2014-04-18T22:22:54.838Z,1397859774.838 [Supervisor](DEBUG): Initializing supervisor.
2014-04-18T22:22:54.841Z,1397859774.841 [SyncHandler](DEBUG): Created PCaller Thread at 4033C4E0
2014-04-18T22:22:54.841Z,1397859774.841 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2014-04-18T22:22:54.842Z,1397859774.842 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036C4E0
2014-04-18T22:22:54.846Z,1397859774.846 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2014-04-18T22:22:54.858Z,1397859774.858 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2014-04-18T22:22:54.859Z,1397859774.859 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039C4E0
2014-04-18T22:22:54.860Z,1397859774.860 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2014-04-18T22:22:54.861Z,1397859774.861 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CC4E0
2014-04-18T22:22:54.863Z,1397859774.863 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2014-04-18T22:22:54.864Z,1397859774.864 [Supervisor](INFO): Looking for Config files in directory: Config/
2014-04-18T22:22:54.865Z,1397859774.865 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2014-04-18T22:22:55.239Z,1397859775.239 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2014-04-18T22:22:55.239Z,1397859775.239 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2014-04-18T22:22:55.524Z,1397859775.524 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2014-04-18T22:22:55.525Z,1397859775.525 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2014-04-18T22:22:55.627Z,1397859775.627 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2014-04-18T22:22:55.628Z,1397859775.628 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2014-04-18T22:22:55.840Z,1397859775.840 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2014-04-18T22:22:55.840Z,1397859775.840 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2014-04-18T22:22:56.005Z,1397859776.005 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2014-04-18T22:22:56.006Z,1397859776.006 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2014-04-18T22:22:56.318Z,1397859776.318 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2014-04-18T22:22:56.318Z,1397859776.318 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2014-04-18T22:22:56.506Z,1397859776.506 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2014-04-18T22:22:56.506Z,1397859776.506 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2014-04-18T22:22:56.866Z,1397859776.866 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2014-04-18T22:22:56.867Z,1397859776.867 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2014-04-18T22:22:56.981Z,1397859776.981 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2014-04-18T22:22:56.982Z,1397859776.982 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2014-04-18T22:22:57.494Z,1397859777.494 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2014-04-18T22:22:57.494Z,1397859777.494 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2014-04-18T22:22:57.606Z,1397859777.606 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2014-04-18T22:22:57.606Z,1397859777.606 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2014-04-18T22:22:57.694Z,1397859777.694 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2014-04-18T22:22:57.802Z,1397859777.802 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2014-04-18T22:22:57.803Z,1397859777.803 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2014-04-18T22:22:57.909Z,1397859777.909 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2014-04-18T22:22:57.910Z,1397859777.910 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2014-04-18T22:22:58.052Z,1397859778.052 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2014-04-18T22:22:58.054Z,1397859778.054 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2014-04-18T22:22:58.055Z,1397859778.055 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2014-04-18T22:22:58.165Z,1397859778.165 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2014-04-18T22:22:58.301Z,1397859778.301 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2014-04-18T22:22:58.400Z,1397859778.400 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2014-04-18T22:22:58.495Z,1397859778.495 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2014-04-18T22:22:58.656Z,1397859778.656 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2014-04-18T22:22:58.778Z,1397859778.778 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2014-04-18T22:22:58.865Z,1397859778.865 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2014-04-18T22:22:58.975Z,1397859778.975 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2014-04-18T22:22:59.080Z,1397859779.080 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2014-04-18T22:22:59.183Z,1397859779.183 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2014-04-18T22:22:59.275Z,1397859779.275 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Estimation.cfg
