2013-11-08T00:06:31.095Z,1383869191.095 [Supervisor](DEBUG): Initializing supervisor.
2013-11-08T00:06:31.098Z,1383869191.098 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-11-08T00:06:31.098Z,1383869191.098 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-11-08T00:06:31.099Z,1383869191.099 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-11-08T00:06:31.102Z,1383869191.102 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-11-08T00:06:31.113Z,1383869191.113 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-11-08T00:06:31.115Z,1383869191.115 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-11-08T00:06:31.116Z,1383869191.116 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-11-08T00:06:31.117Z,1383869191.117 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-11-08T00:06:31.119Z,1383869191.119 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2013-11-08T00:06:31.119Z,1383869191.119 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-11-08T00:06:31.120Z,1383869191.120 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-11-08T00:06:31.408Z,1383869191.408 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-11-08T00:06:31.408Z,1383869191.408 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-11-08T00:06:31.611Z,1383869191.611 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-11-08T00:06:31.612Z,1383869191.612 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-11-08T00:06:31.697Z,1383869191.697 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-11-08T00:06:31.698Z,1383869191.698 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-11-08T00:06:31.814Z,1383869191.814 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-11-08T00:06:31.815Z,1383869191.815 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-11-08T00:06:31.960Z,1383869191.960 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-11-08T00:06:31.961Z,1383869191.961 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-11-08T00:06:32.207Z,1383869192.207 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-11-08T00:06:32.208Z,1383869192.208 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-11-08T00:06:32.379Z,1383869192.379 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-11-08T00:06:32.379Z,1383869192.379 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-11-08T00:06:32.648Z,1383869192.648 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-11-08T00:06:32.648Z,1383869192.648 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-11-08T00:06:32.750Z,1383869192.750 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-11-08T00:06:32.751Z,1383869192.751 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-11-08T00:06:33.197Z,1383869193.197 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-11-08T00:06:33.198Z,1383869193.198 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-11-08T00:06:33.310Z,1383869193.310 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-11-08T00:06:33.311Z,1383869193.311 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-11-08T00:06:33.396Z,1383869193.396 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2013-11-08T00:06:33.497Z,1383869193.497 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2013-11-08T00:06:33.499Z,1383869193.499 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-11-08T00:06:33.500Z,1383869193.500 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-11-08T00:06:33.595Z,1383869193.595 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-11-08T00:06:33.724Z,1383869193.724 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-11-08T00:06:33.824Z,1383869193.824 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-11-08T00:06:33.929Z,1383869193.929 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-11-08T00:06:34.026Z,1383869194.026 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-11-08T00:06:34.141Z,1383869194.141 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-11-08T00:06:34.236Z,1383869194.236 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-11-08T00:06:34.322Z,1383869194.322 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2013-11-08T00:06:34.428Z,1383869194.428 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-11-08T00:06:34.428Z,1383869194.428 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-11-08T00:06:34.430Z,1383869194.430 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-11-08T00:06:34.637Z,1383869194.637 [InternalSim] Loaded
2013-11-08T00:06:34.638Z,1383869194.638 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-11-08T00:06:34.638Z,1383869194.638 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-11-08T00:06:34.639Z,1383869194.639 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-11-08T00:06:34.727Z,1383869194.727 [SBIT](DEBUG): Construct Startup Built In Test.
