2014-04-18T22:21:00.458Z,1397859660.458 [Supervisor](DEBUG): Initializing supervisor.
2014-04-18T22:21:00.462Z,1397859660.462 [SyncHandler](DEBUG): Created PCaller Thread at 4033C4E0
2014-04-18T22:21:00.462Z,1397859660.462 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2014-04-18T22:21:00.466Z,1397859660.466 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036C4E0
2014-04-18T22:21:00.468Z,1397859660.468 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2014-04-18T22:21:00.480Z,1397859660.480 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2014-04-18T22:21:00.482Z,1397859660.482 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039C4E0
2014-04-18T22:21:00.483Z,1397859660.483 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2014-04-18T22:21:00.486Z,1397859660.486 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CC4E0
2014-04-18T22:21:00.488Z,1397859660.488 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2014-04-18T22:21:00.488Z,1397859660.488 [Supervisor](INFO): Looking for Config files in directory: Config/
2014-04-18T22:21:00.493Z,1397859660.493 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2014-04-18T22:21:00.876Z,1397859660.876 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2014-04-18T22:21:00.876Z,1397859660.876 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2014-04-18T22:21:01.166Z,1397859661.166 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2014-04-18T22:21:01.167Z,1397859661.167 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2014-04-18T22:21:01.262Z,1397859661.262 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2014-04-18T22:21:01.264Z,1397859661.264 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2014-04-18T22:21:01.468Z,1397859661.468 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2014-04-18T22:21:01.469Z,1397859661.469 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2014-04-18T22:21:01.644Z,1397859661.644 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2014-04-18T22:21:01.647Z,1397859661.647 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2014-04-18T22:21:01.973Z,1397859661.973 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2014-04-18T22:21:01.974Z,1397859661.974 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2014-04-18T22:21:02.173Z,1397859662.173 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2014-04-18T22:21:02.175Z,1397859662.175 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2014-04-18T22:21:02.546Z,1397859662.546 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2014-04-18T22:21:02.549Z,1397859662.549 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2014-04-18T22:21:02.674Z,1397859662.674 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2014-04-18T22:21:02.675Z,1397859662.675 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2014-04-18T22:21:03.204Z,1397859663.204 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2014-04-18T22:21:03.204Z,1397859663.204 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2014-04-18T22:21:03.378Z,1397859663.378 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2014-04-18T22:21:03.378Z,1397859663.378 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2014-04-18T22:21:05.470Z,1397859665.470 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2014-04-18T22:21:05.594Z,1397859665.594 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2014-04-18T22:21:05.597Z,1397859665.597 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2014-04-18T22:21:05.715Z,1397859665.715 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2014-04-18T22:21:05.715Z,1397859665.715 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2014-04-18T22:21:05.865Z,1397859665.865 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2014-04-18T22:21:05.867Z,1397859665.867 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2014-04-18T22:21:05.871Z,1397859665.871 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2014-04-18T22:21:05.988Z,1397859665.988 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2014-04-18T22:21:06.132Z,1397859666.132 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2014-04-18T22:21:06.240Z,1397859666.240 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2014-04-18T22:21:06.344Z,1397859666.344 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2014-04-18T22:21:06.517Z,1397859666.517 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2014-04-18T22:21:06.649Z,1397859666.649 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2014-04-18T22:21:06.744Z,1397859666.744 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2014-04-18T22:21:06.857Z,1397859666.857 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2014-04-18T22:21:06.969Z,1397859666.969 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2014-04-18T22:21:07.077Z,1397859667.077 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2014-04-18T22:21:07.178Z,1397859667.178 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Estimation.cfg
