087.133 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-11-08T00:04:47.135Z,1383869087.135 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-11-08T00:04:47.300Z,1383869087.300 [InternalSim] Loaded
2013-11-08T00:04:47.300Z,1383869087.300 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-11-08T00:04:47.301Z,1383869087.301 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-11-08T00:04:47.301Z,1383869087.301 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-11-08T00:04:47.388Z,1383869087.388 [SBIT](DEBUG): Construct Startup Built In Test.
2013-11-08T00:04:47.418Z,1383869087.418 [SBIT] Loaded
2013-11-08T00:04:47.418Z,1383869087.418 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-11-08T00:04:47.419Z,1383869087.419 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-11-08T00:04:47.448Z,1383869087.448 [IBIT] Loaded
2013-11-08T00:04:47.448Z,1383869087.448 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-11-08T00:04:47.450Z,1383869087.450 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-11-08T00:04:47.565Z,1383869087.565 [CBIT] Loaded
2013-11-08T00:04:47.566Z,1383869087.566 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-11-08T00:04:47.566Z,1383869087.566 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-11-08T00:04:47.567Z,1383869087.567 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-11-08T00:04:47.736Z,1383869087.736 [BuoyancyServo] Loaded
2013-11-08T00:04:47.736Z,1383869087.736 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-11-08T00:04:47.748Z,1383869087.748 [ElevatorServo] Loaded
2013-11-08T00:04:47.748Z,1383869087.748 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-11-08T00:04:47.759Z,1383869087.759 [MassServo] Loaded
2013-11-08T00:04:47.759Z,1383869087.759 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-11-08T00:04:47.771Z,1383869087.771 [RudderServo] Loaded
2013-11-08T00:04:47.771Z,1383869087.771 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-11-08T00:04:47.782Z,1383869087.782 [ThrusterServo] Loaded
2013-11-08T00:04:47.782Z,1383869087.782 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-11-08T00:04:47.783Z,1383869087.783 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-11-08T00:04:47.783Z,1383869087.783 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-11-08T00:04:47.818Z,1383869087.818 [DepthRateCalculator] Loaded
2013-11-08T00:04:47.819Z,1383869087.819 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-11-08T00:04:50.411Z,1383869090.411 [HFRadarModelCalc] Loaded
2013-11-08T00:04:50.411Z,1383869090.411 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-11-08T00:04:50.427Z,1383869090.427 [NavChart] Loaded
2013-11-08T00:04:50.427Z,1383869090.427 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-11-08T00:04:50.433Z,1383869090.433 [PitchRateCalculator] Loaded
2013-11-08T00:04:50.433Z,1383869090.433 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-11-08T00:04:50.444Z,1383869090.444 [SpeedCalculator] Loaded
2013-11-08T00:04:50.444Z,1383869090.444 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-11-08T00:04:50.461Z,1383869090.461 [TempGradientCalculator] Loaded
2013-11-08T00:04:50.461Z,1383869090.461 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-11-08T00:04:50.467Z,1383869090.467 [YawRateCalculator] Loaded
2013-11-08T00:04:50.467Z,1383869090.467 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-11-08T00:04:50.513Z,1383869090.513 [Navigation] Loaded
2013-11-08T00:04:50.514Z,1383869090.514 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-11-08T00:04:50.514Z,1383869090.514 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-11-08T00:04:50.515Z,1383869090.515 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-11-08T00:04:50.752Z,1383869090.752 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-11-08T00:04:50.753Z,1383869090.753 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-11-08T00:04:50.777Z,1383869090.777 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-11-08T00:04:50.777Z,1383869090.777 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-11-08T00:04:50.826Z,1383869090.826 [VerticalControl](DEBUG): Construct VerticalControl.
2013-11-08T00:04:50.920Z,1383869090.920 [VerticalControl] Loaded
2013-11-08T00:04:50.920Z,1383869090.920 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-11-08T00:04:50.921Z,1383869090.921 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-11-08T00:04:50.979Z,1383869090.979 [HorizontalControl] Loaded
2013-11-08T00:04:50.979Z,1383869090.979 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-11-08T00:04:50.980Z,1383869090.980 [SpeedControl](DEBUG): Construct SpeedControl.
2013-11-08T00:04:50.981Z,1383869090.981 [SpeedControl] Loaded
2013-11-08T00:04:50.982Z,1383869090.982 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-11-08T00:04:50.982Z,1383869090.982 [LoopControl](DEBUG): Construct LoopControl.
2013-11-08T00:04:50.983Z,1383869090.983 [LoopControl] Loaded
2013-11-08T00:04:50.983Z,1383869090.983 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-11-08T00:04:50.984Z,1383869090.984 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-11-08T00:04:50.984Z,1383869090.984 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-11-08T00:04:50.990Z,1383869090.990 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-11-08T00:04:50.995Z,1383869090.995 [AsyncPiEstimator] Loaded
2013-11-08T00:04:50.995Z,1383869090.995 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-11-08T00:04:50.996Z,1383869090.996 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-11-08T00:04:50.997Z,1383869090.997 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-11-08T00:04:50.997Z,1383869090.997 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-11-08T00:04:51.213Z,1383869091.213 [AHRS_sp3003D] Loaded
2013-11-08T00:04:51.214Z,1383869091.214 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-11-08T00:04:51.288Z,1383869091.288 [DataOverHttps] Loaded
2013-11-08T00:04:51.289Z,1383869091.289 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2013-11-08T00:04:51.302Z,1383869091.302 [Depth_Keller] Loaded
2013-11-08T00:04:51.302Z,1383869091.302 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-11-08T00:04:51.486Z,1383869091.486 [DVL_micro] Loaded