2014-04-18T22:22:59.378Z,1397859779.378 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/root/
2014-04-18T22:22:59.378Z,1397859779.378 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2014-04-18T22:22:59.380Z,1397859779.380 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2014-04-18T22:22:59.725Z,1397859779.725 [AHRS_sp3003D] Loaded
2014-04-18T22:22:59.725Z,1397859779.725 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2014-04-18T22:23:00.016Z,1397859780.016 [Batt_Ocean_Server] Loaded
2014-04-18T22:23:00.016Z,1397859780.016 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2014-04-18T22:23:00.030Z,1397859780.030 [Depth_Keller] Loaded
2014-04-18T22:23:00.030Z,1397859780.030 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2014-04-18T22:23:00.035Z,1397859780.035 [DropWeight] Loaded
2014-04-18T22:23:00.036Z,1397859780.036 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2014-04-18T22:23:00.175Z,1397859780.175 [DVL_micro] Loaded
2014-04-18T22:23:00.175Z,1397859780.175 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2014-04-18T22:23:00.276Z,1397859780.276 [NAL9602] Loaded
2014-04-18T22:23:00.277Z,1397859780.277 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2014-04-18T22:23:00.329Z,1397859780.329 [Onboard] Loaded
2014-04-18T22:23:00.330Z,1397859780.330 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2014-04-18T22:23:00.337Z,1397859780.337 [Radio_Freewave] Loaded
2014-04-18T22:23:00.338Z,1397859780.338 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2014-04-18T22:23:00.344Z,1397859780.344 [SCPI] Loaded
2014-04-18T22:23:00.345Z,1397859780.345 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2014-04-18T22:23:00.345Z,1397859780.345 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2014-04-18T22:23:00.346Z,1397859780.346 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2014-04-18T22:23:00.504Z,1397859780.504 [InternalSim] Loaded
2014-04-18T22:23:00.505Z,1397859780.505 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2014-04-18T22:23:00.505Z,1397859780.505 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2014-04-18T22:23:00.506Z,1397859780.506 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2014-04-18T22:23:00.763Z,1397859780.763 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2014-04-18T22:23:00.763Z,1397859780.763 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2014-04-18T22:23:00.773Z,1397859780.773 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2014-04-18T22:23:00.781Z,1397859780.781 [AsyncPiEstimator] Loaded
2014-04-18T22:23:00.782Z,1397859780.782 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2014-04-18T22:23:00.783Z,1397859780.783 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A24E0
2014-04-18T22:23:00.784Z,1397859780.784 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2014-04-18T22:23:00.784Z,1397859780.784 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2014-04-18T22:23:00.865Z,1397859780.865 [DeadReckonUsingMultipleVelocitySources] Loaded
2014-04-18T22:23:00.865Z,1397859780.865 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2014-04-18T22:23:00.882Z,1397859780.882 [NavChart] Loaded
2014-04-18T22:23:00.883Z,1397859780.883 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2014-04-18T22:23:00.887Z,1397859780.887 [UniversalFixResidualReporter] Loaded
2014-04-18T22:23:00.887Z,1397859780.887 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2014-04-18T22:23:00.888Z,1397859780.888 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2014-04-18T22:23:00.889Z,1397859780.889 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2014-04-18T22:23:00.935Z,1397859780.935 [VerticalControl](DEBUG): Construct VerticalControl.
2014-04-18T22:23:01.046Z,1397859781.046 [VerticalControl] Loaded
2014-04-18T22:23:01.046Z,1397859781.046 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2014-04-18T22:23:01.047Z,1397859781.047 [HorizontalControl](DEBUG): Construct HorizontalControl.
2014-04-18T22:23:01.114Z,1397859781.114 [HorizontalControl] Loaded
2014-04-18T22:23:01.115Z,1397859781.115 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2014-04-18T22:23:01.116Z,1397859781.116 [SpeedControl](DEBUG): Construct SpeedControl.
2014-04-18T22:23:01.117Z,1397859781.117 [SpeedControl] Loaded
2014-04-18T22:23:01.118Z,1397859781.118 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2014-04-18T22:23:01.118Z,1397859781.118 [LoopControl](DEBUG): Construct LoopControl.