2014-04-18T22:21:07.286Z,1397859667.286 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/root/
2014-04-18T22:21:07.287Z,1397859667.287 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2014-04-18T22:21:07.290Z,1397859667.290 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2014-04-18T22:21:08.062Z,1397859668.062 [AHRS_sp3003D] Loaded
2014-04-18T22:21:08.062Z,1397859668.062 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2014-04-18T22:21:08.384Z,1397859668.384 [Batt_Ocean_Server] Loaded
2014-04-18T22:21:08.384Z,1397859668.384 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2014-04-18T22:21:08.402Z,1397859668.402 [Depth_Keller] Loaded
2014-04-18T22:21:08.402Z,1397859668.402 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2014-04-18T22:21:08.407Z,1397859668.407 [DropWeight] Loaded
2014-04-18T22:21:08.408Z,1397859668.408 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2014-04-18T22:21:08.571Z,1397859668.571 [DVL_micro] Loaded
2014-04-18T22:21:08.572Z,1397859668.572 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2014-04-18T22:21:08.686Z,1397859668.686 [NAL9602] Loaded
2014-04-18T22:21:08.691Z,1397859668.691 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2014-04-18T22:21:08.747Z,1397859668.747 [Onboard] Loaded
2014-04-18T22:21:08.748Z,1397859668.748 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2014-04-18T22:21:08.755Z,1397859668.755 [Radio_Freewave] Loaded
2014-04-18T22:21:08.755Z,1397859668.755 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2014-04-18T22:21:08.762Z,1397859668.762 [SCPI] Loaded
2014-04-18T22:21:08.762Z,1397859668.762 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2014-04-18T22:21:08.763Z,1397859668.763 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2014-04-18T22:21:08.763Z,1397859668.763 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2014-04-18T22:21:08.976Z,1397859668.976 [InternalSim] Loaded
2014-04-18T22:21:08.976Z,1397859668.976 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2014-04-18T22:21:08.977Z,1397859668.977 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2014-04-18T22:21:08.978Z,1397859668.978 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2014-04-18T22:21:09.287Z,1397859669.287 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2014-04-18T22:21:09.288Z,1397859669.288 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2014-04-18T22:21:09.297Z,1397859669.297 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2014-04-18T22:21:09.301Z,1397859669.301 [AsyncPiEstimator] Loaded
2014-04-18T22:21:09.302Z,1397859669.302 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2014-04-18T22:21:09.303Z,1397859669.303 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A24E0
2014-04-18T22:21:09.304Z,1397859669.304 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2014-04-18T22:21:09.305Z,1397859669.305 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2014-04-18T22:21:09.409Z,1397859669.409 [DeadReckonUsingMultipleVelocitySources] Loaded
2014-04-18T22:21:09.409Z,1397859669.409 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2014-04-18T22:21:09.430Z,1397859669.430 [NavChart] Loaded
2014-04-18T22:21:09.431Z,1397859669.431 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2014-04-18T22:21:09.435Z,1397859669.435 [UniversalFixResidualReporter] Loaded
2014-04-18T22:21:09.435Z,1397859669.435 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2014-04-18T22:21:09.436Z,1397859669.436 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2014-04-18T22:21:09.436Z,1397859669.436 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2014-04-18T22:21:09.508Z,1397859669.508 [VerticalControl](DEBUG): Construct VerticalControl.
2014-04-18T22:21:09.630Z,1397859669.630 [VerticalControl] Loaded
2014-04-18T22:21:09.630Z,1397859669.630 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2014-04-18T22:21:09.631Z,1397859669.631 [HorizontalControl](DEBUG): Construct HorizontalControl.
2014-04-18T22:21:09.706Z,1397859669.706 [HorizontalControl] Loaded
2014-04-18T22:21:09.707Z,1397859669.707 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2014-04-18T22:21:09.707Z,1397859669.707 [SpeedControl](DEBUG): Construct SpeedControl.
2014-04-18T22:21:09.709Z,1397859669.709 [SpeedControl] Loaded
2014-04-18T22:21:09.709Z,1397859669.709 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2014-04-18T22:21:09.710Z,1397859669.710 [LoopControl](DEBUG): Construct LoopControl.
