2013-11-11T21:34:26.876Z,1384205666.876 [Supervisor](DEBUG): Initializing supervisor.
2013-11-11T21:34:26.878Z,1384205666.878 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-11-11T21:34:26.879Z,1384205666.879 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-11-11T21:34:26.880Z,1384205666.880 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-11-11T21:34:26.898Z,1384205666.898 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-11-11T21:34:26.910Z,1384205666.910 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-11-11T21:34:26.911Z,1384205666.911 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-11-11T21:34:26.912Z,1384205666.912 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-11-11T21:34:26.913Z,1384205666.913 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-11-11T21:34:26.916Z,1384205666.916 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2013-11-11T21:34:26.916Z,1384205666.916 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-11-11T21:34:26.921Z,1384205666.921 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-11-11T21:34:27.566Z,1384205667.566 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-11-11T21:34:27.566Z,1384205667.566 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-11-11T21:34:27.806Z,1384205667.806 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-11-11T21:34:27.806Z,1384205667.806 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-11-11T21:34:27.896Z,1384205667.896 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-11-11T21:34:27.898Z,1384205667.898 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-11-11T21:34:28.032Z,1384205668.032 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-11-11T21:34:28.032Z,1384205668.032 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-11-11T21:34:28.168Z,1384205668.168 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-11-11T21:34:28.170Z,1384205668.170 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-11-11T21:34:28.453Z,1384205668.453 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-11-11T21:34:28.454Z,1384205668.454 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-11-11T21:34:28.690Z,1384205668.690 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-11-11T21:34:28.693Z,1384205668.693 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-11-11T21:34:28.973Z,1384205668.973 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-11-11T21:34:28.975Z,1384205668.975 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-11-11T21:34:29.073Z,1384205669.073 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-11-11T21:34:29.074Z,1384205669.074 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-11-11T21:34:29.548Z,1384205669.548 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-11-11T21:34:29.550Z,1384205669.550 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-11-11T21:34:29.657Z,1384205669.657 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-11-11T21:34:29.658Z,1384205669.658 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-11-11T21:34:29.740Z,1384205669.740 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2013-11-11T21:34:29.844Z,1384205669.844 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2013-11-11T21:34:29.846Z,1384205669.846 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-11-11T21:34:29.851Z,1384205669.851 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-11-11T21:34:29.963Z,1384205669.963 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-11-11T21:34:30.088Z,1384205670.088 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-11-11T21:34:30.204Z,1384205670.204 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-11-11T21:34:30.307Z,1384205670.307 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-11-11T21:34:30.406Z,1384205670.406 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-11-11T21:34:30.538Z,1384205670.538 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-11-11T21:34:30.630Z,1384205670.630 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-11-11T21:34:30.713Z,1384205670.713 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2013-11-11T21:34:30.821Z,1384205670.821 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/root/
2013-11-11T21:34:30.821Z,1384205670.821 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-11-11T21:34:30.827Z,1384205670.827 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-11-11T21:34:31.037Z,1384205671.037 [InternalSim] Loaded
2013-11-11T21:34:31.037Z,1384205671.037 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-11-11T21:34:31.038Z,1384205671.038 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-11-11T21:34:31.038Z,1384205671.038 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-11-11T21:34:31.174Z,1384205671.174 [SBIT](DEBUG): Construct Startup Built In Test.
