2014-04-28T20:51:39.635Z,1398718299.635 [Supervisor](DEBUG): Initializing supervisor.
2014-04-28T20:51:39.638Z,1398718299.638 [SyncHandler](DEBUG): Created PCaller Thread at 4033C4E0
2014-04-28T20:51:39.638Z,1398718299.638 [SyncHandler](INFO): Protected caller Thread ID is 781
2014-04-28T20:51:39.639Z,1398718299.639 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2014-04-28T20:51:39.640Z,1398718299.640 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036C4E0
2014-04-28T20:51:39.640Z,1398718299.640 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 782
2014-04-28T20:51:39.643Z,1398718299.643 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2014-04-28T20:51:39.655Z,1398718299.655 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2014-04-28T20:51:39.656Z,1398718299.656 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039C4E0
2014-04-28T20:51:39.656Z,1398718299.656 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 783
2014-04-28T20:51:39.657Z,1398718299.657 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2014-04-28T20:51:39.658Z,1398718299.658 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CC4E0
2014-04-28T20:51:39.658Z,1398718299.658 [logger ThreadHandler](INFO): Protected caller Thread ID is 784
2014-04-28T20:51:39.660Z,1398718299.660 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2014-04-28T20:51:39.661Z,1398718299.661 [Supervisor](INFO): Looking for Config files in directory: Config/
2014-04-28T20:51:39.665Z,1398718299.665 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2014-04-28T20:51:40.011Z,1398718300.011 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2014-04-28T20:51:40.011Z,1398718300.011 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2014-04-28T20:51:40.274Z,1398718300.274 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2014-04-28T20:51:40.275Z,1398718300.275 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2014-04-28T20:51:40.362Z,1398718300.362 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2014-04-28T20:51:40.364Z,1398718300.364 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2014-04-28T20:51:40.566Z,1398718300.566 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2014-04-28T20:51:40.566Z,1398718300.566 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2014-04-28T20:51:40.726Z,1398718300.726 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2014-04-28T20:51:40.729Z,1398718300.729 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2014-04-28T20:51:41.022Z,1398718301.022 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2014-04-28T20:51:41.023Z,1398718301.023 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2014-04-28T20:51:41.204Z,1398718301.204 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2014-04-28T20:51:41.206Z,1398718301.206 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2014-04-28T20:51:41.537Z,1398718301.537 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2014-04-28T20:51:41.539Z,1398718301.539 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2014-04-28T20:51:41.649Z,1398718301.649 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2014-04-28T20:51:41.652Z,1398718301.652 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2014-04-28T20:51:42.149Z,1398718302.149 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2014-04-28T20:51:42.150Z,1398718302.150 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2014-04-28T20:51:42.259Z,1398718302.259 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2014-04-28T20:51:42.262Z,1398718302.262 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2014-04-28T20:51:42.349Z,1398718302.349 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2014-04-28T20:51:42.459Z,1398718302.459 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2014-04-28T20:51:42.460Z,1398718302.460 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2014-04-28T20:51:42.564Z,1398718302.564 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2014-04-28T20:51:42.564Z,1398718302.564 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2014-04-28T20:51:42.704Z,1398718302.704 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2014-04-28T20:51:42.706Z,1398718302.706 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2014-04-28T20:51:42.710Z,1398718302.710 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2014-04-28T20:51:42.818Z,1398718302.818 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2014-04-28T20:51:42.947Z,1398718302.947 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2014-04-28T20:51:45.676Z,1398718305.676 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2014-04-28T20:51:45.775Z,1398718305.775 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2014-04-28T20:51:45.924Z,1398718305.924 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2014-04-28T20:51:46.040Z,1398718306.040 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2014-04-28T20:51:46.126Z,1398718306.126 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2014-04-28T20:51:46.230Z,1398718306.230 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2014-04-28T20:51:46.330Z,1398718306.330 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2014-04-28T20:51:46.428Z,1398718306.428 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2014-04-28T20:51:46.518Z,1398718306.518 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Estimation.cfg