2014-04-18T22:23:01.119Z,1397859781.119 [LoopControl] Loaded
2014-04-18T22:23:01.119Z,1397859781.119 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2014-04-18T22:23:01.120Z,1397859781.120 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2014-04-18T22:23:01.121Z,1397859781.121 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2014-04-18T22:23:01.139Z,1397859781.139 [DepthRateCalculator] Loaded
2014-04-18T22:23:01.139Z,1397859781.139 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2014-04-18T22:23:01.145Z,1397859781.145 [PitchRateCalculator] Loaded
2014-04-18T22:23:01.145Z,1397859781.145 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2014-04-18T22:23:01.153Z,1397859781.153 [SpeedCalculator] Loaded
2014-04-18T22:23:01.153Z,1397859781.153 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2014-04-18T22:23:01.169Z,1397859781.169 [TempGradientCalculator] Loaded
2014-04-18T22:23:01.170Z,1397859781.170 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2014-04-18T22:23:01.175Z,1397859781.175 [YawRateCalculator] Loaded
2014-04-18T22:23:01.175Z,1397859781.175 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2014-04-18T22:23:01.176Z,1397859781.176 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2014-04-18T22:23:01.176Z,1397859781.176 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2014-04-18T22:23:01.278Z,1397859781.278 [CTD_NeilBrown] Loaded
2014-04-18T22:23:01.278Z,1397859781.278 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2014-04-18T22:23:01.279Z,1397859781.279 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407444E0
2014-04-18T22:23:01.292Z,1397859781.292 [ISUS] Loaded
2014-04-18T22:23:01.292Z,1397859781.292 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2014-04-18T22:23:01.307Z,1397859781.307 [PAR_Licor] Loaded
2014-04-18T22:23:01.308Z,1397859781.308 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2014-04-18T22:23:01.344Z,1397859781.344 [WetLabsBB2FL] Loaded
2014-04-18T22:23:01.344Z,1397859781.344 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2014-04-18T22:23:01.345Z,1397859781.345 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407744E0
2014-04-18T22:23:01.346Z,1397859781.346 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2014-04-18T22:23:01.347Z,1397859781.347 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2014-04-18T22:23:01.437Z,1397859781.437 [SBIT](DEBUG): Construct Startup Built In Test.
2014-04-18T22:23:01.448Z,1397859781.448 [SBIT] Loaded
2014-04-18T22:23:01.449Z,1397859781.449 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2014-04-18T22:23:01.449Z,1397859781.450 [IBIT](DEBUG): Construct Initiated Built In Test.
2014-04-18T22:23:01.462Z,1397859781.462 [IBIT] Loaded
2014-04-18T22:23:01.463Z,1397859781.463 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2014-04-18T22:23:01.465Z,1397859781.465 [CBIT](DEBUG): Construct CBIT Built In Test.
2014-04-18T22:23:01.534Z,1397859781.534 [CBIT] Loaded
2014-04-18T22:23:01.535Z,1397859781.535 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2014-04-18T22:23:01.535Z,1397859781.535 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2014-04-18T22:23:01.536Z,1397859781.536 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2014-04-18T22:23:01.576Z,1397859781.576 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2014-04-18T22:23:01.576Z,1397859781.576 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2014-04-18T22:23:01.671Z,1397859781.671 [BuoyancyServo] Loaded
2014-04-18T22:23:01.672Z,1397859781.672 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2014-04-18T22:23:01.684Z,1397859781.684 [ElevatorServo] Loaded
2014-04-18T22:23:01.684Z,1397859781.684 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2014-04-18T22:23:01.696Z,1397859781.696 [MassServo] Loaded
2014-04-18T22:23:01.697Z,1397859781.697 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2014-04-18T22:23:01.709Z,1397859781.709 [RudderServo] Loaded
2014-04-18T22:23:01.709Z,1397859781.709 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2014-04-18T22:23:01.721Z,1397859781.721 [ThrusterServo] Loaded
2014-04-18T22:23:01.721Z,1397859781.721 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2014-04-18T22:23:01.722Z,1397859781.722 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2014-04-18T22:23:01.722Z,1397859781.722 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2014-04-18T22:23:01.745Z,1397859781.745 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2014-04-18T22:23:01.747Z,1397859781.747 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2014-04-18T22:23:01.748Z,1397859781.748 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2014-04-18T22:23:01.754Z,1397859781.754 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2014-04-18T22:23:01.756Z,1397859781.756 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408424E0
2014-04-18T22:23:01.761Z,1397859781.761 [Supervisor](DEBUG): Running supervisor.