2013-11-08T00:06:34.757Z,1383869194.757 [SBIT] Loaded
2013-11-08T00:06:34.757Z,1383869194.757 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-11-08T00:06:34.758Z,1383869194.758 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-11-08T00:06:34.787Z,1383869194.787 [IBIT] Loaded
2013-11-08T00:06:34.788Z,1383869194.788 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-11-08T00:06:34.790Z,1383869194.790 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-11-08T00:06:34.906Z,1383869194.906 [CBIT] Loaded
2013-11-08T00:06:34.906Z,1383869194.906 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-11-08T00:06:34.907Z,1383869194.907 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-11-08T00:06:34.907Z,1383869194.907 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-11-08T00:06:35.074Z,1383869195.074 [BuoyancyServo] Loaded
2013-11-08T00:06:35.074Z,1383869195.074 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-11-08T00:06:35.086Z,1383869195.086 [ElevatorServo] Loaded
2013-11-08T00:06:35.087Z,1383869195.087 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-11-08T00:06:35.098Z,1383869195.098 [MassServo] Loaded
2013-11-08T00:06:35.098Z,1383869195.098 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-11-08T00:06:35.110Z,1383869195.110 [RudderServo] Loaded
2013-11-08T00:06:35.110Z,1383869195.110 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-11-08T00:06:35.121Z,1383869195.121 [ThrusterServo] Loaded
2013-11-08T00:06:35.121Z,1383869195.121 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-11-08T00:06:35.122Z,1383869195.122 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-11-08T00:06:35.122Z,1383869195.122 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-11-08T00:06:35.157Z,1383869195.157 [DepthRateCalculator] Loaded
2013-11-08T00:06:35.157Z,1383869195.157 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-11-08T00:06:38.046Z,1383869198.046 [HFRadarModelCalc] Loaded
2013-11-08T00:06:38.047Z,1383869198.047 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-11-08T00:06:38.063Z,1383869198.063 [NavChart] Loaded
2013-11-08T00:06:38.063Z,1383869198.063 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-11-08T00:06:38.069Z,1383869198.069 [PitchRateCalculator] Loaded
2013-11-08T00:06:38.069Z,1383869198.069 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-11-08T00:06:38.080Z,1383869198.080 [SpeedCalculator] Loaded
2013-11-08T00:06:38.080Z,1383869198.080 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-11-08T00:06:38.097Z,1383869198.097 [TempGradientCalculator] Loaded
2013-11-08T00:06:38.097Z,1383869198.097 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-11-08T00:06:38.103Z,1383869198.103 [YawRateCalculator] Loaded
2013-11-08T00:06:38.103Z,1383869198.103 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-11-08T00:06:38.150Z,1383869198.150 [Navigation] Loaded
2013-11-08T00:06:38.150Z,1383869198.150 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-11-08T00:06:38.151Z,1383869198.151 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-11-08T00:06:38.152Z,1383869198.151 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-11-08T00:06:38.392Z,1383869198.392 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-11-08T00:06:38.392Z,1383869198.392 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-11-08T00:06:38.416Z,1383869198.416 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-11-08T00:06:38.417Z,1383869198.417 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-11-08T00:06:38.465Z,1383869198.465 [VerticalControl](DEBUG): Construct VerticalControl.
2013-11-08T00:06:38.560Z,1383869198.560 [VerticalControl] Loaded
2013-11-08T00:06:38.560Z,1383869198.560 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-11-08T00:06:38.561Z,1383869198.561 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-11-08T00:06:38.625Z,1383869198.625 [HorizontalControl] Loaded
2013-11-08T00:06:38.625Z,1383869198.625 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-11-08T00:06:38.626Z,1383869198.626 [SpeedControl](DEBUG): Construct SpeedControl.
2013-11-08T00:06:38.628Z,1383869198.628 [SpeedControl] Loaded
2013-11-08T00:06:38.628Z,1383869198.628 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-11-08T00:06:38.629Z,1383869198.629 [LoopControl](DEBUG): Construct LoopControl.