2013-11-08T00:04:51.486Z,1383869091.486 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-11-08T00:04:51.487Z,1383869091.487 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 408554E0
2013-11-08T00:04:51.577Z,1383869091.577 [NAL9602] Loaded
2013-11-08T00:04:51.577Z,1383869091.577 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-11-08T00:04:51.619Z,1383869091.619 [Onboard] Loaded
2013-11-08T00:04:51.619Z,1383869091.619 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-11-08T00:04:51.625Z,1383869091.625 [Radio_Freewave] Loaded
2013-11-08T00:04:51.626Z,1383869091.626 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-11-08T00:04:51.771Z,1383869091.771 [DAT] Loaded
2013-11-08T00:04:51.772Z,1383869091.772 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-11-08T00:04:51.772Z,1383869091.772 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-11-08T00:04:51.773Z,1383869091.773 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-11-08T00:04:51.872Z,1383869091.872 [CTD_NeilBrown] Loaded
2013-11-08T00:04:51.873Z,1383869091.873 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-11-08T00:04:51.874Z,1383869091.874 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408B24E0
2013-11-08T00:04:51.906Z,1383869091.906 [WetLabsBB2FL] Loaded
2013-11-08T00:04:51.907Z,1383869091.907 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-11-08T00:04:51.908Z,1383869091.908 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 408E24E0
2013-11-08T00:04:51.908Z,1383869091.908 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-11-08T00:04:51.911Z,1383869091.911 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-11-08T00:04:51.912Z,1383869091.912 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-11-08T00:04:51.919Z,1383869091.919 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-11-08T00:04:51.920Z,1383869091.920 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 409124E0
2013-11-08T00:04:51.924Z,1383869091.924 [Supervisor](DEBUG): Running supervisor.
2013-11-08T00:04:51.925Z,1383869091.925 [CommandLine](INFO): Thread ID is 9962
2013-11-08T00:04:51.928Z,1383869091.928 [controlThread](INFO): Thread ID is 9961
2013-11-08T00:04:51.928Z,1383869091.928 [controlThread](DEBUG): Initializing ControlThread
2013-11-08T00:04:51.928Z,1383869091.928 [CycleStarter](INFO): Thread ID is 9960
2013-11-08T00:04:51.929Z,1383869091.929 [InternalSim](DEBUG):  InternalSim initializing...
2013-11-08T00:04:51.962Z,1383869091.962 [logger](INFO): Thread ID is 9963
2013-11-08T00:04:51.983Z,1383869091.983 [SBIT](INFO): Initialize SBIT Component.
2013-11-08T00:04:51.983Z,1383869091.983 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10713
2013-11-08T00:04:51.984Z,1383869091.984 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-11-08T00:04:51.984Z,1383869091.984 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-11-08T00:04:51.984Z,1383869091.984 [IBIT](INFO): Initialize IBIT Component.
2013-11-08T00:04:51.993Z,1383869091.993 [CBIT](DEBUG): Initialize CBIT Component.
2013-11-08T00:04:51.993Z,1383869091.993 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-11-08T00:04:51.994Z,1383869091.994 [AsyncPiEstimator](INFO): Thread ID is 330
2013-11-08T00:04:51.995Z,1383869091.995 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-11-08T00:04:52.014Z,1383869092.014 [DVL_micro](INFO): Thread ID is 331
2013-11-08T00:04:52.023Z,1383869092.023 [DVL_micro](INFO): Initializing
2013-11-08T00:04:52.023Z,1383869092.023 [DVL_micro](INFO): start:Powering up
2013-11-08T00:04:52.024Z,1383869092.024 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:04:52.026Z,1383869092.026 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:04:52.027Z,1383869092.027 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-11-08T00:04:52.027Z,1383869092.027 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-11-08T00:04:52.028Z,1383869092.028 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-11-08T00:04:52.028Z,1383869092.028 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-11-08T00:04:52.029Z,1383869092.029 [DVL_micro](INFO): Cycling power to configure device.
2013-11-08T00:04:52.033Z,1383869092.033 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-11-08T00:04:52.033Z,1383869092.033 [Navigation](DEBUG): Initializing Navigation.
2013-11-08T00:04:52.034Z,1383869092.034 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-11-08T00:04:52.035Z,1383869092.035 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-11-08T00:04:52.036Z,1383869092.036 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-11-08T00:04:52.036Z,1383869092.036 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-11-08T00:04:52.056Z,1383869092.056 [CTD_NeilBrown](INFO): Thread ID is 332
2013-11-08T00:04:52.056Z,1383869092.056 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-11-08T00:04:52.062Z,1383869092.062 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-11-08T00:04:52.073Z,1383869092.073 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-11-08T00:04:52.088Z,1383869092.088 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:04:52.094Z,1383869092.094 [WetLabsBB2FL](INFO): Thread ID is 333
2013-11-08T00:04:52.095Z,1383869092.095 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:04:52.124Z,1383869092.124 [NavChartDb](INFO): Thread ID is 334
2013-11-08T00:04:52.127Z,1383869092.127 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-11-08T00:04:52.127Z,1383869092.127 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-11-08T00:04:52.128Z,1383869092.128 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-11-08T00:04:52.128Z,1383869092.128 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-11-08T00:04:52.128Z,1383869092.128 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-11-08T00:04:52.128Z,1383869092.128 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-11-08T00:04:52.129Z,1383869092.129 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-11-08T00:04:52.129Z,1383869092.129 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-11-08T00:04:52.129Z,1383869092.129 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-11-08T00:04:52.151Z,1383869092.151 [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 RunIn="Progression"/>