2013-11-11T21:34:31.205Z,1384205671.205 [SBIT] Loaded
2013-11-11T21:34:31.206Z,1384205671.206 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-11-11T21:34:31.206Z,1384205671.206 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-11-11T21:34:31.236Z,1384205671.236 [IBIT] Loaded
2013-11-11T21:34:31.237Z,1384205671.237 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-11-11T21:34:31.239Z,1384205671.239 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-11-11T21:34:31.359Z,1384205671.359 [CBIT] Loaded
2013-11-11T21:34:31.359Z,1384205671.359 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-11-11T21:34:31.359Z,1384205671.359 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-11-11T21:34:31.360Z,1384205671.360 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-11-11T21:34:31.578Z,1384205671.578 [BuoyancyServo] Loaded
2013-11-11T21:34:31.578Z,1384205671.578 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-11-11T21:34:31.591Z,1384205671.591 [ElevatorServo] Loaded
2013-11-11T21:34:31.591Z,1384205671.591 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-11-11T21:34:31.603Z,1384205671.603 [MassServo] Loaded
2013-11-11T21:34:31.603Z,1384205671.603 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-11-11T21:34:31.615Z,1384205671.615 [RudderServo] Loaded
2013-11-11T21:34:31.615Z,1384205671.615 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-11-11T21:34:31.626Z,1384205671.626 [ThrusterServo] Loaded
2013-11-11T21:34:31.627Z,1384205671.627 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-11-11T21:34:31.627Z,1384205671.627 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-11-11T21:34:31.628Z,1384205671.628 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-11-11T21:34:31.685Z,1384205671.685 [DepthRateCalculator] Loaded
2013-11-11T21:34:31.685Z,1384205671.685 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-11-11T21:34:36.153Z,1384205676.153 [HFRadarModelCalc] Loaded
2013-11-11T21:34:36.154Z,1384205676.154 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-11-11T21:34:36.170Z,1384205676.170 [NavChart] Loaded
2013-11-11T21:34:36.170Z,1384205676.170 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-11-11T21:34:36.176Z,1384205676.176 [PitchRateCalculator] Loaded
2013-11-11T21:34:36.177Z,1384205676.177 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-11-11T21:34:36.188Z,1384205676.188 [SpeedCalculator] Loaded
2013-11-11T21:34:36.188Z,1384205676.188 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-11-11T21:34:36.205Z,1384205676.205 [TempGradientCalculator] Loaded
2013-11-11T21:34:36.206Z,1384205676.206 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-11-11T21:34:36.211Z,1384205676.211 [YawRateCalculator] Loaded
2013-11-11T21:34:36.212Z,1384205676.212 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-11-11T21:34:36.260Z,1384205676.260 [Navigation] Loaded
2013-11-11T21:34:36.260Z,1384205676.260 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-11-11T21:34:36.261Z,1384205676.261 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-11-11T21:34:36.262Z,1384205676.262 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-11-11T21:34:36.570Z,1384205676.570 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-11-11T21:34:36.571Z,1384205676.571 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-11-11T21:34:36.612Z,1384205676.612 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-11-11T21:34:36.613Z,1384205676.613 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-11-11T21:34:36.684Z,1384205676.684 [VerticalControl](DEBUG): Construct VerticalControl.
2013-11-11T21:34:36.782Z,1384205676.782 [VerticalControl] Loaded
2013-11-11T21:34:36.782Z,1384205676.782 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-11-11T21:34:36.783Z,1384205676.783 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-11-11T21:34:36.843Z,1384205676.843 [HorizontalControl] Loaded
2013-11-11T21:34:36.843Z,1384205676.843 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-11-11T21:34:36.844Z,1384205676.844 [SpeedControl](DEBUG): Construct SpeedControl.
2013-11-11T21:34:36.846Z,1384205676.846 [SpeedControl] Loaded
2013-11-11T21:34:36.846Z,1384205676.846 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-11-11T21:34:36.846Z,1384205676.846 [LoopControl](DEBUG): Construct LoopControl.
2013-11-11T21:34:36.847Z,1384205676.847 [LoopControl] Loaded
2013-11-11T21:34:36.847Z,1384205676.847 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-11-11T21:34:36.848Z,1384205676.848 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-11-11T21:34:36.849Z,1384205676.849 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-11-11T21:34:36.857Z,1384205676.857 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-11-11T21:34:36.862Z,1384205676.862 [AsyncPiEstimator] Loaded
2013-11-11T21:34:36.862Z,1384205676.862 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-11-11T21:34:36.868Z,1384205676.868 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-11-11T21:34:36.869Z,1384205676.869 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-11-11T21:34:36.870Z,1384205676.870 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-11-11T21:34:37.321Z,1384205677.321 [AHRS_sp3003D] Loaded