2013-11-08T00:06:38.629Z,1383869198.629 [LoopControl] Loaded
2013-11-08T00:06:38.630Z,1383869198.630 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-11-08T00:06:38.630Z,1383869198.630 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-11-08T00:06:38.631Z,1383869198.631 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-11-08T00:06:38.636Z,1383869198.636 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-11-08T00:06:38.641Z,1383869198.641 [AsyncPiEstimator] Loaded
2013-11-08T00:06:38.641Z,1383869198.641 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-11-08T00:06:38.643Z,1383869198.643 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-11-08T00:06:38.643Z,1383869198.643 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-11-08T00:06:38.644Z,1383869198.644 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-11-08T00:06:38.860Z,1383869198.860 [AHRS_sp3003D] Loaded
2013-11-08T00:06:38.861Z,1383869198.861 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-11-08T00:06:38.946Z,1383869198.946 [DataOverHttps] Loaded
2013-11-08T00:06:38.946Z,1383869198.946 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2013-11-08T00:06:38.959Z,1383869198.959 [Depth_Keller] Loaded
2013-11-08T00:06:38.960Z,1383869198.960 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-11-08T00:06:39.145Z,1383869199.145 [DVL_micro] Loaded
2013-11-08T00:06:39.145Z,1383869199.145 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-11-08T00:06:39.146Z,1383869199.146 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 408554E0
2013-11-08T00:06:39.240Z,1383869199.240 [NAL9602] Loaded
2013-11-08T00:06:39.240Z,1383869199.240 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-11-08T00:06:39.282Z,1383869199.282 [Onboard] Loaded
2013-11-08T00:06:39.282Z,1383869199.282 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-11-08T00:06:39.291Z,1383869199.291 [Radio_Freewave] Loaded
2013-11-08T00:06:39.292Z,1383869199.292 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-11-08T00:06:39.442Z,1383869199.442 [DAT] Loaded
2013-11-08T00:06:39.442Z,1383869199.442 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-11-08T00:06:39.443Z,1383869199.443 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-11-08T00:06:39.443Z,1383869199.443 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-11-08T00:06:39.549Z,1383869199.549 [CTD_NeilBrown] Loaded
2013-11-08T00:06:39.550Z,1383869199.550 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-11-08T00:06:39.551Z,1383869199.551 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408B24E0
2013-11-08T00:06:39.586Z,1383869199.586 [WetLabsBB2FL] Loaded
2013-11-08T00:06:39.586Z,1383869199.586 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-11-08T00:06:39.588Z,1383869199.588 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 408E24E0
2013-11-08T00:06:39.588Z,1383869199.588 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-11-08T00:06:39.591Z,1383869199.591 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-11-08T00:06:39.591Z,1383869199.591 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-11-08T00:06:39.599Z,1383869199.599 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-11-08T00:06:39.600Z,1383869199.600 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 409124E0
2013-11-08T00:06:39.604Z,1383869199.604 [Supervisor](DEBUG): Running supervisor.
2013-11-08T00:06:39.605Z,1383869199.605 [CommandLine](INFO): Thread ID is 766
2013-11-08T00:06:39.608Z,1383869199.608 [controlThread](INFO): Thread ID is 765
2013-11-08T00:06:39.608Z,1383869199.608 [controlThread](DEBUG): Initializing ControlThread
2013-11-08T00:06:39.608Z,1383869199.608 [CycleStarter](INFO): Thread ID is 764
2013-11-08T00:06:39.609Z,1383869199.609 [InternalSim](DEBUG):  InternalSim initializing...
2013-11-08T00:06:39.641Z,1383869199.641 [logger](INFO): Thread ID is 767
2013-11-08T00:06:39.667Z,1383869199.667 [SBIT](INFO): Initialize SBIT Component.
2013-11-08T00:06:39.667Z,1383869199.667 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10713
2013-11-08T00:06:39.668Z,1383869199.668 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-11-08T00:06:39.668Z,1383869199.668 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-11-08T00:06:39.671Z,1383869199.671 [IBIT](INFO): Initialize IBIT Component.
2013-11-08T00:06:39.681Z,1383869199.681 [AsyncPiEstimator](INFO): Thread ID is 835
2013-11-08T00:06:39.681Z,1383869199.681 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-11-08T00:06:39.689Z,1383869199.689 [CBIT](DEBUG): Initialize CBIT Component.
2013-11-08T00:06:39.689Z,1383869199.689 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-11-08T00:06:39.694Z,1383869199.694 [DVL_micro](INFO): Thread ID is 836
2013-11-08T00:06:39.703Z,1383869199.703 [DVL_micro](INFO): Initializing
2013-11-08T00:06:39.703Z,1383869199.703 [DVL_micro](INFO): start:Powering up
2013-11-08T00:06:39.704Z,1383869199.704 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:06:39.705Z,1383869199.705 [DVL_micro](INFO): Cycling power to configure device.
2013-11-08T00:06:39.717Z,1383869199.717 [CTD_NeilBrown](INFO): Thread ID is 837
2013-11-08T00:06:39.717Z,1383869199.717 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-11-08T00:06:39.721Z,1383869199.721 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:06:39.722Z,1383869199.722 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-11-08T00:06:39.722Z,1383869199.722 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-11-08T00:06:39.723Z,1383869199.723 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-11-08T00:06:39.723Z,1383869199.723 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-11-08T00:06:39.724Z,1383869199.724 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-11-08T00:06:39.724Z,1383869199.724 [Navigation](DEBUG): Initializing Navigation.
