2014-04-18T20:59:49.845Z,1397854789.845 [Supervisor](DEBUG): Initializing supervisor.
2014-04-18T20:59:49.880Z,1397854789.880 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2014-04-18T20:59:49.881Z,1397854789.881 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2014-04-18T20:59:49.892Z,1397854789.892 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2014-04-18T20:59:49.895Z,1397854789.895 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2014-04-18T20:59:49.918Z,1397854789.918 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2014-04-18T20:59:49.920Z,1397854789.920 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2014-04-18T20:59:49.921Z,1397854789.921 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2014-04-18T20:59:49.923Z,1397854789.923 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2014-04-18T20:59:49.923Z,1397854789.923 [Supervisor](INFO): Looking for Config files in directory: Config/
2014-04-18T20:59:49.944Z,1397854789.944 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2014-04-18T20:59:50.713Z,1397854790.713 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2014-04-18T20:59:50.714Z,1397854790.714 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2014-04-18T20:59:51.074Z,1397854791.074 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2014-04-18T20:59:51.074Z,1397854791.074 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2014-04-18T20:59:51.186Z,1397854791.186 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2014-04-18T20:59:51.189Z,1397854791.189 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2014-04-18T20:59:51.502Z,1397854791.502 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2014-04-18T20:59:51.503Z,1397854791.503 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2014-04-18T20:59:51.758Z,1397854791.758 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2014-04-18T20:59:51.760Z,1397854791.760 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2014-04-18T20:59:52.094Z,1397854792.094 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2014-04-18T20:59:52.095Z,1397854792.095 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2014-04-18T20:59:52.299Z,1397854792.299 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2014-04-18T20:59:52.343Z,1397854792.343 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2014-04-18T20:59:54.646Z,1397854794.646 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2014-04-18T20:59:54.649Z,1397854794.649 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2014-04-18T20:59:54.764Z,1397854794.764 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2014-04-18T20:59:54.765Z,1397854794.765 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2014-04-18T20:59:55.322Z,1397854795.322 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2014-04-18T20:59:55.322Z,1397854795.322 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2014-04-18T20:59:55.444Z,1397854795.444 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2014-04-18T20:59:55.444Z,1397854795.444 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2014-04-18T20:59:55.540Z,1397854795.540 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2014-04-18T20:59:55.658Z,1397854795.658 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2014-04-18T20:59:55.660Z,1397854795.660 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2014-04-18T20:59:55.778Z,1397854795.778 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2014-04-18T20:59:55.778Z,1397854795.778 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2014-04-18T20:59:55.934Z,1397854795.934 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2014-04-18T20:59:55.936Z,1397854795.936 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2014-04-18T20:59:55.940Z,1397854795.940 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2014-04-18T20:59:56.063Z,1397854796.063 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2014-04-18T20:59:56.211Z,1397854796.211 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2014-04-18T20:59:56.319Z,1397854796.319 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2014-04-18T20:59:56.423Z,1397854796.423 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2014-04-18T20:59:56.600Z,1397854796.600 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2014-04-18T20:59:56.732Z,1397854796.732 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2014-04-18T20:59:56.831Z,1397854796.831 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2014-04-18T20:59:56.948Z,1397854796.948 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2014-04-18T20:59:57.060Z,1397854797.060 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2014-04-18T20:59:57.064Z,1397854797.064 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2014-04-18T20:59:57.681Z,1397854797.681 [AHRS_sp3003D] Loaded