2014-04-28T20:51:46.615Z,1398718306.615 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2014-04-28T20:51:46.618Z,1398718306.618 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2014-04-28T20:51:47.175Z,1398718307.175 [AHRS_sp3003D] Loaded
2014-04-28T20:51:47.175Z,1398718307.175 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2014-04-28T20:51:47.471Z,1398718307.471 [Batt_Ocean_Server] Loaded
2014-04-28T20:51:47.471Z,1398718307.471 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2014-04-28T20:51:47.642Z,1398718307.642 [DataOverHttps] Loaded
2014-04-28T20:51:47.642Z,1398718307.642 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2014-04-28T20:51:47.656Z,1398718307.656 [Depth_Keller] Loaded
2014-04-28T20:51:47.656Z,1398718307.656 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2014-04-28T20:51:47.661Z,1398718307.661 [DropWeight] Loaded
2014-04-28T20:51:47.661Z,1398718307.661 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2014-04-28T20:51:47.801Z,1398718307.801 [DVL_micro] Loaded
2014-04-28T20:51:47.801Z,1398718307.801 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2014-04-28T20:51:47.902Z,1398718307.902 [NAL9602] Loaded
2014-04-28T20:51:47.902Z,1398718307.902 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2014-04-28T20:51:47.954Z,1398718307.954 [Onboard] Loaded
2014-04-28T20:51:47.955Z,1398718307.955 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2014-04-28T20:51:47.962Z,1398718307.962 [Radio_Freewave] Loaded
2014-04-28T20:51:47.962Z,1398718307.962 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2014-04-28T20:51:47.969Z,1398718307.969 [SCPI] Loaded
2014-04-28T20:51:47.969Z,1398718307.969 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2014-04-28T20:51:47.970Z,1398718307.970 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2014-04-28T20:51:47.970Z,1398718307.970 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2014-04-28T20:51:48.269Z,1398718308.269 [ExternalSim] Loaded
2014-04-28T20:51:48.269Z,1398718308.269 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2014-04-28T20:51:48.323Z,1398718308.323 [InternalSim] Loaded
2014-04-28T20:51:48.323Z,1398718308.323 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2014-04-28T20:51:48.324Z,1398718308.324 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2014-04-28T20:51:48.325Z,1398718308.325 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2014-04-28T20:51:48.609Z,1398718308.609 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2014-04-28T20:51:48.610Z,1398718308.610 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2014-04-28T20:51:48.618Z,1398718308.618 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2014-04-28T20:51:48.623Z,1398718308.623 [AsyncPiEstimator] Loaded
2014-04-28T20:51:48.624Z,1398718308.624 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2014-04-28T20:51:48.625Z,1398718308.625 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A24E0
2014-04-28T20:51:48.625Z,1398718308.625 [AsyncPiEstimator ThreadHandler](INFO): Protected caller Thread ID is 866
2014-04-28T20:51:48.626Z,1398718308.626 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2014-04-28T20:51:48.626Z,1398718308.626 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2014-04-28T20:51:48.722Z,1398718308.722 [DeadReckonUsingMultipleVelocitySources] Loaded
2014-04-28T20:51:48.723Z,1398718308.723 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2014-04-28T20:51:48.740Z,1398718308.740 [NavChart] Loaded
2014-04-28T20:51:48.740Z,1398718308.740 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2014-04-28T20:51:48.744Z,1398718308.744 [UniversalFixResidualReporter] Loaded
2014-04-28T20:51:48.745Z,1398718308.745 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2014-04-28T20:51:48.745Z,1398718308.745 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2014-04-28T20:51:48.747Z,1398718308.747 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2014-04-28T20:51:48.849Z,1398718308.849 [VerticalControl](DEBUG): Construct VerticalControl.