2013-11-11T21:34:37.321Z,1384205677.321 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-11-11T21:34:37.719Z,1384205677.719 [DataOverHttps] Loaded
2013-11-11T21:34:37.719Z,1384205677.719 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2013-11-11T21:34:37.733Z,1384205677.733 [Depth_Keller] Loaded
2013-11-11T21:34:37.734Z,1384205677.734 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-11-11T21:34:37.926Z,1384205677.926 [DVL_micro] Loaded
2013-11-11T21:34:37.927Z,1384205677.927 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-11-11T21:34:37.928Z,1384205677.928 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 408554E0
2013-11-11T21:34:38.022Z,1384205678.022 [NAL9602] Loaded
2013-11-11T21:34:38.022Z,1384205678.022 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-11-11T21:34:38.065Z,1384205678.065 [Onboard] Loaded
2013-11-11T21:34:38.065Z,1384205678.065 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-11-11T21:34:38.072Z,1384205678.072 [Radio_Freewave] Loaded
2013-11-11T21:34:38.072Z,1384205678.072 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-11-11T21:34:38.224Z,1384205678.224 [DAT] Loaded
2013-11-11T21:34:38.225Z,1384205678.225 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-11-11T21:34:38.225Z,1384205678.225 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-11-11T21:34:38.226Z,1384205678.226 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-11-11T21:34:38.362Z,1384205678.362 [CTD_NeilBrown] Loaded
2013-11-11T21:34:38.363Z,1384205678.363 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-11-11T21:34:38.364Z,1384205678.364 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408B24E0
2013-11-11T21:34:38.397Z,1384205678.397 [WetLabsBB2FL] Loaded
2013-11-11T21:34:38.398Z,1384205678.398 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-11-11T21:34:38.399Z,1384205678.399 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 408E24E0
2013-11-11T21:34:38.400Z,1384205678.400 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-11-11T21:34:38.402Z,1384205678.402 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-11-11T21:34:38.405Z,1384205678.405 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-11-11T21:34:38.417Z,1384205678.417 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-11-11T21:34:38.418Z,1384205678.418 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 409124E0
2013-11-11T21:34:38.423Z,1384205678.423 [Supervisor](DEBUG): Running supervisor.
2013-11-11T21:34:38.424Z,1384205678.424 [CommandLine](INFO): Thread ID is 998
2013-11-11T21:34:38.431Z,1384205678.431 [controlThread](INFO): Thread ID is 997
2013-11-11T21:34:38.432Z,1384205678.432 [controlThread](DEBUG): Initializing ControlThread
2013-11-11T21:34:38.432Z,1384205678.432 [CycleStarter](INFO): Thread ID is 996
2013-11-11T21:34:38.433Z,1384205678.433 [InternalSim](DEBUG):  InternalSim initializing...
2013-11-11T21:34:38.531Z,1384205678.531 [logger](INFO): Thread ID is 999
2013-11-11T21:34:38.620Z,1384205678.620 [AsyncPiEstimator](INFO): Thread ID is 1066
2013-11-11T21:34:38.620Z,1384205678.620 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-11-11T21:34:38.629Z,1384205678.629 [DVL_micro](INFO): Thread ID is 1067
2013-11-11T21:34:38.784Z,1384205678.784 [CTD_NeilBrown](INFO): Thread ID is 1068
2013-11-11T21:34:38.785Z,1384205678.785 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-11-11T21:34:38.789Z,1384205678.789 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-11-11T21:34:38.865Z,1384205678.865 [WetLabsBB2FL](INFO): Thread ID is 1069
2013-11-11T21:34:38.866Z,1384205678.866 [WetLabsBB2FL](INFO): Powering down
2013-11-11T21:34:38.891Z,1384205678.891 [DVL_micro](INFO): Initializing
2013-11-11T21:34:38.891Z,1384205678.891 [DVL_micro](INFO): start:Powering up
2013-11-11T21:34:38.893Z,1384205678.893 [NavChartDb](INFO): Thread ID is 1070
2013-11-11T21:34:38.899Z,1384205678.899 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-11-11T21:34:38.900Z,1384205678.900 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-11-11T21:34:38.901Z,1384205678.901 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-11-11T21:34:38.901Z,1384205678.901 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-11-11T21:34:38.901Z,1384205678.901 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-11-11T21:34:38.901Z,1384205678.901 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-11-11T21:34:38.902Z,1384205678.902 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-11-11T21:34:38.902Z,1384205678.902 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-11-11T21:34:38.902Z,1384205678.902 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-11-11T21:34:38.905Z,1384205678.905 [SBIT](INFO): Initialize SBIT Component.
2013-11-11T21:34:38.916Z,1384205678.916 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10713
2013-11-11T21:34:38.917Z,1384205678.917 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-11-11T21:34:38.917Z,1384205678.917 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-11-11T21:34:38.917Z,1384205678.917 [IBIT](INFO): Initialize IBIT Component.