2014-04-18T22:21:09.711Z,1397859669.711 [LoopControl] Loaded
2014-04-18T22:21:09.711Z,1397859669.711 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2014-04-18T22:21:09.711Z,1397859669.711 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2014-04-18T22:21:09.712Z,1397859669.712 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2014-04-18T22:21:09.748Z,1397859669.748 [DepthRateCalculator] Loaded
2014-04-18T22:21:09.749Z,1397859669.749 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2014-04-18T22:21:09.754Z,1397859669.754 [PitchRateCalculator] Loaded
2014-04-18T22:21:09.754Z,1397859669.754 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2014-04-18T22:21:09.762Z,1397859669.762 [SpeedCalculator] Loaded
2014-04-18T22:21:09.762Z,1397859669.762 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2014-04-18T22:21:09.778Z,1397859669.778 [TempGradientCalculator] Loaded
2014-04-18T22:21:09.778Z,1397859669.778 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2014-04-18T22:21:09.783Z,1397859669.783 [YawRateCalculator] Loaded
2014-04-18T22:21:09.784Z,1397859669.784 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2014-04-18T22:21:09.784Z,1397859669.784 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2014-04-18T22:21:09.785Z,1397859669.785 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2014-04-18T22:21:09.925Z,1397859669.925 [CTD_NeilBrown] Loaded
2014-04-18T22:21:09.926Z,1397859669.926 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2014-04-18T22:21:09.928Z,1397859669.928 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407444E0
2014-04-18T22:21:09.941Z,1397859669.941 [ISUS] Loaded
2014-04-18T22:21:09.941Z,1397859669.941 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2014-04-18T22:21:09.960Z,1397859669.960 [PAR_Licor] Loaded
2014-04-18T22:21:09.960Z,1397859669.960 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2014-04-18T22:21:10.001Z,1397859670.001 [WetLabsBB2FL] Loaded
2014-04-18T22:21:10.001Z,1397859670.001 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2014-04-18T22:21:10.004Z,1397859670.004 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407744E0
2014-04-18T22:21:10.005Z,1397859670.005 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2014-04-18T22:21:10.007Z,1397859670.007 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2014-04-18T22:21:10.134Z,1397859670.134 [SBIT](DEBUG): Construct Startup Built In Test.
2014-04-18T22:21:10.149Z,1397859670.149 [SBIT] Loaded
2014-04-18T22:21:10.149Z,1397859670.149 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2014-04-18T22:21:10.150Z,1397859670.150 [IBIT](DEBUG): Construct Initiated Built In Test.
2014-04-18T22:21:10.162Z,1397859670.162 [IBIT] Loaded
2014-04-18T22:21:10.163Z,1397859670.163 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2014-04-18T22:21:10.165Z,1397859670.165 [CBIT](DEBUG): Construct CBIT Built In Test.
2014-04-18T22:21:10.243Z,1397859670.243 [CBIT] Loaded
2014-04-18T22:21:10.243Z,1397859670.243 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2014-04-18T22:21:10.243Z,1397859670.243 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2014-04-18T22:21:10.246Z,1397859670.246 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2014-04-18T22:21:10.318Z,1397859670.318 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2014-04-18T22:21:10.319Z,1397859670.319 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2014-04-18T22:21:10.450Z,1397859670.450 [BuoyancyServo] Loaded
2014-04-18T22:21:10.450Z,1397859670.450 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2014-04-18T22:21:10.466Z,1397859670.466 [ElevatorServo] Loaded
2014-04-18T22:21:10.467Z,1397859670.467 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2014-04-18T22:21:10.478Z,1397859670.478 [MassServo] Loaded
2014-04-18T22:21:10.479Z,1397859670.479 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2014-04-18T22:21:10.491Z,1397859670.491 [RudderServo] Loaded
2014-04-18T22:21:10.491Z,1397859670.491 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2014-04-18T22:21:10.502Z,1397859670.502 [ThrusterServo] Loaded
2014-04-18T22:21:10.502Z,1397859670.502 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2014-04-18T22:21:10.503Z,1397859670.503 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2014-04-18T22:21:10.504Z,1397859670.504 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2014-04-18T22:21:10.546Z,1397859670.546 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2014-04-18T22:21:10.548Z,1397859670.548 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2014-04-18T22:21:10.549Z,1397859670.549 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2014-04-18T22:21:10.555Z,1397859670.555 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2014-04-18T22:21:10.557Z,1397859670.557 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408424E0
2014-04-18T22:21:10.562Z,1397859670.562 [Supervisor](DEBUG): Running supervisor.