2014-04-18T20:59:57.682Z,1397854797.682 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2014-04-18T20:59:58.023Z,1397854798.023 [Batt_Ocean_Server] Loaded
2014-04-18T20:59:58.024Z,1397854798.024 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2014-04-18T20:59:58.202Z,1397854798.202 [DataOverHttps] Loaded
2014-04-18T20:59:58.203Z,1397854798.203 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2014-04-18T20:59:58.217Z,1397854798.217 [Depth_Keller] Loaded
2014-04-18T20:59:58.217Z,1397854798.217 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2014-04-18T20:59:58.222Z,1397854798.222 [DropWeight] Loaded
2014-04-18T20:59:58.222Z,1397854798.222 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2014-04-18T20:59:58.387Z,1397854798.387 [DVL_micro] Loaded
2014-04-18T20:59:58.388Z,1397854798.388 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2014-04-18T20:59:58.503Z,1397854798.503 [NAL9602] Loaded
2014-04-18T20:59:58.503Z,1397854798.503 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2014-04-18T20:59:58.565Z,1397854798.565 [Onboard] Loaded
2014-04-18T20:59:58.565Z,1397854798.565 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2014-04-18T20:59:58.573Z,1397854798.573 [Radio_Freewave] Loaded
2014-04-18T20:59:58.573Z,1397854798.573 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2014-04-18T20:59:58.580Z,1397854798.580 [SCPI] Loaded
2014-04-18T20:59:58.580Z,1397854798.580 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2014-04-18T20:59:58.581Z,1397854798.581 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2014-04-18T20:59:58.582Z,1397854798.582 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2014-04-18T20:59:58.802Z,1397854798.802 [InternalSim] Loaded
2014-04-18T20:59:58.803Z,1397854798.803 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2014-04-18T20:59:58.803Z,1397854798.803 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2014-04-18T20:59:58.804Z,1397854798.804 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2014-04-18T20:59:59.117Z,1397854799.117 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2014-04-18T20:59:59.118Z,1397854799.118 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2014-04-18T20:59:59.130Z,1397854799.130 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2014-04-18T20:59:59.136Z,1397854799.136 [AsyncPiEstimator] Loaded
2014-04-18T20:59:59.136Z,1397854799.136 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2014-04-18T20:59:59.138Z,1397854799.138 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2014-04-18T20:59:59.139Z,1397854799.139 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2014-04-18T20:59:59.139Z,1397854799.139 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2014-04-18T20:59:59.247Z,1397854799.247 [DeadReckonUsingMultipleVelocitySources] Loaded
2014-04-18T20:59:59.247Z,1397854799.247 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2014-04-18T20:59:59.268Z,1397854799.268 [NavChart] Loaded
2014-04-18T20:59:59.268Z,1397854799.268 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2014-04-18T20:59:59.273Z,1397854799.273 [UniversalFixResidualReporter] Loaded
2014-04-18T20:59:59.273Z,1397854799.273 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2014-04-18T20:59:59.274Z,1397854799.274 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2014-04-18T20:59:59.274Z,1397854799.274 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2014-04-18T20:59:59.353Z,1397854799.353 [VerticalControl](DEBUG): Construct VerticalControl.
2014-04-18T20:59:59.474Z,1397854799.474 [VerticalControl] Loaded
2014-04-18T20:59:59.474Z,1397854799.474 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2014-04-18T20:59:59.475Z,1397854799.475 [HorizontalControl](DEBUG): Construct HorizontalControl.
2014-04-18T20:59:59.557Z,1397854799.557 [HorizontalControl] Loaded
2014-04-18T20:59:59.557Z,1397854799.557 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2014-04-18T20:59:59.558Z,1397854799.558 [SpeedControl](DEBUG): Construct SpeedControl.
2014-04-18T20:59:59.559Z,1397854799.559 [SpeedControl] Loaded
2014-04-18T20:59:59.560Z,1397854799.560 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2014-04-18T20:59:59.560Z,1397854799.560 [LoopControl](DEBUG): Construct LoopControl.
2014-04-18T20:59:59.561Z,1397854799.561 [LoopControl] Loaded