2014-04-18T22:23:01.762Z,1397859781.762 [CommandLine](INFO): Thread ID is 900
2014-04-18T22:23:01.765Z,1397859781.765 [controlThread](INFO): Thread ID is 899
2014-04-18T22:23:01.765Z,1397859781.765 [controlThread](DEBUG): Initializing ControlThread
2014-04-18T22:23:01.766Z,1397859781.766 [CycleStarter](INFO): Thread ID is 898
2014-04-18T22:23:01.769Z,1397859781.769 [logger](INFO): Thread ID is 901
2014-04-18T22:23:01.795Z,1397859781.795 [AsyncPiEstimator](INFO): Thread ID is 984
2014-04-18T22:23:01.795Z,1397859781.795 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2014-04-18T22:23:01.818Z,1397859781.818 [CTD_NeilBrown](INFO): Thread ID is 985
2014-04-18T22:23:01.819Z,1397859781.819 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2014-04-18T22:23:01.822Z,1397859781.822 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2014-04-18T22:23:01.828Z,1397859781.828 [WetLabsBB2FL](INFO): Thread ID is 986
2014-04-18T22:23:01.829Z,1397859781.829 [WetLabsBB2FL](INFO): Powering down
2014-04-18T22:23:01.859Z,1397859781.859 [NavChartDb](INFO): Thread ID is 987
2014-04-18T22:23:01.861Z,1397859781.861 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2014-04-18T22:23:01.862Z,1397859781.862 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2014-04-18T22:23:01.863Z,1397859781.863 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2014-04-18T22:23:01.863Z,1397859781.863 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2014-04-18T22:23:01.863Z,1397859781.863 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2014-04-18T22:23:01.863Z,1397859781.863 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2014-04-18T22:23:01.864Z,1397859781.864 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2014-04-18T22:23:01.864Z,1397859781.864 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2014-04-18T22:23:01.864Z,1397859781.864 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2014-04-18T22:23:03.317Z,1397859783.317 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2014-04-18T22:23:03.347Z,1397859783.347 [InternalSim](DEBUG):  InternalSim initializing...
2014-04-18T22:23:03.448Z,1397859783.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-18T22:23:03.449Z,1397859783.449 [NavChart](DEBUG): Initialize NavChart Navigation.
2014-04-18T22:23:03.449Z,1397859783.449 [UniversalFixResidualReporter](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-18T22:23:03.449Z,1397859783.449 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2014-04-18T22:23:03.451Z,1397859783.451 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2014-04-18T22:23:03.452Z,1397859783.452 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2014-04-18T22:23:03.460Z,1397859783.460 [LoopControl](DEBUG): Initialize LoopControlComponent.
2014-04-18T22:23:03.461Z,1397859783.461 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-04-18T22:23:03.461Z,1397859783.461 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2014-04-18T22:23:03.461Z,1397859783.461 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2014-04-18T22:23:03.462Z,1397859783.462 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2014-04-18T22:23:03.462Z,1397859783.462 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2014-04-18T22:23:03.464Z,1397859783.464 [SBIT](INFO): Initialize SBIT Component.
2014-04-18T22:23:03.469Z,1397859783.469 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:11231
2014-04-18T22:23:03.469Z,1397859783.469 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2014-04-18T22:23:03.469Z,1397859783.469 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2014-04-18T22:23:03.470Z,1397859783.470 [IBIT](INFO): Initialize IBIT Component.
2014-04-18T22:23:03.471Z,1397859783.471 [CBIT](DEBUG): Initialize CBIT Component.
2014-04-18T22:23:03.471Z,1397859783.471 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2014-04-18T22:23:03.498Z,1397859783.498 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2014-04-18T22:23:03.516Z,1397859783.516 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-18T22:23:03.534Z,1397859783.534 [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>


2014-04-18T22:23:03.535Z,1397859783.535 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2014-04-18T22:23:03.632Z,1397859783.632 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2014-04-18T22:23:03.635Z,1397859783.635 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2014-04-18T22:23:03.647Z,1397859783.647 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-18T22:23:03.676Z,1397859783.676 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2014-04-18T22:23:03.679Z,1397859783.679 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-18T22:23:03.695Z,1397859783.695 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2014-04-18T22:23:03.745Z,1397859783.745 [Default:WaitAtTheSurface:RunAtLowSpeed.SetSpeed](DEBUG): Construct.
2014-04-18T22:23:03.748Z,1397859783.748 [Default:WaitAtTheSurface:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-18T22:23:03.767Z,1397859783.767 [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>


2014-04-18T22:23:03.773Z,1397859783.773 [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,
2014-04-18T22:23:03.841Z,1397859783.841 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2014-04-18T22:23:04.009Z,1397859784.009 [DVL_micro](INFO): Initializing
2014-04-18T22:23:04.114Z,1397859784.114 [Radio_Freewave](INFO): Powering up
2014-04-18T22:23:04.627Z,1397859784.627 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2014-04-18T22:23:04.627Z,1397859784.627 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2014-04-18T22:23:04.637Z,1397859784.637 [ElevatorServo](DEBUG): Initializing EZServoServo.
2014-04-18T22:23:04.638Z,1397859784.638 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2014-04-18T22:23:04.662Z,1397859784.662 [MassServo](DEBUG): Initializing EZServoServo.