    <Aggregate Id="StartupSatComms" >

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2013-11-08T00:04:52.152Z,1383869092.152 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-11-08T00:04:52.231Z,1383869092.231 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-11-08T00:04:52.238Z,1383869092.238 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:04:52.241Z,1383869092.241 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:04:52.261Z,1383869092.261 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:04:52.264Z,1383869092.264 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:04:52.304Z,1383869092.304 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-11-08T00:04:52.332Z,1383869092.332 [Default:D.SetSpeed](DEBUG): Construct.
2013-11-08T00:04:52.335Z,1383869092.335 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:04:52.352Z,1383869092.352 [Default:F.Wait](DEBUG): Construct Wait.
2013-11-08T00:04:52.356Z,1383869092.356 [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="NeedGPS"><True/></DefineArg>

    <Aggregate Id="GPS" >

        <When>
            <Arg Name="NeedGPS"/>
        </When>

<!-- Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Get GPS fix -->

        <ReadDatum Id="Read_GPS">
            <Universal:latitude_fix/>
        </ReadDatum>

        <Assign><Arg Name="NeedGPS"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="Iridium" >

<!-- Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute RunIn="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="CallIridium" >

        <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>

        <Assign><Arg Name="NeedGPS"/><True/></Assign>

        <Call RefId="Iridium"/>

    </Aggregate>

<!-- Wait forever at the surface-->

<!-- Run at low speed -->

    <Guidance:SetSpeed RunIn="Parallel">
        <Setting><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Setting>
    </Guidance:SetSpeed>