2014-04-18T20:59:59.561Z,1397854799.561 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2014-04-18T20:59:59.562Z,1397854799.562 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2014-04-18T20:59:59.562Z,1397854799.562 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2014-04-18T21:00:01.418Z,1397854801.418 [DepthRateCalculator] Loaded
2014-04-18T21:00:01.419Z,1397854801.419 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2014-04-18T21:00:01.425Z,1397854801.425 [PitchRateCalculator] Loaded
2014-04-18T21:00:01.425Z,1397854801.425 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2014-04-18T21:00:01.432Z,1397854801.432 [SpeedCalculator] Loaded
2014-04-18T21:00:01.433Z,1397854801.433 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2014-04-18T21:00:01.454Z,1397854801.454 [TempGradientCalculator] Loaded
2014-04-18T21:00:01.454Z,1397854801.454 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2014-04-18T21:00:01.459Z,1397854801.459 [YawRateCalculator] Loaded
2014-04-18T21:00:01.460Z,1397854801.460 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2014-04-18T21:00:01.460Z,1397854801.460 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2014-04-18T21:00:01.461Z,1397854801.461 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2014-04-18T21:00:01.605Z,1397854801.605 [CTD_NeilBrown] Loaded
2014-04-18T21:00:01.605Z,1397854801.605 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2014-04-18T21:00:01.610Z,1397854801.610 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407134E0
2014-04-18T21:00:01.623Z,1397854801.623 [ISUS] Loaded
2014-04-18T21:00:01.624Z,1397854801.624 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2014-04-18T21:00:01.643Z,1397854801.643 [PAR_Licor] Loaded
2014-04-18T21:00:01.644Z,1397854801.644 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2014-04-18T21:00:01.685Z,1397854801.685 [WetLabsBB2FL] Loaded
2014-04-18T21:00:01.685Z,1397854801.685 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2014-04-18T21:00:01.690Z,1397854801.690 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407434E0
2014-04-18T21:00:01.691Z,1397854801.691 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2014-04-18T21:00:01.693Z,1397854801.693 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2014-04-18T21:00:01.822Z,1397854801.822 [SBIT](DEBUG): Construct Startup Built In Test.
2014-04-18T21:00:01.838Z,1397854801.838 [SBIT] Loaded
2014-04-18T21:00:01.839Z,1397854801.839 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2014-04-18T21:00:01.839Z,1397854801.839 [IBIT](DEBUG): Construct Initiated Built In Test.
2014-04-18T21:00:01.852Z,1397854801.852 [IBIT] Loaded
2014-04-18T21:00:01.853Z,1397854801.853 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2014-04-18T21:00:01.855Z,1397854801.855 [CBIT](DEBUG): Construct CBIT Built In Test.
2014-04-18T21:00:01.934Z,1397854801.934 [CBIT] Loaded
2014-04-18T21:00:01.934Z,1397854801.934 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2014-04-18T21:00:01.935Z,1397854801.935 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2014-04-18T21:00:01.937Z,1397854801.937 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2014-04-18T21:00:02.011Z,1397854802.011 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2014-04-18T21:00:02.012Z,1397854802.012 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2014-04-18T21:00:02.148Z,1397854802.148 [BuoyancyServo] Loaded
2014-04-18T21:00:02.149Z,1397854802.149 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2014-04-18T21:00:02.161Z,1397854802.161 [ElevatorServo] Loaded
2014-04-18T21:00:02.161Z,1397854802.161 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2014-04-18T21:00:02.173Z,1397854802.173 [MassServo] Loaded
2014-04-18T21:00:02.174Z,1397854802.174 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2014-04-18T21:00:02.190Z,1397854802.190 [RudderServo] Loaded
2014-04-18T21:00:02.191Z,1397854802.191 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2014-04-18T21:00:02.202Z,1397854802.202 [ThrusterServo] Loaded
2014-04-18T21:00:02.202Z,1397854802.202 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2014-04-18T21:00:02.203Z,1397854802.203 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2014-04-18T21:00:02.204Z,1397854802.204 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2014-04-18T21:00:02.250Z,1397854802.250 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2014-04-18T21:00:02.252Z,1397854802.252 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2014-04-18T21:00:02.253Z,1397854802.253 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2014-04-18T21:00:02.259Z,1397854802.259 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2014-04-18T21:00:02.263Z,1397854802.263 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408114E0