2014-04-18T22:23:04.663Z,1397859784.663 [MassServo](DEBUG): Initializing MassServo.
2014-04-18T22:23:04.672Z,1397859784.672 [RudderServo](DEBUG): Initializing EZServoServo.
2014-04-18T22:23:04.673Z,1397859784.673 [RudderServo](DEBUG): Initializing RudderServo.
2014-04-18T22:23:04.698Z,1397859784.698 [ThrusterServo](DEBUG): Initializing EZServoServo.
2014-04-18T22:23:04.699Z,1397859784.699 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-04-18T22:23:04.735Z,1397859784.735 [CommandLine](FAULT): Scheduling is paused
2014-04-18T22:23:05.502Z,1397859785.502 [NAL9602](INFO): Powering up NAL9602
2014-04-18T22:23:05.749Z,1397859785.749 [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
2014-04-18T22:23:16.269Z,1397859796.269 [NAL9602](INFO): NAL9602 initialized
2014-04-18T22:23:18.146Z,1397859798.146 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 44 of 46
2014-04-18T22:23:18.146Z,1397859798.146 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 0 0 0 0 0 0 0 0 0 0 0 0 446 1265 -635 397 2 2 3 2 1442.7 1158.5 397.2 2 1410.3 -1197.7 397.2 2 1442 1158 397 2 1410 -1197 397 2 1.68 -1.38 280.9 -3.0005 35.0 1489 112
2014-04-18T22:23:19.243Z,1397859799.243 [SBIT](IMPORTANT): Beginning Startup BIT
2014-04-18T22:23:19.276Z,1397859799.276 [CBIT](IMPORTANT): Beginning GF scan
2014-04-18T22:23:30.722Z,1397859810.722 [NAL9602](INFO): SBD MO Status=0, MOMSN=26715, MT Status=0, MTMSN=0
2014-04-18T22:23:30.722Z,1397859810.722 [NAL9602](INFO): No messages in MT queue
2014-04-18T22:23:35.752Z,1397859815.752 [NAL9602](IMPORTANT): GPS fix at: 1397859813.00
2014-04-18T22:23:43.869Z,1397859823.869 [NAL9602](INFO): Powering down
2014-04-18T22:23:46.116Z,1397859826.116 [CBIT](IMPORTANT): No ground fault detected
2014-04-18T22:24:13.256Z,1397859853.256 [SBIT](IMPORTANT): SBIT PASSED
2014-04-18T22:24:13.675Z,1397859853.675 [MissionManager](IMPORTANT): Started mission Startup
2014-04-18T22:24:13.675Z,1397859853.675 [Startup] Running Loop=1
2014-04-18T22:24:13.675Z,1397859853.675 [Startup](INFO): Aggregate::initialize Startup
2014-04-18T22:24:13.675Z,1397859853.675 [Startup:A.GoToSurface] Running Loop=1
2014-04-18T22:24:13.676Z,1397859853.676 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2014-04-18T22:24:13.713Z,1397859853.713 [Startup:StartupSatComms] Running Loop=1
2014-04-18T22:24:13.714Z,1397859853.714 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2014-04-18T22:24:13.714Z,1397859853.714 [Startup:StartupSatComms:A] Running Loop=1
2014-04-18T22:24:14.167Z,1397859854.167 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2014-04-18T22:24:14.552Z,1397859854.552 [NAL9602](INFO): Powering up
2014-04-18T22:24:25.163Z,1397859865.163 [NAL9602](INFO): NAL9602 initialized
2014-04-18T22:25:00.173Z,1397859900.173 [NAL9602](INFO): SBD MO Status=2, MOMSN=26716, MT Status=2, MTMSN=0
2014-04-18T22:25:00.173Z,1397859900.173 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2014-04-18T22:25:13.959Z,1397859913.959 [Startup:StartupSatComms:A](INFO): Timed out from 2014-04-18T22:24:13.7Z
2014-04-18T22:25:13.959Z,1397859913.959 [Startup:StartupSatComms:A] Stopped
2014-04-18T22:25:13.959Z,1397859913.959 [Startup:StartupSatComms:B] Running Loop=1
2014-04-18T22:25:14.400Z,1397859914.400 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2014-04-18T22:25:20.973Z,1397859920.973 [NAL9602](INFO): SBD MO Status=2, MOMSN=26716, MT Status=2, MTMSN=0
2014-04-18T22:25:20.974Z,1397859920.974 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2014-04-18T22:25:47.075Z,1397859947.075 [NAL9602](INFO): SBD MO Status=2, MOMSN=26716, MT Status=2, MTMSN=0
2014-04-18T22:25:47.076Z,1397859947.076 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2014-04-18T22:25:57.475Z,1397859957.475 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=26716, MT Status=1, MTMSN=1777