2013-11-08T00:06:39.725Z,1383869199.725 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-11-08T00:06:39.726Z,1383869199.726 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-11-08T00:06:39.727Z,1383869199.727 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-11-08T00:06:39.727Z,1383869199.727 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-11-08T00:06:39.734Z,1383869199.734 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-11-08T00:06:39.736Z,1383869199.736 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-11-08T00:06:39.753Z,1383869199.753 [WetLabsBB2FL](INFO): Thread ID is 838
2013-11-08T00:06:39.753Z,1383869199.753 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:06:39.789Z,1383869199.789 [NavChartDb](INFO): Thread ID is 839
2013-11-08T00:06:39.791Z,1383869199.791 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-11-08T00:06:39.792Z,1383869199.792 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-11-08T00:06:39.793Z,1383869199.793 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-11-08T00:06:39.793Z,1383869199.793 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-11-08T00:06:39.793Z,1383869199.793 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-11-08T00:06:39.793Z,1383869199.793 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-11-08T00:06:39.794Z,1383869199.794 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-11-08T00:06:39.794Z,1383869199.794 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-11-08T00:06:39.794Z,1383869199.794 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-11-08T00:06:39.821Z,1383869199.821 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:06:39.840Z,1383869199.840 [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>


2013-11-08T00:06:39.868Z,1383869199.868 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-11-08T00:06:39.920Z,1383869199.920 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-11-08T00:06:39.966Z,1383869199.966 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:06:39.969Z,1383869199.969 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:06:39.993Z,1383869199.993 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-11-08T00:06:39.997Z,1383869199.997 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:06:40.014Z,1383869200.014 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-11-08T00:06:40.035Z,1383869200.035 [Default:D.SetSpeed](DEBUG): Construct.
2013-11-08T00:06:40.038Z,1383869200.038 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-08T00:06:40.074Z,1383869200.074 [Default:F.Wait](DEBUG): Construct Wait.
2013-11-08T00:06:40.086Z,1383869200.086 [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>


2013-11-08T00:06:40.090Z,1383869200.090 [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,
2013-11-08T00:06:40.141Z,1383869200.141 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-11-08T00:06:40.171Z,1383869200.171 [DataOverHttps](INFO): tcpConnect
2013-11-08T00:06:40.337Z,1383869200.337 [Radio_Freewave](INFO): Powering up
2013-11-08T00:06:40.343Z,1383869200.343 [DAT](INFO): Powering up
2013-11-08T00:06:40.343Z,1383869200.343 [DAT](DEBUG): Initializing DAT.
2013-11-08T00:06:40.600Z,1383869200.600 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:06:40.606Z,1383869200.606 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-11-08T00:06:40.612Z,1383869200.612 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:06:40.618Z,1383869200.618 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-11-08T00:06:40.624Z,1383869200.624 [MassServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:06:40.630Z,1383869200.630 [MassServo](DEBUG): Initializing MassServo.
2013-11-08T00:06:40.636Z,1383869200.636 [RudderServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:06:40.654Z,1383869200.654 [RudderServo](DEBUG): Initializing RudderServo.
2013-11-08T00:06:40.659Z,1383869200.659 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-11-08T00:06:40.666Z,1383869200.666 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-11-08T00:06:40.919Z,1383869200.919 [DataOverHttps](INFO): tcpConnecting
2013-11-08T00:06:40.919Z,1383869200.919 [DataOverHttps](INFO): sslConnect
2013-11-08T00:06:40.923Z,1383869200.923 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:06:41.489Z,1383869201.489 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:06:41.820Z,1383869201.820 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-08T00:06:41.820Z,1383869201.820 [DVL_micro](INFO): Querying output modes
2013-11-08T00:06:41.820Z,1383869201.820 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-11-08T00:06:41.832Z,1383869201.832 [DVL_micro](DEBUG): cmdResponse: 01
2013-11-08T00:06:41.832Z,1383869201.832 [DVL_micro](INFO): NQ1 output enabled
2013-11-08T00:06:41.832Z,1383869201.832 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-11-08T00:06:41.844Z,1383869201.844 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-11-08T00:06:41.855Z,1383869201.855 [DVL_micro](INFO): pause:Powering down
2013-11-08T00:06:42.581Z,1383869202.581 [CommandLine](IMPORTANT): got command quit
2013-11-08T00:06:43.612Z,1383869203.612 [DataOverHttps](INFO): sslConnecting
2013-11-08T00:06:43.614Z,1383869203.614 [DataOverHttps](INFO): dataWrite
2013-11-08T00:06:43.615Z,1383869203.615 [DataOverHttps](INFO): dataWriting
2013-11-08T00:06:43.616Z,1383869203.616 [DataOverHttps](INFO): Wrote 206 bytes.