2014-04-18T21:00:02.268Z,1397854802.268 [Supervisor](DEBUG): Running supervisor.
2014-04-18T21:00:02.269Z,1397854802.269 [CommandLine](INFO): Thread ID is 781
2014-04-18T21:00:02.276Z,1397854802.276 [controlThread](INFO): Thread ID is 780
2014-04-18T21:00:02.276Z,1397854802.276 [controlThread](DEBUG): Initializing ControlThread
2014-04-18T21:00:02.276Z,1397854802.276 [CycleStarter](INFO): Thread ID is 779
2014-04-18T21:00:02.283Z,1397854802.283 [AsyncPiEstimator](INFO): Thread ID is 856
2014-04-18T21:00:02.284Z,1397854802.284 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2014-04-18T21:00:02.296Z,1397854802.296 [CTD_NeilBrown](INFO): Thread ID is 858
2014-04-18T21:00:02.296Z,1397854802.296 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2014-04-18T21:00:02.298Z,1397854802.298 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2014-04-18T21:00:02.313Z,1397854802.313 [WetLabsBB2FL](INFO): Thread ID is 859
2014-04-18T21:00:02.314Z,1397854802.314 [WetLabsBB2FL](INFO): Powering down
2014-04-18T21:00:02.336Z,1397854802.336 [NavChartDb](INFO): Thread ID is 860
2014-04-18T21:00:02.346Z,1397854802.346 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2014-04-18T21:00:02.348Z,1397854802.348 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2014-04-18T21:00:02.349Z,1397854802.349 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2014-04-18T21:00:02.349Z,1397854802.349 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2014-04-18T21:00:02.349Z,1397854802.349 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2014-04-18T21:00:02.350Z,1397854802.350 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2014-04-18T21:00:02.350Z,1397854802.350 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2014-04-18T21:00:02.350Z,1397854802.350 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2014-04-18T21:00:02.350Z,1397854802.350 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2014-04-18T21:00:03.726Z,1397854803.726 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2014-04-18T21:00:03.726Z,1397854803.726 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2014-04-18T21:00:03.726Z,1397854803.726 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2014-04-18T21:00:03.727Z,1397854803.727 [Batt_Ocean_Server](ERROR): Communications Fault
2014-04-18T21:00:03.732Z,1397854803.732 [InternalSim](DEBUG):  InternalSim initializing...
2014-04-18T21:00:04.054Z,1397854804.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-18T21:00:04.054Z,1397854804.054 [NavChart](DEBUG): Initialize NavChart Navigation.
2014-04-18T21:00:04.055Z,1397854804.055 [UniversalFixResidualReporter](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-18T21:00:04.055Z,1397854804.055 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2014-04-18T21:00:04.057Z,1397854804.057 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2014-04-18T21:00:04.070Z,1397854804.070 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2014-04-18T21:00:04.070Z,1397854804.070 [LoopControl](DEBUG): Initialize LoopControlComponent.
2014-04-18T21:00:04.071Z,1397854804.071 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-04-18T21:00:04.071Z,1397854804.071 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2014-04-18T21:00:04.072Z,1397854804.072 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2014-04-18T21:00:04.072Z,1397854804.072 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2014-04-18T21:00:04.072Z,1397854804.072 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2014-04-18T21:00:04.082Z,1397854804.082 [SBIT](INFO): Initialize SBIT Component.
2014-04-18T21:00:04.082Z,1397854804.082 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:11220
2014-04-18T21:00:04.083Z,1397854804.083 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2014-04-18T21:00:04.083Z,1397854804.083 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2014-04-18T21:00:04.084Z,1397854804.084 [IBIT](INFO): Initialize IBIT Component.
2014-04-18T21:00:04.085Z,1397854804.085 [CBIT](DEBUG): Initialize CBIT Component.
2014-04-18T21:00:04.085Z,1397854804.085 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2014-04-18T21:00:04.112Z,1397854804.112 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2014-04-18T21:00:04.175Z,1397854804.175 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-18T21:00:04.192Z,1397854804.192 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