2014-04-28T20:51:48.956Z,1398718308.956 [VerticalControl] Loaded
2014-04-28T20:51:48.956Z,1398718308.956 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2014-04-28T20:51:48.957Z,1398718308.957 [HorizontalControl](DEBUG): Construct HorizontalControl.
2014-04-28T20:51:49.024Z,1398718309.024 [HorizontalControl] Loaded
2014-04-28T20:51:49.025Z,1398718309.025 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2014-04-28T20:51:49.025Z,1398718309.025 [SpeedControl](DEBUG): Construct SpeedControl.
2014-04-28T20:51:49.027Z,1398718309.027 [SpeedControl] Loaded
2014-04-28T20:51:49.027Z,1398718309.027 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2014-04-28T20:51:49.028Z,1398718309.028 [LoopControl](DEBUG): Construct LoopControl.
2014-04-28T20:51:49.028Z,1398718309.028 [LoopControl] Loaded
2014-04-28T20:51:49.029Z,1398718309.029 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2014-04-28T20:51:49.029Z,1398718309.029 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2014-04-28T20:51:49.030Z,1398718309.030 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2014-04-28T20:51:49.061Z,1398718309.061 [DepthRateCalculator] Loaded
2014-04-28T20:51:49.061Z,1398718309.061 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2014-04-28T20:51:49.067Z,1398718309.067 [PitchRateCalculator] Loaded
2014-04-28T20:51:49.067Z,1398718309.067 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2014-04-28T20:51:49.075Z,1398718309.075 [SpeedCalculator] Loaded
2014-04-28T20:51:49.075Z,1398718309.075 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2014-04-28T20:51:49.092Z,1398718309.092 [TempGradientCalculator] Loaded
2014-04-28T20:51:49.092Z,1398718309.092 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2014-04-28T20:51:49.098Z,1398718309.098 [YawRateCalculator] Loaded
2014-04-28T20:51:49.098Z,1398718309.098 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2014-04-28T20:51:49.098Z,1398718309.098 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2014-04-28T20:51:49.099Z,1398718309.099 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2014-04-28T20:51:49.225Z,1398718309.225 [CTD_NeilBrown] Loaded
2014-04-28T20:51:49.226Z,1398718309.226 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2014-04-28T20:51:49.227Z,1398718309.227 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407444E0
2014-04-28T20:51:49.227Z,1398718309.227 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 867
2014-04-28T20:51:49.240Z,1398718309.240 [ISUS] Loaded
2014-04-28T20:51:49.241Z,1398718309.241 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2014-04-28T20:51:49.255Z,1398718309.255 [PAR_Licor] Loaded
2014-04-28T20:51:49.255Z,1398718309.255 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2014-04-28T20:51:49.291Z,1398718309.291 [WetLabsBB2FL] Loaded
2014-04-28T20:51:49.292Z,1398718309.292 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2014-04-28T20:51:49.293Z,1398718309.293 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407744E0
2014-04-28T20:51:49.293Z,1398718309.293 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 868
2014-04-28T20:51:49.294Z,1398718309.294 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2014-04-28T20:51:49.296Z,1398718309.296 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2014-04-28T20:51:49.413Z,1398718309.413 [SBIT](DEBUG): Construct Startup Built In Test.
2014-04-28T20:51:49.424Z,1398718309.424 [SBIT] Loaded
2014-04-28T20:51:49.425Z,1398718309.425 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2014-04-28T20:51:49.425Z,1398718309.425 [IBIT](DEBUG): Construct Initiated Built In Test.
2014-04-28T20:51:49.438Z,1398718309.438 [IBIT] Loaded
2014-04-28T20:51:49.438Z,1398718309.438 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2014-04-28T20:51:49.440Z,1398718309.440 [CBIT](DEBUG): Construct CBIT Built In Test.