2014-04-18T22:21:10.563Z,1397859670.563 [CommandLine](INFO): Thread ID is 776
2014-04-18T22:21:10.570Z,1397859670.570 [controlThread](INFO): Thread ID is 775
2014-04-18T22:21:10.570Z,1397859670.570 [controlThread](DEBUG): Initializing ControlThread
2014-04-18T22:21:10.571Z,1397859670.571 [CycleStarter](INFO): Thread ID is 774
2014-04-18T22:21:10.574Z,1397859670.574 [logger](INFO): Thread ID is 777
2014-04-18T22:21:10.606Z,1397859670.606 [AsyncPiEstimator](INFO): Thread ID is 860
2014-04-18T22:21:10.606Z,1397859670.606 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2014-04-18T22:21:10.627Z,1397859670.627 [CTD_NeilBrown](INFO): Thread ID is 861
2014-04-18T22:21:10.628Z,1397859670.628 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2014-04-18T22:21:10.634Z,1397859670.634 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2014-04-18T22:21:10.643Z,1397859670.643 [WetLabsBB2FL](INFO): Thread ID is 862
2014-04-18T22:21:10.645Z,1397859670.645 [WetLabsBB2FL](INFO): Powering down
2014-04-18T22:21:10.674Z,1397859670.674 [NavChartDb](INFO): Thread ID is 863
2014-04-18T22:21:10.697Z,1397859670.697 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2014-04-18T22:21:10.700Z,1397859670.700 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2014-04-18T22:21:10.700Z,1397859670.700 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2014-04-18T22:21:10.700Z,1397859670.700 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2014-04-18T22:21:10.700Z,1397859670.700 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2014-04-18T22:21:10.701Z,1397859670.701 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2014-04-18T22:21:10.701Z,1397859670.701 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2014-04-18T22:21:10.702Z,1397859670.702 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2014-04-18T22:21:10.702Z,1397859670.702 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2014-04-18T22:21:12.147Z,1397859672.147 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2014-04-18T22:21:12.179Z,1397859672.179 [InternalSim](DEBUG):  InternalSim initializing...
2014-04-18T22:21:12.633Z,1397859672.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-18T22:21:12.634Z,1397859672.634 [NavChart](DEBUG): Initialize NavChart Navigation.
2014-04-18T22:21:12.634Z,1397859672.634 [UniversalFixResidualReporter](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-18T22:21:12.635Z,1397859672.635 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2014-04-18T22:21:12.636Z,1397859672.636 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2014-04-18T22:21:12.637Z,1397859672.637 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2014-04-18T22:21:12.638Z,1397859672.638 [LoopControl](DEBUG): Initialize LoopControlComponent.
2014-04-18T22:21:12.638Z,1397859672.638 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-04-18T22:21:12.638Z,1397859672.638 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2014-04-18T22:21:12.639Z,1397859672.639 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2014-04-18T22:21:12.639Z,1397859672.639 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2014-04-18T22:21:12.640Z,1397859672.640 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2014-04-18T22:21:12.641Z,1397859672.641 [SBIT](INFO): Initialize SBIT Component.
2014-04-18T22:21:12.642Z,1397859672.642 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:11231
2014-04-18T22:21:12.642Z,1397859672.642 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2014-04-18T22:21:12.642Z,1397859672.642 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2014-04-18T22:21:12.643Z,1397859672.643 [IBIT](INFO): Initialize IBIT Component.
2014-04-18T22:21:12.644Z,1397859672.644 [CBIT](DEBUG): Initialize CBIT Component.
2014-04-18T22:21:12.644Z,1397859672.644 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2014-04-18T22:21:12.644Z,1397859672.644 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2014-04-18T22:21:12.678Z,1397859672.678 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2014-04-18T22:21:12.721Z,1397859672.721 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-18T22:21:12.750Z,1397859672.750 [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>


2014-04-18T22:21:12.751Z,1397859672.751 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2014-04-18T22:21:12.820Z,1397859672.820 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2014-04-18T22:21:12.822Z,1397859672.822 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2014-04-18T22:21:12.834Z,1397859672.834 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-18T22:21:12.862Z,1397859672.862 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2014-04-18T22:21:12.870Z,1397859672.870 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-18T22:21:12.890Z,1397859672.890 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2014-04-18T22:21:12.920Z,1397859672.920 [Default:WaitAtTheSurface:RunAtLowSpeed.SetSpeed](DEBUG): Construct.