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

    </Aggregate>

</Mission>


2014-04-18T21:00:04.193Z,1397854804.193 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2014-04-18T21:00:04.260Z,1397854804.260 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2014-04-18T21:00:04.263Z,1397854804.263 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2014-04-18T21:00:04.266Z,1397854804.266 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-18T21:00:04.283Z,1397854804.283 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2014-04-18T21:00:04.299Z,1397854804.299 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-18T21:00:04.306Z,1397854804.306 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2014-04-18T21:00:04.332Z,1397854804.332 [Default:WaitAtTheSurface:RunAtLowSpeed.SetSpeed](DEBUG): Construct.
2014-04-18T21:00:04.336Z,1397854804.336 [Default:WaitAtTheSurface:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-18T21:00:04.355Z,1397854804.355 [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>
            <Parallel/>
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface>
            <Sequence/>
        </Guidance:GoToSurface>

<!-- Get GPS fix -->

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

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

    </Aggregate>

    <Aggregate Id="Iridium">

        <Sequence/>

<!-- Run at high speed -->

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

<!-- Get to the surface -->

        <Guidance:GoToSurface>
            <Sequence/>
        </Guidance:GoToSurface>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn 300</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped drop weight due to communications timeout</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

    <Aggregate Id="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><Sequence/><Arg Name="NeedGPS"/><True/></Assign>

        <Call RefId="Iridium"/>

    </Aggregate>

    <Aggregate Id="WaitAtTheSurface">

        <Sequence/>

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

        <Guidance:GoToSurface>
            <Parallel/>
        </Guidance:GoToSurface>

    </Aggregate>

</Mission>


2014-04-18T21:00:04.362Z,1397854804.362 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,DataOverHttps,Depth_Keller,DropWeight,DVL_micro,NAL9602,Onboard,Radio_Freewave,SCPI,ISUS,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,LogSplitter,
2014-04-18T21:00:04.434Z,1397854804.434 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2014-04-18T21:00:04.457Z,1397854804.457 [DataOverHttps](DEBUG): tcpConnect
2014-04-18T21:00:04.594Z,1397854804.594 [DVL_micro](INFO): Initializing
2014-04-18T21:00:04.609Z,1397854804.609 [NAL9602](INFO): Powering up NAL9602
2014-04-18T21:00:04.719Z,1397854804.719 [Radio_Freewave](INFO): Powering up
2014-04-18T21:00:05.072Z,1397854805.072 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2014-04-18T21:00:05.087Z,1397854805.087 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2014-04-18T21:00:05.094Z,1397854805.094 [ElevatorServo](DEBUG): Initializing EZServoServo.
2014-04-18T21:00:05.099Z,1397854805.099 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2014-04-18T21:00:05.106Z,1397854805.106 [MassServo](DEBUG): Initializing EZServoServo.
2014-04-18T21:00:05.111Z,1397854805.111 [MassServo](DEBUG): Initializing MassServo.
2014-04-18T21:00:05.118Z,1397854805.118 [RudderServo](DEBUG): Initializing EZServoServo.
2014-04-18T21:00:05.123Z,1397854805.123 [RudderServo](DEBUG): Initializing RudderServo.
2014-04-18T21:00:05.130Z,1397854805.130 [ThrusterServo](DEBUG): Initializing EZServoServo.
2014-04-18T21:00:05.144Z,1397854805.144 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-04-18T21:00:05.162Z,1397854805.162 [CBIT](ERROR):