2014-04-28T20:51:49.510Z,1398718309.510 [CBIT] Loaded
2014-04-28T20:51:49.510Z,1398718309.510 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2014-04-28T20:51:49.510Z,1398718309.510 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2014-04-28T20:51:49.511Z,1398718309.511 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2014-04-28T20:51:49.580Z,1398718309.580 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2014-04-28T20:51:49.581Z,1398718309.581 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2014-04-28T20:51:49.695Z,1398718309.695 [BuoyancyServo] Loaded
2014-04-28T20:51:49.695Z,1398718309.695 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2014-04-28T20:51:49.704Z,1398718309.704 [ElevatorServo] Loaded
2014-04-28T20:51:49.704Z,1398718309.704 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2014-04-28T20:51:49.712Z,1398718309.712 [MassServo] Loaded
2014-04-28T20:51:49.713Z,1398718309.713 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2014-04-28T20:51:49.721Z,1398718309.721 [RudderServo] Loaded
2014-04-28T20:51:49.721Z,1398718309.721 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2014-04-28T20:51:49.729Z,1398718309.729 [ThrusterServo] Loaded
2014-04-28T20:51:49.729Z,1398718309.729 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2014-04-28T20:51:49.730Z,1398718309.730 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2014-04-28T20:51:49.730Z,1398718309.730 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2014-04-28T20:51:49.768Z,1398718309.768 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2014-04-28T20:51:49.770Z,1398718309.770 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2014-04-28T20:51:49.771Z,1398718309.771 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2014-04-28T20:51:49.778Z,1398718309.778 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2014-04-28T20:51:49.779Z,1398718309.779 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408434E0
2014-04-28T20:51:49.779Z,1398718309.779 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 869
2014-04-28T20:51:49.785Z,1398718309.785 [Supervisor](INFO): Main Thread ID is 771
2014-04-28T20:51:49.786Z,1398718309.786 [Supervisor](DEBUG): Running supervisor.
2014-04-28T20:51:49.786Z,1398718309.786 [CommandLine ThreadHandler](INFO): Handler Thread ID is 870
2014-04-28T20:51:49.789Z,1398718309.789 [controlThread ThreadHandler](INFO): Handler Thread ID is 871
2014-04-28T20:51:49.790Z,1398718309.790 [controlThread](DEBUG): Initializing ControlThread
2014-04-28T20:51:49.793Z,1398718309.793 [logger ThreadHandler](INFO): Handler Thread ID is 872
2014-04-28T20:51:49.813Z,1398718309.813 [AsyncPiEstimator ThreadHandler](INFO): Handler Thread ID is 873
2014-04-28T20:51:49.813Z,1398718309.813 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2014-04-28T20:51:49.841Z,1398718309.841 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 874
2014-04-28T20:51:49.842Z,1398718309.842 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2014-04-28T20:51:49.845Z,1398718309.845 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2014-04-28T20:51:49.854Z,1398718309.854 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 876
2014-04-28T20:51:49.856Z,1398718309.856 [WetLabsBB2FL](INFO): Powering down
2014-04-28T20:51:49.881Z,1398718309.881 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 877
2014-04-28T20:51:49.891Z,1398718309.891 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2014-04-28T20:51:49.893Z,1398718309.893 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2014-04-28T20:51:49.894Z,1398718309.894 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2014-04-28T20:51:49.894Z,1398718309.894 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2014-04-28T20:51:49.894Z,1398718309.894 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2014-04-28T20:51:49.894Z,1398718309.894 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2014-04-28T20:51:49.895Z,1398718309.895 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2014-04-28T20:51:49.895Z,1398718309.895 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2014-04-28T20:51:49.895Z,1398718309.895 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2014-04-28T20:51:51.588Z,1398718311.588 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2014-04-28T20:51:51.626Z,1398718311.626 [ExternalSim](INFO): ExternalSim initializing...