    <Guidance:GoToSurface RunIn="Parallel"/>

    <Guidance:Wait RunIn="Sequence"></Guidance:Wait>

</Mission>


2013-11-08T00:04:52.361Z,1383869092.361 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,DataOverHttps,Depth_Keller,NAL9602,Onboard,Radio_Freewave,DAT,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2013-11-08T00:04:52.438Z,1383869092.438 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-11-08T00:04:52.452Z,1383869092.452 [DataOverHttps](INFO): tcpConnect
2013-11-08T00:04:52.550Z,1383869092.550 [Radio_Freewave](INFO): Powering up
2013-11-08T00:04:52.555Z,1383869092.555 [DAT](INFO): Powering up
2013-11-08T00:04:52.555Z,1383869092.555 [DAT](DEBUG): Initializing DAT.
2013-11-08T00:04:52.761Z,1383869092.761 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:52.779Z,1383869092.779 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-11-08T00:04:52.793Z,1383869092.793 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:52.799Z,1383869092.799 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-11-08T00:04:52.819Z,1383869092.819 [MassServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:52.822Z,1383869092.822 [MassServo](DEBUG): Initializing MassServo.
2013-11-08T00:04:52.829Z,1383869092.829 [RudderServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:52.835Z,1383869092.835 [RudderServo](DEBUG): Initializing RudderServo.
2013-11-08T00:04:52.841Z,1383869092.841 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:04:52.847Z,1383869092.847 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-11-08T00:04:53.013Z,1383869093.013 [DataOverHttps](INFO): tcpConnecting
2013-11-08T00:04:53.013Z,1383869093.013 [DataOverHttps](INFO): sslConnect
2013-11-08T00:04:53.017Z,1383869093.017 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:04:53.432Z,1383869093.432 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:04:54.121Z,1383869094.121 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:04:54.121Z,1383869094.121 [DVL_micro](INFO): Querying output modes
2013-11-08T00:04:54.121Z,1383869094.121 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-11-08T00:04:54.132Z,1383869094.132 [DVL_micro](DEBUG): cmdResponse: 01
2013-11-08T00:04:54.133Z,1383869094.133 [DVL_micro](INFO): NQ1 output enabled
2013-11-08T00:04:54.133Z,1383869094.133 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-11-08T00:04:54.145Z,1383869094.145 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-11-08T00:04:54.150Z,1383869094.150 [DVL_micro](INFO): pause:Powering down
2013-11-08T00:04:55.581Z,1383869095.581 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:04:55.583Z,1383869095.583 [DataOverHttps](INFO): dataWrite
2013-11-08T00:04:55.584Z,1383869095.584 [DataOverHttps](INFO): dataWriting
2013-11-08T00:04:55.585Z,1383869095.585 [DataOverHttps](INFO): Wrote 206 bytes.
2013-11-08T00:04:56.005Z,1383869096.005 [DataOverHttps](INFO): dataRead
2013-11-08T00:04:56.442Z,1383869096.442 [DataOverHttps](INFO): dataRead
2013-11-08T00:04:56.444Z,1383869096.444 [DataOverHttps](INFO): Received command:restart app
2013-11-08T00:04:56.445Z,1383869096.445 [DataOverHttps](IMPORTANT): SBD MTMSN=20131108T000519
2013-11-08T00:04:56.446Z,1383869096.446 [DataOverHttps](INFO): disconnect
2013-11-08T00:04:56.449Z,1383869096.449 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006412
2013-11-08T00:04:56.532Z,1383869096.532 [CommandLine](IMPORTANT): got command restart application
2013-11-08T00:04:56.990Z,1383869096.990 [NAL9602](INFO): Powering up NAL9602
2013-11-08T00:04:57.573Z,1383869097.573 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-11-08T00:04:57.574Z,1383869097.574 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-11-08T00:05:02.373Z,1383869102.373 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-11-08T00:05:02.574Z,1383869102.574 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:05:02.575Z,1383869102.575 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-11-08T00:05:02.730Z,1383869102.730 [CTD_NeilBrown](INFO): Powering down
2013-11-08T00:05:02.734Z,1383869102.734 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-11-08T00:05:03.022Z,1383869103.022 [DVL_micro](INFO): uninitialize:Powering down
2013-11-08T00:05:03.034Z,1383869103.034 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-11-08T00:05:03.331Z,1383869103.331 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-11-08T00:05:03.340Z,1383869103.340 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-11-08T00:05:03.379Z,1383869103.379 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-11-08T00:05:03.381Z,1383869103.381 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-11-08T00:05:03.692Z,1383869103.692 [controlThread](DEBUG): Uninitializing ControlThread
2013-11-08T00:05:03.692Z,1383869103.692 [AHRS_sp3003D](INFO): Powering down
2013-11-08T00:05:03.780Z,1383869103.780 [DataOverHttps](INFO): disconnect
2013-11-08T00:05:03.780Z,1383869103.780 [NAL9602](INFO): Powering down
2013-11-08T00:05:03.800Z,1383869103.800 [DAT](INFO): Powering down
2013-11-08T00:05:03.936Z,1383869103.936 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:05:03.937Z,1383869103.937 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-11-08T00:05:03.942Z,1383869103.942 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-11-08T00:05:03.942Z,1383869103.942 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-11-08T00:05:03.942Z,1383869103.942 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-11-08T00:05:03.943Z,1383869103.943 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-11-08T00:05:03.943Z,1383869103.943 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-11-08T00:05:03.943Z,1383869103.943 [BuoyancyServo](INFO): Powering down
2013-11-08T00:05:03.956Z,1383869103.956 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-11-08T00:05:03.956Z,1383869103.956 [ElevatorServo](INFO): Powering down
2013-11-08T00:05:03.975Z,1383869103.975 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-11-08T00:05:03.975Z,1383869103.975 [MassServo](INFO): Powering down
2013-11-08T00:05:03.976Z,1383869103.976 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-11-08T00:05:03.976Z,1383869103.976 [RudderServo](INFO): Powering down
2013-11-08T00:05:03.977Z,1383869103.977 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-11-08T00:05:03.977Z,1383869103.977 [ThrusterServo](INFO): Powering down
2013-11-08T00:05:03.978Z,1383869103.978 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-11-08T00:05:03.978Z,1383869103.978 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-11-08T00:05:03.979Z,1383869103.979 [CBIT](DEBUG): Uninitialize CBIT Component.