2014-04-18T22:21:12.939Z,1397859672.939 [Default:WaitAtTheSurface:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-18T22:21:12.986Z,1397859672.986 [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>


2014-04-18T22:21:12.991Z,1397859672.991 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,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,LogSplitter,
2014-04-18T22:21:13.133Z,1397859673.133 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2014-04-18T22:21:13.331Z,1397859673.331 [DVL_micro](INFO): Initializing
2014-04-18T22:21:13.482Z,1397859673.482 [Radio_Freewave](INFO): Powering up
2014-04-18T22:21:13.939Z,1397859673.939 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2014-04-18T22:21:13.947Z,1397859673.947 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2014-04-18T22:21:13.953Z,1397859673.953 [ElevatorServo](DEBUG): Initializing EZServoServo.
2014-04-18T22:21:13.959Z,1397859673.959 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2014-04-18T22:21:13.965Z,1397859673.965 [MassServo](DEBUG): Initializing EZServoServo.
2014-04-18T22:21:13.971Z,1397859673.971 [MassServo](DEBUG): Initializing MassServo.
2014-04-18T22:21:13.995Z,1397859673.995 [RudderServo](DEBUG): Initializing EZServoServo.
2014-04-18T22:21:14.003Z,1397859674.003 [RudderServo](DEBUG): Initializing RudderServo.
2014-04-18T22:21:14.016Z,1397859674.016 [ThrusterServo](DEBUG): Initializing EZServoServo.
2014-04-18T22:21:14.027Z,1397859674.027 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-04-18T22:21:14.075Z,1397859674.075 [CommandLine](FAULT): Scheduling is paused
2014-04-18T22:21:14.310Z,1397859674.310 [NAL9602](INFO): Powering up NAL9602
2014-04-18T22:21:14.876Z,1397859674.876 [Radio_Freewave](IMPORTANT): Starting PPPD with command:/sbin/pppd nocrtscts /dev/ttyS1 noauth 115200 10.1.1.2:10.1.1.1 persist maxfail 0
2014-04-18T22:21:25.124Z,1397859685.124 [NAL9602](INFO): NAL9602 initialized
2014-04-18T22:21:28.196Z,1397859688.196 [SBIT](IMPORTANT): Beginning Startup BIT
2014-04-18T22:21:28.223Z,1397859688.223 [CBIT](IMPORTANT): Beginning GF scan
2014-04-18T22:21:41.514Z,1397859701.514 [NAL9602](INFO): SBD MO Status=0, MOMSN=26713, MT Status=0, MTMSN=0
2014-04-18T22:21:41.514Z,1397859701.514 [NAL9602](INFO): No messages in MT queue
2014-04-18T22:21:43.080Z,1397859703.080 [NAL9602](IMPORTANT): GPS fix at: -32445540.00
2014-04-18T22:21:51.134Z,1397859711.134 [NAL9602](INFO): Powering down
2014-04-18T22:21:55.119Z,1397859715.119 [CBIT](IMPORTANT): No ground fault detected
2014-04-18T22:22:22.468Z,1397859742.468 [SBIT](IMPORTANT): SBIT PASSED
2014-04-18T22:22:22.857Z,1397859742.857 [MissionManager](IMPORTANT): Started mission Startup
2014-04-18T22:22:22.858Z,1397859742.858 [Startup] Running Loop=1
2014-04-18T22:22:22.858Z,1397859742.858 [Startup](INFO): Aggregate::initialize Startup
2014-04-18T22:22:22.858Z,1397859742.858 [Startup:A.GoToSurface] Running Loop=1
2014-04-18T22:22:22.858Z,1397859742.858 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2014-04-18T22:22:22.864Z,1397859742.864 [Startup:StartupSatComms] Running Loop=1
2014-04-18T22:22:22.864Z,1397859742.864 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2014-04-18T22:22:22.864Z,1397859742.864 [Startup:StartupSatComms:A] Running Loop=1
2014-04-18T22:22:23.279Z,1397859743.279 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2014-04-18T22:22:23.657Z,1397859743.657 [NAL9602](INFO): Powering up
2014-04-18T22:22:34.628Z,1397859754.628 [NAL9602](INFO): NAL9602 initialized
2014-04-18T22:22:51.635Z,1397859771.635 [CommandLine](IMPORTANT): got command restart application
2014-04-18T22:22:52.039Z,1397859772.039 [NAL9602](INFO): SBD MO Status=0, MOMSN=26714, MT Status=0, MTMSN=0