2013-11-11T21:34:38.918Z,1384205678.918 [CBIT](DEBUG): Initialize CBIT Component.
2013-11-11T21:34:38.919Z,1384205678.919 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-11-11T21:34:38.924Z,1384205678.924 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-11T21:34:38.925Z,1384205678.925 [DVL_micro](INFO): Cycling power to configure device.
2013-11-11T21:34:38.953Z,1384205678.953 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-11T21:34:38.954Z,1384205678.954 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-11-11T21:34:38.954Z,1384205678.954 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-11-11T21:34:38.955Z,1384205678.955 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-11-11T21:34:38.955Z,1384205678.955 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-11-11T21:34:38.958Z,1384205678.958 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-11-11T21:34:38.959Z,1384205678.959 [Navigation](DEBUG): Initializing Navigation.
2013-11-11T21:34:38.959Z,1384205678.959 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-11-11T21:34:38.961Z,1384205678.961 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-11-11T21:34:38.962Z,1384205678.962 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-11-11T21:34:38.962Z,1384205678.962 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-11-11T21:34:38.966Z,1384205678.966 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-11-11T21:34:39.013Z,1384205679.013 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-11T21:34:39.055Z,1384205679.055 [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>


2013-11-11T21:34:39.056Z,1384205679.056 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-11-11T21:34:39.123Z,1384205679.123 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-11-11T21:34:39.129Z,1384205679.129 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-11-11T21:34:39.161Z,1384205679.161 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-11T21:34:39.183Z,1384205679.183 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-11-11T21:34:39.186Z,1384205679.186 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-11T21:34:39.213Z,1384205679.213 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-11-11T21:34:39.222Z,1384205679.222 [Default:D.SetSpeed](DEBUG): Construct.
2013-11-11T21:34:39.229Z,1384205679.229 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-11-11T21:34:39.270Z,1384205679.270 [Default:F.Wait](DEBUG): Construct Wait.
2013-11-11T21:34:39.277Z,1384205679.277 [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>


2013-11-11T21:34:39.282Z,1384205679.282 [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,
2013-11-11T21:34:39.352Z,1384205679.352 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-11-11T21:34:39.363Z,1384205679.363 [DataOverHttps](INFO): tcpConnect
2013-11-11T21:34:39.555Z,1384205679.555 [Radio_Freewave](INFO): Powering up
2013-11-11T21:34:39.576Z,1384205679.576 [DAT](INFO): Powering up
2013-11-11T21:34:39.576Z,1384205679.576 [DAT](DEBUG): Initializing DAT.
2013-11-11T21:34:39.895Z,1384205679.895 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-11-11T21:34:39.902Z,1384205679.902 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-11-11T21:34:39.908Z,1384205679.908 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-11-11T21:34:39.914Z,1384205679.914 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-11-11T21:34:39.919Z,1384205679.919 [MassServo](DEBUG): Initializing EZServoServo.
2013-11-11T21:34:39.954Z,1384205679.954 [MassServo](DEBUG): Initializing MassServo.
2013-11-11T21:34:39.979Z,1384205679.979 [RudderServo](DEBUG): Initializing EZServoServo.
2013-11-11T21:34:39.986Z,1384205679.986 [RudderServo](DEBUG): Initializing RudderServo.
2013-11-11T21:34:39.991Z,1384205679.991 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-11-11T21:34:39.994Z,1384205679.994 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-11-11T21:34:40.215Z,1384205680.215 [DataOverHttps](INFO): tcpConnecting
2013-11-11T21:34:40.215Z,1384205680.215 [DataOverHttps](INFO): sslConnect
2013-11-11T21:34:40.219Z,1384205680.219 [DataOverHttps](INFO): sslConnecting
2013-11-11T21:34:40.793Z,1384205680.793 [DataOverHttps](INFO): sslConnecting
2013-11-11T21:34:41.023Z,1384205681.023 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-11-11T21:34:41.024Z,1384205681.024 [DVL_micro](INFO): Querying output modes
2013-11-11T21:34:41.024Z,1384205681.024 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-11-11T21:34:41.035Z,1384205681.035 [DVL_micro](DEBUG): cmdResponse: 01
2013-11-11T21:34:41.035Z,1384205681.035 [DVL_micro](INFO): NQ1 output enabled
2013-11-11T21:34:41.036Z,1384205681.036 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-11-11T21:34:41.059Z,1384205681.059 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-11-11T21:34:41.065Z,1384205681.065 [DVL_micro](INFO): pause:Powering down
2013-11-11T21:34:43.144Z,1384205683.144 [DataOverHttps](INFO): sslConnecting
2013-11-11T21:34:43.147Z,1384205683.147 [DataOverHttps](INFO): dataWrite
2013-11-11T21:34:43.147Z,1384205683.147 [DataOverHttps](INFO): dataWriting
2013-11-11T21:34:43.149Z,1384205683.149 [DataOverHttps](INFO): Wrote 206 bytes.