2014-04-28T20:51:51.766Z,1398718311.766 [ExternalSim](DEBUG): beaconLat = 36.81340
2014-04-28T20:51:51.766Z,1398718311.766 [ExternalSim](DEBUG): beaconLon = -121.82240
2014-04-28T20:51:51.766Z,1398718311.766 [ExternalSim](DEBUG): beaconDepth = 25.00
2014-04-28T20:51:51.868Z,1398718311.868 [ExternalSim](DEBUG): Simulator initialized
2014-04-28T20:51:52.009Z,1398718312.009 [InternalSim](DEBUG):  InternalSim initializing...
2014-04-28T20:51:52.112Z,1398718312.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-28T20:51:52.113Z,1398718312.113 [NavChart](DEBUG): Initialize NavChart Navigation.
2014-04-28T20:51:52.113Z,1398718312.113 [UniversalFixResidualReporter](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-28T20:51:52.114Z,1398718312.114 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2014-04-28T20:51:52.115Z,1398718312.115 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2014-04-28T20:51:52.116Z,1398718312.116 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2014-04-28T20:51:52.120Z,1398718312.120 [LoopControl](DEBUG): Initialize LoopControlComponent.
2014-04-28T20:51:52.121Z,1398718312.121 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-04-28T20:51:52.121Z,1398718312.121 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2014-04-28T20:51:52.122Z,1398718312.122 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2014-04-28T20:51:52.122Z,1398718312.122 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2014-04-28T20:51:52.123Z,1398718312.123 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2014-04-28T20:51:52.124Z,1398718312.124 [SBIT](INFO): Initialize SBIT Component.
2014-04-28T20:51:52.125Z,1398718312.125 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:11255
2014-04-28T20:51:52.125Z,1398718312.125 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2014-04-28T20:51:52.125Z,1398718312.125 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2014-04-28T20:51:52.126Z,1398718312.126 [IBIT](INFO): Initialize IBIT Component.
2014-04-28T20:51:52.127Z,1398718312.127 [CBIT](DEBUG): Initialize CBIT Component.
2014-04-28T20:51:52.127Z,1398718312.127 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2014-04-28T20:51:52.154Z,1398718312.154 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2014-04-28T20:51:52.187Z,1398718312.187 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:51:52.212Z,1398718312.212 [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>


2014-04-28T20:51:52.213Z,1398718312.213 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2014-04-28T20:51:52.290Z,1398718312.290 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2014-04-28T20:51:52.308Z,1398718312.308 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2014-04-28T20:51:52.323Z,1398718312.323 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:51:52.339Z,1398718312.339 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2014-04-28T20:51:52.343Z,1398718312.343 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:51:52.358Z,1398718312.358 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2014-04-28T20:51:52.396Z,1398718312.396 [Default:WaitAtTheSurface:RunAtLowSpeed.SetSpeed](DEBUG): Construct.
2014-04-28T20:51:52.399Z,1398718312.399 [Default:WaitAtTheSurface:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:51:52.415Z,1398718312.415 [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>


2014-04-28T20:51:52.445Z,1398718312.445 [controlThread](DEBUG): Component order: CycleStarter,ExternalSim,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,LogSplitter,
2014-04-28T20:51:52.529Z,1398718312.529 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2014-04-28T20:51:52.649Z,1398718312.649 [DVL_micro](INFO): Initializing
2014-04-28T20:51:52.954Z,1398718312.954 [Radio_Freewave](INFO): Powering up
2014-04-28T20:51:53.230Z,1398718313.230 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2014-04-28T20:51:53.238Z,1398718313.238 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2014-04-28T20:51:53.255Z,1398718313.255 [ElevatorServo](DEBUG): Initializing EZServoServo.
2014-04-28T20:51:53.262Z,1398718313.262 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2014-04-28T20:51:53.268Z,1398718313.268 [MassServo](DEBUG): Initializing EZServoServo.
2014-04-28T20:51:53.274Z,1398718313.274 [MassServo](DEBUG): Initializing MassServo.
2014-04-28T20:51:53.296Z,1398718313.296 [RudderServo](DEBUG): Initializing EZServoServo.