2014-04-18T22:22:52.039Z,1397859772.039 [NAL9602](INFO): No messages in MT queue
2014-04-18T22:22:52.808Z,1397859772.808 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2014-04-18T22:22:52.809Z,1397859772.809 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2014-04-18T22:22:52.968Z,1397859772.968 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2014-04-18T22:22:53.149Z,1397859773.149 [WetLabsBB2FL](INFO): Powering down
2014-04-18T22:22:53.168Z,1397859773.168 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2014-04-18T22:22:53.525Z,1397859773.525 [CTD_NeilBrown](INFO): Powering down
2014-04-18T22:22:53.529Z,1397859773.529 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2014-04-18T22:22:53.610Z,1397859773.610 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2014-04-18T22:22:53.630Z,1397859773.630 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2014-04-18T22:22:53.650Z,1397859773.650 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2014-04-18T22:22:53.650Z,1397859773.650 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2014-04-18T22:22:53.786Z,1397859773.786 [controlThread](DEBUG): Uninitializing ControlThread
2014-04-18T22:22:53.786Z,1397859773.786 [AHRS_sp3003D](INFO): Powering down
2014-04-18T22:22:53.788Z,1397859773.788 [DVL_micro](INFO): uninitialize:Powering down
2014-04-18T22:22:53.788Z,1397859773.788 [NAL9602](INFO): Powering down
2014-04-18T22:22:53.802Z,1397859773.802 [Radio_Freewave](INFO): Powering down
2014-04-18T22:22:53.806Z,1397859773.806 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-04-18T22:22:53.807Z,1397859773.807 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2014-04-18T22:22:53.813Z,1397859773.813 [Startup] Stopped
2014-04-18T22:22:53.818Z,1397859773.818 [Startup](INFO): Aggregate::uninitialize Startup
2014-04-18T22:22:53.818Z,1397859773.818 [Startup:A.GoToSurface] Stopped
2014-04-18T22:22:53.818Z,1397859773.818 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2014-04-18T22:22:53.818Z,1397859773.818 [Startup:StartupSatComms] Stopped
2014-04-18T22:22:53.818Z,1397859773.818 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2014-04-18T22:22:53.818Z,1397859773.818 [Startup:StartupSatComms:A] Stopped
2014-04-18T22:22:53.820Z,1397859773.820 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2014-04-18T22:22:53.820Z,1397859773.820 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2014-04-18T22:22:53.820Z,1397859773.820 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2014-04-18T22:22:53.821Z,1397859773.821 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2014-04-18T22:22:53.821Z,1397859773.821 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2014-04-18T22:22:53.826Z,1397859773.826 [BuoyancyServo](INFO): Powering down
2014-04-18T22:22:53.838Z,1397859773.838 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2014-04-18T22:22:53.838Z,1397859773.838 [ElevatorServo](INFO): Powering down
2014-04-18T22:22:53.839Z,1397859773.839 [MassServo](DEBUG): Uninitialize Mass Servo.
2014-04-18T22:22:53.839Z,1397859773.839 [MassServo](INFO): Powering down
2014-04-18T22:22:53.840Z,1397859773.840 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2014-04-18T22:22:53.840Z,1397859773.840 [RudderServo](INFO): Powering down
2014-04-18T22:22:53.842Z,1397859773.842 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2014-04-18T22:22:53.842Z,1397859773.842 [ThrusterServo](INFO): Powering down
2014-04-18T22:22:53.843Z,1397859773.843 [SBIT](DEBUG): Uninitialize SBIT Component.
2014-04-18T22:22:53.843Z,1397859773.843 [IBIT](DEBUG): Uninitialize IBIT Component.
2014-04-18T22:22:53.843Z,1397859773.843 [CBIT](DEBUG): Uninitialize CBIT Component.