2013-11-11T21:34:43.164Z,1384205683.164 [NAL9602](INFO): Powering up NAL9602
2013-11-11T21:34:43.677Z,1384205683.677 [DataOverHttps](INFO): dataRead
2013-11-11T21:34:44.114Z,1384205684.114 [DataOverHttps](INFO): dataRead
2013-11-11T21:34:44.115Z,1384205684.115 [DataOverHttps](INFO): disconnect
2013-11-11T21:34:44.119Z,1384205684.119 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003906
2013-11-11T21:34:53.394Z,1384205693.394 [CommandLine](IMPORTANT): got command quit
2013-11-11T21:34:53.867Z,1384205693.867 [NAL9602](INFO): NAL9602 initialized
2013-11-11T21:34:54.406Z,1384205694.406 [SBIT](IMPORTANT): Beginning Startup BIT
2013-11-11T21:34:54.408Z,1384205694.408 [CBIT](IMPORTANT): Beginning GF scan
2013-11-11T21:34:54.576Z,1384205694.576 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-11-11T21:34:54.576Z,1384205694.576 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-11-11T21:34:54.901Z,1384205694.901 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-11-11T21:34:54.985Z,1384205694.985 [WetLabsBB2FL](INFO): Powering down
2013-11-11T21:34:55.005Z,1384205695.005 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-11-11T21:34:55.085Z,1384205695.085 [CTD_NeilBrown](INFO): Powering down
2013-11-11T21:34:55.105Z,1384205695.105 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-11-11T21:34:55.141Z,1384205695.141 [DVL_micro](INFO): uninitialize:Powering down
2013-11-11T21:34:55.145Z,1384205695.145 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-11-11T21:34:55.289Z,1384205695.289 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-11-11T21:34:55.298Z,1384205695.298 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-11-11T21:34:55.338Z,1384205695.338 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-11-11T21:34:55.340Z,1384205695.340 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-11-11T21:34:55.500Z,1384205695.500 [controlThread](DEBUG): Uninitializing ControlThread
2013-11-11T21:34:55.501Z,1384205695.501 [AHRS_sp3003D](INFO): Powering down
2013-11-11T21:34:55.586Z,1384205695.586 [DataOverHttps](INFO): disconnect
2013-11-11T21:34:55.587Z,1384205695.587 [NAL9602](INFO): Powering down
2013-11-11T21:34:55.597Z,1384205695.597 [DAT](INFO): Powering down
2013-11-11T21:34:55.735Z,1384205695.735 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-11-11T21:34:55.735Z,1384205695.735 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-11-11T21:34:55.740Z,1384205695.740 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-11-11T21:34:55.741Z,1384205695.741 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-11-11T21:34:55.741Z,1384205695.741 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-11-11T21:34:55.741Z,1384205695.741 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-11-11T21:34:55.741Z,1384205695.741 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-11-11T21:34:55.742Z,1384205695.742 [BuoyancyServo](INFO): Powering down
2013-11-11T21:34:55.754Z,1384205695.754 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-11-11T21:34:55.754Z,1384205695.754 [ElevatorServo](INFO): Powering down
2013-11-11T21:34:55.774Z,1384205695.774 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-11-11T21:34:55.775Z,1384205695.775 [MassServo](INFO): Powering down
2013-11-11T21:34:55.795Z,1384205695.795 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-11-11T21:34:55.795Z,1384205695.795 [RudderServo](INFO): Powering down
2013-11-11T21:34:55.795Z,1384205695.795 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-11-11T21:34:55.796Z,1384205695.796 [ThrusterServo](INFO): Powering down
2013-11-11T21:34:55.796Z,1384205695.796 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-11-11T21:34:55.797Z,1384205695.797 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-11-11T21:34:55.797Z,1384205695.797 [CBIT](DEBUG): Uninitialize CBIT Component.