2014-04-18T22:25:57.475Z,1397859957.475 [NAL9602](INFO): Data available in MT queue
2014-04-18T22:25:58.020Z,1397859958.020 [NAL9602](INFO): Received command:restart application
2014-04-18T22:25:58.066Z,1397859958.066 [CommandLine](IMPORTANT): got command restart application
2014-04-18T22:25:59.209Z,1397859959.209 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2014-04-18T22:25:59.210Z,1397859959.210 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2014-04-18T22:25:59.393Z,1397859959.393 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2014-04-18T22:25:59.582Z,1397859959.582 [WetLabsBB2FL](INFO): Powering down
2014-04-18T22:25:59.593Z,1397859959.593 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2014-04-18T22:25:59.730Z,1397859959.730 [CTD_NeilBrown](INFO): Powering down
2014-04-18T22:25:59.734Z,1397859959.734 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2014-04-18T22:25:59.798Z,1397859959.798 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2014-04-18T22:25:59.800Z,1397859959.800 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2014-04-18T22:25:59.834Z,1397859959.834 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2014-04-18T22:25:59.835Z,1397859959.835 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2014-04-18T22:26:00.179Z,1397859960.179 [controlThread](DEBUG): Uninitializing ControlThread
2014-04-18T22:26:00.179Z,1397859960.179 [AHRS_sp3003D](INFO): Powering down
2014-04-18T22:26:00.181Z,1397859960.181 [DVL_micro](INFO): uninitialize:Powering down
2014-04-18T22:26:00.181Z,1397859960.181 [NAL9602](INFO): Powering down
2014-04-18T22:26:00.195Z,1397859960.195 [Radio_Freewave](INFO): Powering down
2014-04-18T22:26:00.199Z,1397859960.199 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-04-18T22:26:00.200Z,1397859960.200 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2014-04-18T22:26:00.215Z,1397859960.215 [Startup] Stopped
2014-04-18T22:26:00.215Z,1397859960.215 [Startup](INFO): Aggregate::uninitialize Startup
2014-04-18T22:26:00.215Z,1397859960.215 [Startup:A.GoToSurface] Stopped
2014-04-18T22:26:00.216Z,1397859960.216 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2014-04-18T22:26:00.216Z,1397859960.216 [Startup:StartupSatComms] Stopped
2014-04-18T22:26:00.216Z,1397859960.216 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2014-04-18T22:26:00.216Z,1397859960.216 [Startup:StartupSatComms:B] Stopped
2014-04-18T22:26:00.218Z,1397859960.218 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2014-04-18T22:26:00.218Z,1397859960.218 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2014-04-18T22:26:00.227Z,1397859960.227 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2014-04-18T22:26:00.227Z,1397859960.227 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2014-04-18T22:26:00.227Z,1397859960.227 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2014-04-18T22:26:00.228Z,1397859960.228 [BuoyancyServo](INFO): Powering down
2014-04-18T22:26:00.243Z,1397859960.243 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2014-04-18T22:26:00.243Z,1397859960.243 [ElevatorServo](INFO): Powering down
2014-04-18T22:26:00.244Z,1397859960.244 [MassServo](DEBUG): Uninitialize Mass Servo.
2014-04-18T22:26:00.244Z,1397859960.244 [MassServo](INFO): Powering down
2014-04-18T22:26:00.245Z,1397859960.245 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2014-04-18T22:26:00.245Z,1397859960.245 [RudderServo](INFO): Powering down
2014-04-18T22:26:00.246Z,1397859960.246 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2014-04-18T22:26:00.246Z,1397859960.246 [ThrusterServo](INFO): Powering down
2014-04-18T22:26:00.247Z,1397859960.247 [SBIT](DEBUG): Uninitialize SBIT Component.
2014-04-18T22:26:00.247Z,1397859960.247 [IBIT](DEBUG): Uninitialize IBIT Component.
2014-04-18T22:26:00.248Z,1397859960.248 [CBIT](DEBUG): Uninitialize CBIT Component.