2013-11-08T00:06:43.638Z,1383869203.638 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-11-08T00:06:43.638Z,1383869203.638 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-11-08T00:06:43.790Z,1383869203.790 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-11-08T00:06:43.795Z,1383869203.795 [WetLabsBB2FL](INFO): Powering down
2013-11-08T00:06:43.810Z,1383869203.810 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-11-08T00:06:43.927Z,1383869203.927 [CTD_NeilBrown](INFO): Powering down
2013-11-08T00:06:43.934Z,1383869203.934 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-11-08T00:06:44.037Z,1383869204.037 [DataOverHttps](INFO): dataRead
2013-11-08T00:06:44.271Z,1383869204.271 [DVL_micro](INFO): uninitialize:Powering down
2013-11-08T00:06:44.275Z,1383869204.275 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-11-08T00:06:44.352Z,1383869204.352 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-11-08T00:06:44.353Z,1383869204.353 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-11-08T00:06:44.404Z,1383869204.404 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-11-08T00:06:44.405Z,1383869204.405 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-11-08T00:06:44.437Z,1383869204.437 [DataOverHttps](INFO): dataRead
2013-11-08T00:06:44.439Z,1383869204.439 [DataOverHttps](INFO): Received command:restart app
2013-11-08T00:06:44.440Z,1383869204.440 [DataOverHttps](IMPORTANT): SBD MTMSN=20131108T000707
2013-11-08T00:06:44.441Z,1383869204.441 [DataOverHttps](INFO): disconnect
2013-11-08T00:06:44.444Z,1383869204.444 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006212
2013-11-08T00:06:44.447Z,1383869204.447 [NAL9602](INFO): Powering up NAL9602
2013-11-08T00:06:44.600Z,1383869204.600 [controlThread](DEBUG): Uninitializing ControlThread
2013-11-08T00:06:44.600Z,1383869204.600 [AHRS_sp3003D](INFO): Powering down
2013-11-08T00:06:44.688Z,1383869204.688 [DataOverHttps](INFO): disconnect
2013-11-08T00:06:44.689Z,1383869204.689 [NAL9602](INFO): Powering down
2013-11-08T00:06:44.707Z,1383869204.707 [DAT](INFO): Powering down
2013-11-08T00:06:44.844Z,1383869204.844 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-08T00:06:44.845Z,1383869204.845 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-11-08T00:06:44.850Z,1383869204.850 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-11-08T00:06:44.850Z,1383869204.850 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-11-08T00:06:44.851Z,1383869204.851 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-11-08T00:06:44.851Z,1383869204.851 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-11-08T00:06:44.851Z,1383869204.851 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-11-08T00:06:44.852Z,1383869204.852 [BuoyancyServo](INFO): Powering down
2013-11-08T00:06:44.892Z,1383869204.892 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-11-08T00:06:44.892Z,1383869204.892 [ElevatorServo](INFO): Powering down
2013-11-08T00:06:44.912Z,1383869204.912 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-11-08T00:06:44.912Z,1383869204.912 [MassServo](INFO): Powering down
2013-11-08T00:06:44.931Z,1383869204.931 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-11-08T00:06:44.931Z,1383869204.931 [RudderServo](INFO): Powering down
2013-11-08T00:06:44.950Z,1383869204.950 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-11-08T00:06:44.950Z,1383869204.950 [ThrusterServo](INFO): Powering down
2013-11-08T00:06:44.968Z,1383869204.968 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-11-08T00:06:44.968Z,1383869204.968 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-11-08T00:06:44.969Z,1383869204.969 [CBIT](DEBUG): Uninitialize CBIT Component.