2014-04-28T20:51:53.302Z,1398718313.302 [RudderServo](DEBUG): Initializing RudderServo.
2014-04-28T20:51:53.316Z,1398718313.316 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-04-28T20:51:53.836Z,1398718313.836 [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
2014-04-28T20:51:58.649Z,1398718318.649 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003306
2014-04-28T20:52:01.289Z,1398718321.289 [NAL9602](IMPORTANT): GPS fix at: 1398718321.28
2014-04-28T20:52:02.955Z,1398718322.955 [NAL9602](INFO): No messages in MT queue
2014-04-28T20:52:07.713Z,1398718327.713 [SBIT](IMPORTANT): Beginning Startup BIT
2014-04-28T20:52:07.716Z,1398718327.716 [CBIT](IMPORTANT): Beginning GF scan
2014-04-28T20:52:08.612Z,1398718328.612 [NAL9602](INFO): Powering down
2014-04-28T20:52:35.033Z,1398718355.033 [CBIT](IMPORTANT): No ground fault detected
2014-04-28T20:53:02.173Z,1398718382.173 [SBIT](IMPORTANT): SBIT PASSED
2014-04-28T20:53:02.715Z,1398718382.715 [MissionManager](IMPORTANT): Started mission Startup
2014-04-28T20:53:02.715Z,1398718382.715 [Startup] Running Loop=1
2014-04-28T20:53:02.715Z,1398718382.715 [Startup](INFO): Aggregate::initialize Startup
2014-04-28T20:53:02.715Z,1398718382.715 [Startup:A.GoToSurface] Running Loop=1
2014-04-28T20:53:02.715Z,1398718382.715 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2014-04-28T20:53:02.730Z,1398718382.730 [Startup:StartupSatComms] Running Loop=1
2014-04-28T20:53:02.730Z,1398718382.730 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2014-04-28T20:53:02.730Z,1398718382.730 [Startup:StartupSatComms:A] Running Loop=1
2014-04-28T20:53:03.172Z,1398718383.172 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2014-04-28T20:53:03.690Z,1398718383.690 [NAL9602](INFO): Powering up
2014-04-28T20:53:09.506Z,1398718389.506 [NAL9602](IMPORTANT): GPS fix at: 1398718389.50
2014-04-28T20:53:09.535Z,1398718389.535 [Startup:StartupSatComms:A] Stopped
2014-04-28T20:53:09.535Z,1398718389.535 [Startup:StartupSatComms:B] Running Loop=1
2014-04-28T20:53:10.174Z,1398718390.174 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2014-04-28T20:53:11.700Z,1398718391.700 [NAL9602](INFO): No messages in MT queue
2014-04-28T20:53:13.904Z,1398718393.904 [DataOverHttps](INFO): Sending 296 bytes from file Logs/20140428T205139/Courier0000.lzma
2014-04-28T20:53:14.832Z,1398718394.832 [DataOverHttps](INFO): Moved sent file to Logs/20140428T205139/Courier0000.lzma.bak
2014-04-28T20:53:14.833Z,1398718394.833 [DataOverHttps](INFO): SBD MOMSN=802617
2014-04-28T20:53:18.349Z,1398718398.349 [NAL9602](INFO): Powering down
2014-04-28T20:53:22.005Z,1398718402.005 [DataOverHttps](INFO): Sending 612 bytes from file Logs/20140428T205139/Express0001.lzma
2014-04-28T20:53:22.881Z,1398718402.881 [DataOverHttps](INFO): Moved sent file to Logs/20140428T205139/Express0001.lzma.bak
2014-04-28T20:53:22.881Z,1398718402.881 [DataOverHttps](INFO): SBD MOMSN=802621
2014-04-28T20:53:23.344Z,1398718403.344 [Startup:StartupSatComms:B] Stopped
2014-04-28T20:53:23.345Z,1398718403.345 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2014-04-28T20:53:23.345Z,1398718403.345 [Startup:StartupSatComms] Stopped
2014-04-28T20:53:23.345Z,1398718403.345 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2014-04-28T20:53:23.350Z,1398718403.350 [Startup](INFO): Completed Startup
2014-04-28T20:53:23.350Z,1398718403.350 [Startup] Stopped
2014-04-28T20:53:23.350Z,1398718403.350 [Startup](INFO): Aggregate::uninitialize Startup
2014-04-28T20:53:23.350Z,1398718403.350 [Startup:A.GoToSurface] Stopped
2014-04-28T20:53:23.350Z,1398718403.350 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2014-04-28T20:53:23.924Z,1398718403.924 [MissionManager](IMPORTANT): Started mission Default
2014-04-28T20:53:23.924Z,1398718403.924 [Default] Running Loop=1
2014-04-28T20:53:23.924Z,1398718403.924 [Default](INFO): Aggregate::initialize Default
2014-04-28T20:53:23.924Z,1398718403.924 [Default:Iridium] Running Loop=1
2014-04-28T20:53:23.924Z,1398718403.924 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2014-04-28T20:53:23.924Z,1398718403.924 [Default:Iridium:A.SetSpeed] Running Loop=1
2014-04-28T20:53:23.925Z,1398718403.925 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2014-04-28T20:53:23.925Z,1398718403.925 [Default:Iridium:B.GoToSurface] Running Loop=1
2014-04-28T20:53:23.925Z,1398718403.925 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2014-04-28T20:53:23.931Z,1398718403.931 [Default:Iridium:B.GoToSurface] Stopped
2014-04-28T20:53:23.931Z,1398718403.931 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2014-04-28T20:53:23.931Z,1398718403.931 [Default:Iridium:Read_Iridium] Running Loop=1
2014-04-28T20:53:23.931Z,1398718403.931 [Default:Iridium:A.SetSpeed] Running Loop=1
2014-04-28T20:53:23.948Z,1398718403.948 [Default:GPS] Running Loop=1
2014-04-28T20:53:23.949Z,1398718403.949 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2014-04-28T20:53:23.949Z,1398718403.949 [Default:GPS:A.SetSpeed] Running Loop=1
2014-04-28T20:53:23.949Z,1398718403.949 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2014-04-28T20:53:23.949Z,1398718403.949 [Default:GPS:B.GoToSurface] Running Loop=1
2014-04-28T20:53:23.949Z,1398718403.949 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2014-04-28T20:53:23.955Z,1398718403.955 [Default:GPS:B.GoToSurface] Stopped
2014-04-28T20:53:23.955Z,1398718403.955 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2014-04-28T20:53:23.955Z,1398718403.955 [Default:GPS:Read_GPS] Running Loop=1
2014-04-28T20:53:23.955Z,1398718403.955 [Default:GPS:A.SetSpeed] Running Loop=1
2014-04-28T20:53:25.494Z,1398718405.494 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2014-04-28T20:53:25.497Z,1398718405.497 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2014-04-28T20:53:26.363Z,1398718406.363 [NAL9602](INFO): Powering up
2014-04-28T20:53:30.295Z,1398718410.295 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20140428T205139/Courier0004.lzma
2014-04-28T20:53:31.138Z,1398718411.138 [DataOverHttps](INFO): Moved sent file to Logs/20140428T205139/Courier0004.lzma.bak
2014-04-28T20:53:31.138Z,1398718411.138 [DataOverHttps](INFO): SBD MOMSN=802632
2014-04-28T20:53:33.476Z,1398718413.476 [NAL9602](IMPORTANT): GPS fix at: 1398718413.47
2014-04-28T20:53:33.516Z,1398718413.516 [Default:GPS:Read_GPS] Stopped
2014-04-28T20:53:33.516Z,1398718413.516 [Default:GPS:D] Running Loop=1
2014-04-28T20:53: