2014-04-28T20:57:27.842Z,1398718647.842 [Supervisor](DEBUG): Initializing supervisor.
2014-04-28T20:57:27.845Z,1398718647.845 [SyncHandler](DEBUG): Created PCaller Thread at 4033C4E0
2014-04-28T20:57:27.846Z,1398718647.846 [SyncHandler](INFO): Protected caller Thread ID is 776
2014-04-28T20:57:27.846Z,1398718647.846 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2014-04-28T20:57:27.848Z,1398718647.848 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036C4E0
2014-04-28T20:57:27.848Z,1398718647.848 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 777
2014-04-28T20:57:27.851Z,1398718647.851 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2014-04-28T20:57:27.864Z,1398718647.864 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2014-04-28T20:57:27.868Z,1398718647.868 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039C4E0
2014-04-28T20:57:27.868Z,1398718647.868 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 778
2014-04-28T20:57:27.869Z,1398718647.869 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2014-04-28T20:57:27.872Z,1398718647.872 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CC4E0
2014-04-28T20:57:27.872Z,1398718647.872 [logger ThreadHandler](INFO): Protected caller Thread ID is 779
2014-04-28T20:57:27.874Z,1398718647.874 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2014-04-28T20:57:27.875Z,1398718647.875 [Supervisor](INFO): Looking for Config files in directory: Config/
2014-04-28T20:57:27.879Z,1398718647.879 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2014-04-28T20:57:28.308Z,1398718648.308 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2014-04-28T20:57:28.309Z,1398718648.309 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2014-04-28T20:57:28.630Z,1398718648.630 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2014-04-28T20:57:28.631Z,1398718648.631 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2014-04-28T20:57:28.729Z,1398718648.729 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2014-04-28T20:57:28.729Z,1398718648.729 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2014-04-28T20:57:28.963Z,1398718648.963 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2014-04-28T20:57:28.964Z,1398718648.964 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2014-04-28T20:57:29.155Z,1398718649.155 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2014-04-28T20:57:29.157Z,1398718649.157 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2014-04-28T20:57:29.514Z,1398718649.514 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2014-04-28T20:57:29.515Z,1398718649.515 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2014-04-28T20:57:29.732Z,1398718649.732 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2014-04-28T20:57:29.734Z,1398718649.734 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2014-04-28T20:57:30.139Z,1398718650.139 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2014-04-28T20:57:30.141Z,1398718650.141 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2014-04-28T20:57:30.261Z,1398718650.261 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2014-04-28T20:57:30.263Z,1398718650.263 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2014-04-28T20:57:30.877Z,1398718650.877 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2014-04-28T20:57:30.878Z,1398718650.878 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2014-04-28T20:57:31.010Z,1398718651.010 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2014-04-28T20:57:32.996Z,1398718652.996 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2014-04-28T20:57:33.116Z,1398718653.116 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2014-04-28T20:57:33.242Z,1398718653.242 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2014-04-28T20:57:33.243Z,1398718653.243 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2014-04-28T20:57:33.357Z,1398718653.357 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2014-04-28T20:57:33.358Z,1398718653.358 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2014-04-28T20:57:33.518Z,1398718653.518 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2014-04-28T20:57:33.520Z,1398718653.520 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2014-04-28T20:57:33.523Z,1398718653.523 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2014-04-28T20:57:33.646Z,1398718653.646 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2014-04-28T20:57:33.798Z,1398718653.798 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2014-04-28T20:57:33.911Z,1398718653.911 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2014-04-28T20:57:34.020Z,1398718654.020 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2014-04-28T20:57:34.203Z,1398718654.203 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2014-04-28T20:57:34.342Z,1398718654.342 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2014-04-28T20:57:34.442Z,1398718654.442 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2014-04-28T20:57:34.565Z,1398718654.565 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2014-04-28T20:57:34.680Z,1398718654.680 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2014-04-28T20:57:34.792Z,1398718654.792 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2014-04-28T20:57:34.896Z,1398718654.896 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Estimation.cfg
2014-04-28T20:57:35.008Z,1398718655.008 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2014-04-28T20:57:35.011Z,1398718655.011 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2014-04-28T20:57:35.645Z,1398718655.645 [AHRS_sp3003D] Loaded
2014-04-28T20:57:35.645Z,1398718655.645 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2014-04-28T20:57:35.998Z,1398718655.998 [Batt_Ocean_Server] Loaded
2014-04-28T20:57:35.999Z,1398718655.999 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2014-04-28T20:57:36.204Z,1398718656.204 [DataOverHttps] Loaded
2014-04-28T20:57:36.204Z,1398718656.204 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2014-04-28T20:57:36.219Z,1398718656.219 [Depth_Keller] Loaded
2014-04-28T20:57:36.219Z,1398718656.219 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2014-04-28T20:57:36.224Z,1398718656.224 [DropWeight] Loaded
2014-04-28T20:57:36.225Z,1398718656.225 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2014-04-28T20:57:36.401Z,1398718656.401 [DVL_micro] Loaded
2014-04-28T20:57:36.401Z,1398718656.401 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2014-04-28T20:57:36.526Z,1398718656.526 [NAL9602] Loaded
2014-04-28T20:57:36.526Z,1398718656.526 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2014-04-28T20:57:36.582Z,1398718656.582 [Onboard] Loaded
2014-04-28T20:57:36.582Z,1398718656.582 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2014-04-28T20:57:36.594Z,1398718656.594 [Radio_Freewave] Loaded
2014-04-28T20:57:36.594Z,1398718656.594 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2014-04-28T20:57:36.602Z,1398718656.602 [SCPI] Loaded
2014-04-28T20:57:36.602Z,1398718656.602 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2014-04-28T20:57:36.602Z,1398718656.602 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2014-04-28T20:57:36.603Z,1398718656.603 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2014-04-28T20:57:39.356Z,1398718659.356 [ExternalSim] Loaded
2014-04-28T20:57:39.356Z,1398718659.356 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2014-04-28T20:57:39.423Z,1398718659.423 [InternalSim] Loaded
2014-04-28T20:57:39.423Z,1398718659.423 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2014-04-28T20:57:39.424Z,1398718659.424 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2014-04-28T20:57:39.425Z,1398718659.425 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2014-04-28T20:57:39.753Z,1398718659.753 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2014-04-28T20:57:39.753Z,1398718659.753 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2014-04-28T20:57:39.764Z,1398718659.764 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2014-04-28T20:57:39.770Z,1398718659.770 [AsyncPiEstimator] Loaded
2014-04-28T20:57:39.770Z,1398718659.770 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2014-04-28T20:57:39.774Z,1398718659.774 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A24E0
2014-04-28T20:57:39.775Z,1398718659.775 [AsyncPiEstimator ThreadHandler](INFO): Protected caller Thread ID is 861
2014-04-28T20:57:39.775Z,1398718659.775 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2014-04-28T20:57:39.776Z,1398718659.776 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2014-04-28T20:57:39.891Z,1398718659.891 [DeadReckonUsingMultipleVelocitySources] Loaded
2014-04-28T20:57:39.891Z,1398718659.891 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2014-04-28T20:57:39.909Z,1398718659.909 [NavChart] Loaded
2014-04-28T20:57:39.909Z,1398718659.909 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2014-04-28T20:57:39.914Z,1398718659.914 [UniversalFixResidualReporter] Loaded
2014-04-28T20:57:39.914Z,1398718659.914 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2014-04-28T20:57:39.915Z,1398718659.915 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2014-04-28T20:57:39.917Z,1398718659.917 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2014-04-28T20:57:39.994Z,1398718659.994 [VerticalControl](DEBUG): Construct VerticalControl.
2014-04-28T20:57:40.121Z,1398718660.121 [VerticalControl] Loaded
2014-04-28T20:57:40.121Z,1398718660.121 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2014-04-28T20:57:40.122Z,1398718660.122 [HorizontalControl](DEBUG): Construct HorizontalControl.
2014-04-28T20:57:40.207Z,1398718660.207 [HorizontalControl] Loaded
2014-04-28T20:57:40.208Z,1398718660.208 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2014-04-28T20:57:40.208Z,1398718660.208 [SpeedControl](DEBUG): Construct SpeedControl.
2014-04-28T20:57:40.210Z,1398718660.210 [SpeedControl] Loaded
2014-04-28T20:57:40.211Z,1398718660.211 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2014-04-28T20:57:40.211Z,1398718660.211 [LoopControl](DEBUG): Construct LoopControl.
2014-04-28T20:57:40.212Z,1398718660.212 [LoopControl] Loaded
2014-04-28T20:57:40.212Z,1398718660.212 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2014-04-28T20:57:40.213Z,1398718660.213 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2014-04-28T20:57:40.213Z,1398718660.213 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2014-04-28T20:57:40.246Z,1398718660.246 [DepthRateCalculator] Loaded
2014-04-28T20:57:40.246Z,1398718660.246 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2014-04-28T20:57:40.252Z,1398718660.252 [PitchRateCalculator] Loaded
2014-04-28T20:57:40.253Z,1398718660.253 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2014-04-28T20:57:40.261Z,1398718660.261 [SpeedCalculator] Loaded
2014-04-28T20:57:40.262Z,1398718660.262 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2014-04-28T20:57:40.284Z,1398718660.284 [TempGradientCalculator] Loaded
2014-04-28T20:57:40.284Z,1398718660.284 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2014-04-28T20:57:40.289Z,1398718660.289 [YawRateCalculator] Loaded
2014-04-28T20:57:40.290Z,1398718660.290 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2014-04-28T20:57:40.290Z,1398718660.290 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2014-04-28T20:57:40.291Z,1398718660.291 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2014-04-28T20:57:40.440Z,1398718660.440 [CTD_NeilBrown] Loaded
2014-04-28T20:57:40.441Z,1398718660.441 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2014-04-28T20:57:40.443Z,1398718660.443 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407444E0
2014-04-28T20:57:40.444Z,1398718660.444 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 862
2014-04-28T20:57:40.458Z,1398718660.458 [ISUS] Loaded
2014-04-28T20:57:40.458Z,1398718660.458 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2014-04-28T20:57:40.478Z,1398718660.478 [PAR_Licor] Loaded
2014-04-28T20:57:40.478Z,1398718660.478 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2014-04-28T20:57:40.521Z,1398718660.521 [WetLabsBB2FL] Loaded
2014-04-28T20:57:40.522Z,1398718660.522 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2014-04-28T20:57:40.523Z,1398718660.523 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407744E0
2014-04-28T20:57:40.524Z,1398718660.524 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 863
2014-04-28T20:57:40.524Z,1398718660.524 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2014-04-28T20:57:40.527Z,1398718660.527 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2014-04-28T20:57:40.658Z,1398718660.658 [SBIT](DEBUG): Construct Startup Built In Test.
2014-04-28T20:57:40.671Z,1398718660.671 [SBIT] Loaded
2014-04-28T20:57:40.671Z,1398718660.671 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2014-04-28T20:57:40.672Z,1398718660.672 [IBIT](DEBUG): Construct Initiated Built In Test.
2014-04-28T20:57:40.689Z,1398718660.689 [IBIT] Loaded
2014-04-28T20:57:40.689Z,1398718660.689 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2014-04-28T20:57:40.691Z,1398718660.691 [CBIT](DEBUG): Construct CBIT Built In Test.
2014-04-28T20:57:40.774Z,1398718660.774 [CBIT] Loaded
2014-04-28T20:57:40.774Z,1398718660.774 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2014-04-28T20:57:40.775Z,1398718660.775 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2014-04-28T20:57:40.775Z,1398718660.775 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2014-04-28T20:57:40.853Z,1398718660.853 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2014-04-28T20:57:40.853Z,1398718660.853 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2014-04-28T20:57:40.985Z,1398718660.985 [BuoyancyServo] Loaded
2014-04-28T20:57:40.986Z,1398718660.986 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2014-04-28T20:57:40.995Z,1398718660.995 [ElevatorServo] Loaded
2014-04-28T20:57:40.995Z,1398718660.995 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2014-04-28T20:57:41.007Z,1398718661.007 [MassServo] Loaded
2014-04-28T20:57:41.008Z,1398718661.008 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2014-04-28T20:57:41.017Z,1398718661.017 [RudderServo] Loaded
2014-04-28T20:57:41.017Z,1398718661.017 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2014-04-28T20:57:41.025Z,1398718661.025 [ThrusterServo] Loaded
2014-04-28T20:57:41.025Z,1398718661.025 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2014-04-28T20:57:41.026Z,1398718661.026 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2014-04-28T20:57:41.027Z,1398718661.027 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2014-04-28T20:57:41.070Z,1398718661.070 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2014-04-28T20:57:41.072Z,1398718661.072 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2014-04-28T20:57:41.073Z,1398718661.073 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2014-04-28T20:57:41.079Z,1398718661.079 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2014-04-28T20:57:41.084Z,1398718661.084 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408434E0
2014-04-28T20:57:41.085Z,1398718661.085 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 864
2014-04-28T20:57:41.089Z,1398718661.089 [Supervisor](INFO): Main Thread ID is 766
2014-04-28T20:57:41.090Z,1398718661.090 [Supervisor](DEBUG): Running supervisor.
2014-04-28T20:57:41.090Z,1398718661.090 [CommandLine ThreadHandler](INFO): Handler Thread ID is 865
2014-04-28T20:57:41.097Z,1398718661.097 [controlThread ThreadHandler](INFO): Handler Thread ID is 866
2014-04-28T20:57:41.097Z,1398718661.097 [controlThread](DEBUG): Initializing ControlThread
2014-04-28T20:57:41.101Z,1398718661.101 [logger ThreadHandler](INFO): Handler Thread ID is 867
2014-04-28T20:57:41.137Z,1398718661.137 [AsyncPiEstimator ThreadHandler](INFO): Handler Thread ID is 868
2014-04-28T20:57:41.137Z,1398718661.137 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2014-04-28T20:57:41.161Z,1398718661.161 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 869
2014-04-28T20:57:41.162Z,1398718661.162 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2014-04-28T20:57:41.165Z,1398718661.165 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2014-04-28T20:57:41.169Z,1398718661.169 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 871
2014-04-28T20:57:41.170Z,1398718661.170 [WetLabsBB2FL](INFO): Powering down
2014-04-28T20:57:41.205Z,1398718661.205 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 872
2014-04-28T20:57:41.223Z,1398718661.223 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2014-04-28T20:57:41.225Z,1398718661.225 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2014-04-28T20:57:41.225Z,1398718661.225 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2014-04-28T20:57:41.226Z,1398718661.226 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2014-04-28T20:57:41.226Z,1398718661.226 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2014-04-28T20:57:41.226Z,1398718661.226 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2014-04-28T20:57:41.226Z,1398718661.226 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2014-04-28T20:57:41.227Z,1398718661.227 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2014-04-28T20:57:41.227Z,1398718661.227 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2014-04-28T20:57:42.732Z,1398718662.732 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2014-04-28T20:57:42.770Z,1398718662.770 [ExternalSim](INFO): ExternalSim initializing...
2014-04-28T20:57:43.061Z,1398718663.061 [ExternalSim](DEBUG): beaconLat = 36.81340
2014-04-28T20:57:43.061Z,1398718663.061 [ExternalSim](DEBUG): beaconLon = -121.82240
2014-04-28T20:57:43.061Z,1398718663.061 [ExternalSim](DEBUG): beaconDepth = 25.00
2014-04-28T20:57:43.282Z,1398718663.282 [ExternalSim](DEBUG): Simulator initialized
2014-04-28T20:57:43.408Z,1398718663.408 [InternalSim](DEBUG):  InternalSim initializing...
2014-04-28T20:57:43.531Z,1398718663.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-28T20:57:43.531Z,1398718663.531 [NavChart](DEBUG): Initialize NavChart Navigation.
2014-04-28T20:57:43.531Z,1398718663.531 [UniversalFixResidualReporter](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-28T20:57:43.532Z,1398718663.532 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2014-04-28T20:57:43.552Z,1398718663.552 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2014-04-28T20:57:43.553Z,1398718663.553 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2014-04-28T20:57:43.554Z,1398718663.554 [LoopControl](DEBUG): Initialize LoopControlComponent.
2014-04-28T20:57:43.554Z,1398718663.554 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-04-28T20:57:43.554Z,1398718663.554 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2014-04-28T20:57:43.555Z,1398718663.555 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2014-04-28T20:57:43.555Z,1398718663.555 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2014-04-28T20:57:43.556Z,1398718663.556 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2014-04-28T20:57:43.564Z,1398718663.564 [SBIT](INFO): Initialize SBIT Component.
2014-04-28T20:57:43.565Z,1398718663.565 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:11255
2014-04-28T20:57:43.565Z,1398718663.565 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2014-04-28T20:57:43.565Z,1398718663.565 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2014-04-28T20:57:43.566Z,1398718663.566 [IBIT](INFO): Initialize IBIT Component.
2014-04-28T20:57:43.567Z,1398718663.567 [CBIT](DEBUG): Initialize CBIT Component.
2014-04-28T20:57:43.567Z,1398718663.567 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2014-04-28T20:57:43.567Z,1398718663.567 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2014-04-28T20:57:43.594Z,1398718663.594 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2014-04-28T20:57:44.356Z,1398718664.356 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:57:44.382Z,1398718664.382 [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>


2014-04-28T20:57:44.383Z,1398718664.383 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2014-04-28T20:57:44.448Z,1398718664.448 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2014-04-28T20:57:44.466Z,1398718664.466 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2014-04-28T20:57:44.479Z,1398718664.479 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:57:44.487Z,1398718664.487 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2014-04-28T20:57:44.511Z,1398718664.511 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:57:44.517Z,1398718664.517 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2014-04-28T20:57:44.564Z,1398718664.564 [Default:WaitAtTheSurface:RunAtLowSpeed.SetSpeed](DEBUG): Construct.
2014-04-28T20:57:44.580Z,1398718664.580 [Default:WaitAtTheSurface:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:57:44.595Z,1398718664.595 [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>


2014-04-28T20:57:44.611Z,1398718664.611 [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,
2014-04-28T20:57:44.695Z,1398718664.695 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2014-04-28T20:57:44.794Z,1398718664.794 [DVL_micro](INFO): Initializing
2014-04-28T20:57:45.096Z,1398718665.096 [Radio_Freewave](INFO): Powering up
2014-04-28T20:57:45.540Z,1398718665.540 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2014-04-28T20:57:45.548Z,1398718665.548 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2014-04-28T20:57:45.566Z,1398718665.566 [ElevatorServo](DEBUG): Initializing EZServoServo.
2014-04-28T20:57:45.572Z,1398718665.572 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2014-04-28T20:57:45.598Z,1398718665.598 [MassServo](DEBUG): Initializing EZServoServo.
2014-04-28T20:57:45.604Z,1398718665.604 [MassServo](DEBUG): Initializing MassServo.
2014-04-28T20:57:45.609Z,1398718665.609 [RudderServo](DEBUG): Initializing EZServoServo.
2014-04-28T20:57:45.616Z,1398718665.616 [RudderServo](DEBUG): Initializing RudderServo.
2014-04-28T20:57:45.621Z,1398718665.621 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-04-28T20:57:45.660Z,1398718665.660 [CommandLine](FAULT): Scheduling is paused
2014-04-28T20:57:45.988Z,1398718665.988 [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
2014-04-28T20:57:51.517Z,1398718671.517 [DataOverHttps](IMPORTANT): SBD MTMSN=20140428T205750
2014-04-28T20:57:51.521Z,1398718671.521 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004413
2014-04-28T20:57:54.999Z,1398718674.999 [NAL9602](IMPORTANT): GPS fix at: 1398718674.99
2014-04-28T20:57:55.604Z,1398718675.604 [DataOverHttps](INFO): Received command:! grep "Thread ID" /mnt/mmc/LRAUV/Logs/latest/syslog | tee /mnt/mmc/LRAUV/Logs/latest/threads
2014-04-28T20:57:55.623Z,1398718675.623 [CommandLine](IMPORTANT): got command ! grep "Thread ID" /mnt/mmc/LRAUV/Logs/latest/syslog | tee /mnt/mmc/LRAUV/Logs/latest/threads
2014-04-28T20:57:56.689Z,1398718676.689 [DataOverHttps](IMPORTANT): SBD MTMSN=20140428T205755
2014-04-28T20:57:56.695Z,1398718676.695 [NAL9602](INFO): No messages in MT queue
2014-04-28T20:57:57.116Z,1398718677.116 [CommandLine](IMPORTANT): 2014-04-28T20:57:27.846Z,1398718647.846 [SyncHandler](INFO): Protected caller Thread ID is 776
2014-04-28T20:57:27.848Z,1398718647.848 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 777
2014-04-28T20:57:27.868Z,1398718647.868 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 778
2014-04-28T20:57:27.872Z,1398718647.872 [logger ThreadHandler](INFO): Protected caller Thread ID is 779

2014-04-28T20:58:00.322Z,1398718680.322 [DataOverHttps](INFO): Received command:load Science/EcoHAB_box.xml;set EcoHAB_box.NeedCommsTime 30 minute;set EcoHAB_box.MissionTimeout 65 hour;set EcoHAB_box.LapTimeout 12 hour;run 
2014-04-28T20:58:00.361Z,1398718680.361 [CommandLine](IMPORTANT): got command load ./Missions/Science/EcoHAB_box.xml
2014-04-28T20:58:00.362Z,1398718680.362 [MissionManager](INFO): Loading Mission: ./Missions/Science/EcoHAB_box.xml
2014-04-28T20:58:00.927Z,1398718680.927 [MissionManager](INFO): DefineArg EcoHAB_box.NeedCommsTime = 36.000000 h
2014-04-28T20:58:00.930Z,1398718680.930 [MissionManager](INFO): DefineArg EcoHAB_box.MinAltitude = 4.000000 m
2014-04-28T20:58:00.934Z,1398718680.934 [MissionManager](INFO): DefineArg EcoHAB_box.MaxDepth = 85.000000 m
2014-04-28T20:58:00.948Z,1398718680.948 [MissionManager](INFO): DefineArg EcoHAB_box.MinOffshore = 2000.000000 m
2014-04-28T20:58:00.952Z,1398718680.952 [MissionManager](INFO): DefineArg EcoHAB_box.Speed = 1.000000 m/s
2014-04-28T20:58:00.967Z,1398718680.967 [MissionManager](INFO): DefineArg EcoHAB_box.MissionTimeout = 9.000000 h
2014-04-28T20:58:00.979Z,1398718680.979 [MissionManager](INFO): DefineArg EcoHAB_box.MassDefault = 0.000000 n/a
2014-04-28T20:58:00.991Z,1398718680.991 [MissionManager](INFO): DefineArg EcoHAB_box.BuoyancyNeutral = 0.000300 n/a
2014-04-28T20:58:00.995Z,1398718680.995 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLat = 33.607614 arcdeg
2014-04-28T20:58:00.999Z,1398718680.999 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPInshoreLon = -118.018798 arcdeg
2014-04-28T20:58:01.018Z,1398718681.018 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLat = 33.585471 arcdeg
2014-04-28T20:58:01.022Z,1398718681.022 [MissionManager](INFO): DefineArg EcoHAB_box.WpESPOffshoreLon = -118.037372 arcdeg
2014-04-28T20:58:01.046Z,1398718681.046 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lat = 33.586554 arcdeg
2014-04-28T20:58:01.050Z,1398718681.050 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner1Lon = -117.979903 arcdeg
2014-04-28T20:58:01.094Z,1398718681.094 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lat = 33.563841 arcdeg
2014-04-28T20:58:01.098Z,1398718681.098 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner2Lon = -117.997449 arcdeg
2014-04-28T20:58:01.102Z,1398718681.102 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lat = 33.606518 arcdeg
2014-04-28T20:58:01.106Z,1398718681.106 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner3Lon = -118.076276 arcdeg
2014-04-28T20:58:01.129Z,1398718681.129 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lat = 33.628662 arcdeg
2014-04-28T20:58:01.133Z,1398718681.133 [MissionManager](INFO): DefineArg EcoHAB_box.WpCorner4Lon = -118.057712 arcdeg
2014-04-28T20:58:01.173Z,1398718681.173 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachDepth = 10.000000 m
2014-04-28T20:58:01.177Z,1398718681.177 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachTimeout = 4.000000 h
2014-04-28T20:58:01.184Z,1398718681.184 [MissionManager](INFO): DefineArg EcoHAB_box.ApproachNeedCommsTime = 20.000000 min
2014-04-28T20:58:01.188Z,1398718681.188 [MissionManager](INFO): DefineArg EcoHAB_box.Repeat = 13.000000 count
2014-04-28T20:58:01.208Z,1398718681.208 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRadius = 500.000000 m
2014-04-28T20:58:01.230Z,1398718681.230 [MissionManager](INFO): DefineArg EcoHAB_box.CircleRepeat = 13.000000 count
2014-04-28T20:58:01.234Z,1398718681.234 [MissionManager](INFO): DefineArg EcoHAB_box.CircleDivisor = 2.000000 h
2014-04-28T20:58:01.238Z,1398718681.238 [MissionManager](INFO): DefineArg EcoHAB_box.CircleModulus = nan h
2014-04-28T20:58:01.242Z,1398718681.242 [MissionManager](INFO): DefineArg EcoHAB_box.CircleTimeout = 3.000000 h
2014-04-28T20:58:01.254Z,1398718681.254 [MissionManager](INFO): DefineArg EcoHAB_box.LapTimeout = 8.000000 h
2014-04-28T20:58:01.258Z,1398718681.258 [MissionManager](INFO): DefineArg EcoHAB_box.SCPITimeout = 420.000000 s
2014-04-28T20:58:01.289Z,1398718681.289 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinDepth = 4.000000 m
2014-04-28T20:58:01.293Z,1398718681.293 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMaxDepth = 78.000000 m
2014-04-28T20:58:01.317Z,1398718681.317 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoMinAltitude = 6.000000 m
2014-04-28T20:58:01.321Z,1398718681.321 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoUpPitch = 20.000000 arcdeg
2014-04-28T20:58:01.345Z,1398718681.345 [MissionManager](INFO): DefineArg EcoHAB_box.YoYoDownPitch = -20.000000 arcdeg
2014-04-28T20:58:01.346Z,1398718681.346 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2014-04-28T20:58:01.391Z,1398718681.391 [EcoHAB_box:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2014-04-28T20:58:01.400Z,1398718681.400 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2014-04-28T20:58:01.431Z,1398718681.431 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2014-04-28T20:58:01.539Z,1398718681.539 [MissionManager](INFO): DefineArg EcoHAB_box:NeedComms.CommsTimeout = 30.000000 min
2014-04-28T20:58:01.543Z,1398718681.543 [MissionManager](INFO): DefineArg EcoHAB_box:NeedComms.DiveInterval = 3.000000 h
2014-04-28T20:58:01.554Z,1398718681.554 [MissionManager](INFO): DefineArg EcoHAB_box:NeedComms.WaitForPitchUp = 10.000000 min
2014-04-28T20:58:01.558Z,1398718681.558 [MissionManager](INFO): DefineArg EcoHAB_box:NeedComms.SurfacePitch = 20.000000 arcdeg
2014-04-28T20:58:01.582Z,1398718681.582 [MissionManager](INFO): DefineArg EcoHAB_box:NeedComms.SurfaceSpeed = 1.000000 m/s
2014-04-28T20:58:01.587Z,1398718681.587 [EcoHAB_box:NeedComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:58:01.643Z,1398718681.643 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2014-04-28T20:58:01.698Z,1398718681.698 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceDepthRate = nan m/s
2014-04-28T20:58:01.706Z,1398718681.706 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2014-04-28T20:58:01.709Z,1398718681.709 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2014-04-28T20:58:01.733Z,1398718681.733 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.IridiumTimeout = 30.000000 min
2014-04-28T20:58:01.751Z,1398718681.751 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceComms.UnpackSplitAtSurface = 0 bool
2014-04-28T20:58:01.752Z,1398718681.752 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:58:01.772Z,1398718681.772 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsSplit.xml
2014-04-28T20:58:01.841Z,1398718681.841 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2014-04-28T20:58:01.857Z,1398718681.857 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2014-04-28T20:58:01.857Z,1398718681.857 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2014-04-28T20:58:01.910Z,1398718681.910 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceDepthRate = nan m/s
2014-04-28T20:58:01.933Z,1398718681.933 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2014-04-28T20:58:01.943Z,1398718681.943 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2014-04-28T20:58:01.948Z,1398718681.948 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.IridiumTimeout = 30.000000 min
2014-04-28T20:58:01.951Z,1398718681.951 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = 0 bool
2014-04-28T20:58:01.952Z,1398718681.952 [EcoHAB_box:SurfaceCommsSplit:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:58:02.006Z,1398718682.006 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2014-04-28T20:58:02.025Z,1398718682.025 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2014-04-28T20:58:02.038Z,1398718682.038 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceCommsSplit:SurfaceComms.UnpackSplitAtSurface = value:1 bool
2014-04-28T20:58:02.038Z,1398718682.038 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceCommsShort.xml
2014-04-28T20:58:02.086Z,1398718682.086 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.FloatTime = 180.000000 s
2014-04-28T20:58:02.099Z,1398718682.099 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Timeout = 1.000000 h
2014-04-28T20:58:02.103Z,1398718682.103 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Pitch = 20.000000 arcdeg
2014-04-28T20:58:02.134Z,1398718682.134 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceCommsShort.Speed = 1.000000 m/s
2014-04-28T20:58:02.136Z,1398718682.136 [EcoHAB_box:SurfaceCommsShort:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:58:02.161Z,1398718682.161 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceGPS.xml
2014-04-28T20:58:02.216Z,1398718682.216 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.HalfTimeout = 30.000000 s
2014-04-28T20:58:02.220Z,1398718682.220 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfacePitch = 20.000000 arcdeg
2014-04-28T20:58:02.232Z,1398718682.232 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceGPS.SurfaceSpeed = 1.000000 m/s
2014-04-28T20:58:02.233Z,1398718682.233 [EcoHAB_box:SurfaceGPS:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:58:02.268Z,1398718682.268 [MissionManager](INFO): Inserting Stack: Missions/Insert/SurfaceSafety.xml
2014-04-28T20:58:02.293Z,1398718682.293 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety.MaxTime = 11.000000 h
2014-04-28T20:58:02.315Z,1398718682.315 [MissionManager](INFO): Inserting Stack: Missions/Insert/Surface.xml
2014-04-28T20:58:02.368Z,1398718682.368 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceDepthRate = nan m/s
2014-04-28T20:58:02.372Z,1398718682.372 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2014-04-28T20:58:02.384Z,1398718682.384 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2014-04-28T20:58:02.388Z,1398718682.388 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.IridiumTimeout = 30.000000 min
2014-04-28T20:58:02.439Z,1398718682.439 [MissionManager](INFO): DefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.UnpackSplitAtSurface = 0 bool
2014-04-28T20:58:02.440Z,1398718682.440 [EcoHAB_box:SurfaceSafety:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:58:02.453Z,1398718682.453 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2014-04-28T20:58:02.490Z,1398718682.490 [MissionManager](INFO): RedefineArg EcoHAB_box:SurfaceSafety:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2014-04-28T20:58:02.492Z,1398718682.492 [EcoHAB_box:L.Pitch](DEBUG): Construct.
2014-04-28T20:58:02.499Z,1398718682.499 [EcoHAB_box:M.Buoyancy](DEBUG): Construct Buoyancy.
2014-04-28T20:58:02.502Z,1398718682.502 [MissionManager](INFO): Inserting Stack: Missions/Insert/CircleWaypointRepeatedly.xml
2014-04-28T20:58:02.630Z,1398718682.630 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Timeout = 90.000000 min
2014-04-28T20:58:02.633Z,1398718682.633 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.LapTimeout = 240.000000 min
2014-04-28T20:58:02.675Z,1398718682.675 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxLaps = 32.000000 count
2014-04-28T20:58:02.678Z,1398718682.678 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLat = nan arcdeg
2014-04-28T20:58:02.690Z,1398718682.690 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.CenterLon = nan arcdeg
2014-04-28T20:58:02.710Z,1398718682.710 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Radius = 250.000000 m
2014-04-28T20:58:02.721Z,1398718682.721 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.MaxError = 250.000000 m
2014-04-28T20:58:02.724Z,1398718682.724 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.TurnToPort = 0 bool
2014-04-28T20:58:02.732Z,1398718682.732 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.KwpHeading = 0.010000 rad/m
2014-04-28T20:58:02.736Z,1398718682.736 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.FloatTime = 60.000000 s
2014-04-28T20:58:02.764Z,1398718682.764 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Pitch = 20.000000 arcdeg
2014-04-28T20:58:02.776Z,1398718682.776 [MissionManager](INFO): DefineArg EcoHAB_box:CircleWaypointRepeatedly.Speed = 1.000000 m/s
2014-04-28T20:58:02.788Z,1398718682.788 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:Lap:B.Circle](DEBUG): Construct.
2014-04-28T20:58:02.825Z,1398718682.825 [EcoHAB_box:CircleWaypointRepeatedly:Repeater:GTS:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-28T20:58:02.960Z,1398718682.960 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2014-04-28T20:58:02.984Z,1398718682.984 [EcoHAB_box:Lap:WpCorner1.Waypoint](DEBUG): Construct Waypoint.
2014-04-28T20:58:03.011Z,1398718683.011 [EcoHAB_box:Lap:WpCorner2.Waypoint](DEBUG): Construct Waypoint.
2014-04-28T20:58:03.023Z,1398718683.023 [EcoHAB_box:Lap:WpESPOffshore.Waypoint](DEBUG): Construct Waypoint.
2014-04-28T20:58:03.094Z,1398718683.094 [EcoHAB_box:Lap:WpCorner3.Waypoint](DEBUG): Construct Waypoint.
2014-04-28T20:58:03.117Z,1398718683.117 [EcoHAB_box:Lap:WpCorner4.Waypoint](DEBUG): Construct Waypoint.
2014-04-28T20:58:03.133Z,1398718683.133 [EcoHAB_box:Lap:WpESPInshore.Waypoint](DEBUG): Construct Waypoint.
2014-04-28T20:58:03.185Z,1398718683.185 [EcoHAB_box:Approach:B.Pitch](DEBUG): Construct.
2014-04-28T20:58:03.195Z,1398718683.195 [EcoHAB_box:Approach:C.SetSpeed](DEBUG): Construct.
2014-04-28T20:58:03.198Z,1398718683.198 [EcoHAB_box:Approach:WpApproach.Waypoint](DEBUG): Construct Waypoint.
2014-04-28T20:58:03.226Z,1398718683.226 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2014-04-28T20:58:03.449Z,1398718683.449 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = 0 bool
2014-04-28T20:58:03.463Z,1398718683.463 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2014-04-28T20:58:03.477Z,1398718683.477 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = -60.000000 arcdeg
2014-04-28T20:58:03.489Z,1398718683.489 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = 0 bool
2014-04-28T20:58:03.492Z,1398718683.492 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.PeakDetectNO3Active = 0 bool
2014-04-28T20:58:03.528Z,1398718683.528 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2014-04-28T20:58:03.542Z,1398718683.542 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = 0 bool
2014-04-28T20:58:03.545Z,1398718683.545 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2014-04-28T20:58:03.554Z,1398718683.554 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2014-04-28T20:58:03.558Z,1398718683.558 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledAanderaaO2 = 0.000000 n/a
2014-04-28T20:58:03.598Z,1398718683.598 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledNeilBrown = 1.000000 n/a
2014-04-28T20:58:03.602Z,1398718683.602 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledTurbulence_NPS = 0.000000 n/a
2014-04-28T20:58:03.606Z,1398718683.606 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2014-04-28T20:58:03.610Z,1398718683.610 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledDVL = 1.000000 n/a
2014-04-28T20:58:03.626Z,1398718683.626 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:Science.EnabledISUS = 1.000000 n/a
2014-04-28T20:58:03.630Z,1398718683.630 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChl = 0.000000 ug/l
2014-04-28T20:58:03.661Z,1398718683.661 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlDepth = 0.000000 m
2014-04-28T20:58:03.665Z,1398718683.665 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLatitude = nan arcdeg
2014-04-28T20:58:03.677Z,1398718683.677 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakChlLongitude = nan arcdeg
2014-04-28T20:58:03.681Z,1398718683.681 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3 = 0.000000 umol/l
2014-04-28T20:58:03.709Z,1398718683.709 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Depth = 0.000000 m
2014-04-28T20:58:03.746Z,1398718683.746 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Latitude = nan arcdeg
2014-04-28T20:58:03.750Z,1398718683.750 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:Science.PeakNO3Longitude = nan arcdeg
2014-04-28T20:58:03.792Z,1398718683.792 [EcoHAB_box:ScienceOps:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2014-04-28T20:58:03.825Z,1398718683.825 [EcoHAB_box:ScienceOps:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2014-04-28T20:58:03.850Z,1398718683.850 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.PeakDetectChlActive = value:1 bool
2014-04-28T20:58:03.852Z,1398718683.852 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUS = value:1 bool
2014-04-28T20:58:03.855Z,1398718683.855 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSmaxPitch = value:30.000000 arcdeg
2014-04-28T20:58:03.870Z,1398718683.870 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.SampleISUSminPitch = value:10.000000 arcdeg
2014-04-28T20:58:03.873Z,1398718683.873 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.ComputeWaterCurrent = value:0 bool
2014-04-28T20:58:03.875Z,1398718683.875 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:Science.UpwardDerivativeOfTemperatureActive = value:0 bool
2014-04-28T20:58:03.875Z,1398718683.875 [MissionManager](INFO): Inserting Stack: Missions/Insert/VerticalTemperatureHomogeneityIndex.xml
2014-04-28T20:58:04.220Z,1398718684.220 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthShallow = 5.000000 m
2014-04-28T20:58:04.223Z,1398718684.223 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthMidShallow = 10.000000 m
2014-04-28T20:58:04.250Z,1398718684.250 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthMidDeep = 15.000000 m
2014-04-28T20:58:04.282Z,1398718684.282 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthDeep = 20.000000 m
2014-04-28T20:58:04.285Z,1398718684.285 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.Verbosity = 1.000000 count
2014-04-28T20:58:04.301Z,1398718684.301 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.TemperatureShallow = 0.000000 K
2014-04-28T20:58:04.304Z,1398718684.304 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.TemperatureMidShallow = 0.000000 K
2014-04-28T20:58:04.308Z,1398718684.308 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.TemperatureMidDeep = 0.000000 K
2014-04-28T20:58:04.344Z,1398718684.344 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.TemperatureDeep = 0.000000 K
2014-04-28T20:58:04.347Z,1398718684.347 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DTShallow = 0.000000 K
2014-04-28T20:58:04.351Z,1398718684.351 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DTMidShallow = 0.000000 K
2014-04-28T20:58:04.355Z,1398718684.355 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DTMidDeep = 0.000000 K
2014-04-28T20:58:04.359Z,1398718684.359 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.DTDeep = 0.000000 K
2014-04-28T20:58:04.390Z,1398718684.390 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.Zero = 0.000000 count
2014-04-28T20:58:04.394Z,1398718684.394 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.One = 1.000000 count
2014-04-28T20:58:04.410Z,1398718684.410 [MissionManager](INFO): DefineArg EcoHAB_box:ScienceOps:VTHIdx.Two = 2.000000 count
2014-04-28T20:58:04.413Z,1398718684.413 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:VTHIdx.TemperatureMean = 0.000000 K
2014-04-28T20:58:04.441Z,1398718684.441 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:VTHIdx.TemperatureDelta = 0.000000 K
2014-04-28T20:58:04.455Z,1398718684.455 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:VTHIdx.DetectLatitude = nan arcdeg
2014-04-28T20:58:04.459Z,1398718684.459 [MissionManager](INFO): DefineOutput EcoHAB_box:ScienceOps:VTHIdx.DetectLongitude = nan arcdeg
2014-04-28T20:58:04.472Z,1398718684.472 [EcoHAB_box:ScienceOps:VTHIdx:GetTemperatures:DetectShallow.ValueDetect](DEBUG): Construct ValueDetect.
2014-04-28T20:58:04.486Z,1398718684.486 [EcoHAB_box:ScienceOps:VTHIdx:GetTemperatures:DetectMidShallow.ValueDetect](DEBUG): Construct ValueDetect.
2014-04-28T20:58:04.509Z,1398718684.509 [EcoHAB_box:ScienceOps:VTHIdx:GetTemperatures:DetectMidDeep.ValueDetect](DEBUG): Construct ValueDetect.
2014-04-28T20:58:04.536Z,1398718684.536 [EcoHAB_box:ScienceOps:VTHIdx:GetTemperatures:DetectDeep.ValueDetect](DEBUG): Construct ValueDetect.
2014-04-28T20:58:04.701Z,1398718684.701 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthShallow = value:5.000000 m
2014-04-28T20:58:04.714Z,1398718684.714 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthMidShallow = value:10.000000 m
2014-04-28T20:58:04.717Z,1398718684.717 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthMidDeep = value:20.000000 m
2014-04-28T20:58:04.719Z,1398718684.719 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:VTHIdx.DepthDeep = value:25.000000 m
2014-04-28T20:58:04.722Z,1398718684.722 [MissionManager](INFO): RedefineArg EcoHAB_box:ScienceOps:VTHIdx.Verbosity = value:1.000000 count
2014-04-28T20:58:04.728Z,1398718684.728 [EcoHAB_box:ScienceOps:D.SetSpeed](DEBUG): Construct.
2014-04-28T20:58:04.755Z,1398718684.755 [EcoHAB_box:ScienceOps:E.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2014-04-28T20:58:04.774Z,1398718684.774 [EcoHAB_box:ScienceOps:F.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2014-04-28T20:58:04.821Z,1398718684.821 [EcoHAB_box:ScienceOps:G.YoYo](DEBUG): Construct YoYo.
2014-04-28T20:58:04.983Z,1398718684.983 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor" 
       xmlns:Trigger="Tethys/Trigger" 
       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/Sensor http://aosn.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="EcoHAB_box">

    <Description>
        This mission runs yoyos counterclockwise around a box. Two sides of the
        box pass through the planned locations for both Environmental Sample
        Processor (ESP) buoys during the Spring 2014 EcoHAB deployment.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="NeedCommsTime"><Description>
        High-level NeedComms directive intended to assist debugging in the
        field. Elapsed time after previous surface fix when vehicle will begin
        to ascend for additional surface fix, if the vehicle has a positive
        pitch. If the vehicle has a negative pitch, it will wait up to 10
        minutes more to begin ascent. The timing operates based on
        Universal:time_fix to avoid repeated attempts after the Iridium timeout.
    </Description><Units:hour/><Value>36</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>4</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>85</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>9</Value></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Defaults to massDefault
        setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the YoYo behavior. Defaults
        to buoyancyNeutral setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

<!-- Waypoint list -->

    <DefineArg Name="WpESPInshoreLat"><Description>
        Latitude of inshore ESP buoy.
    </Description><Units:degree/><Value>33.607614</Value></DefineArg>

    <DefineArg Name="WpESPInshoreLon"><Description>
        Longitude of offshore ESP buoy.
    </Description><Units:degree/><Value>-118.018798</Value></DefineArg>

    <DefineArg Name="WpESPOffshoreLat"><Description>
        Latitude of offshore ESP buoy.
    </Description><Units:degree/><Value>33.585471</Value></DefineArg>

    <DefineArg Name="WpESPOffshoreLon"><Description>
        Longitude of offshore ESP buoy.
    </Description><Units:degree/><Value>-118.037372</Value></DefineArg>

<!--
ESP Buoys are separated by 3000 m                                          
at bearing 35.06,                                              
or bearing -144.93

In[36]: from pyproj import Geod

In[37]: g = Geod(ellps='WGS84')

In [38]: g.inv(WpESPInshoreLon,WpESPInshoreLat,WpESPOffshoreLon,WpESPOffshoreLat)
Out[38]: (-144.92923671982575, 35.06048579554712, 3000.758382977905)
-->

<!--
az0 = 122.892896z0 = 122.892896
WpCorner1Lon, WpCorner1Lat, a = g.fwd(WpESPInshoreLon, WpESPInshoreLat, az0, 4300)
WpCorner2Lon, WpCorner2Lat, a = g.fwd(WpCorner1Lon, WpCorner1Lat, az00+90, 3000)
WpCorner3Lon, WpCorner3Lat, a = g.fwd(WpESPOffshoreLon, WpESPOffshoreLat, az00+180, 4300)
WpCorner4Lon, WpCorner4Lat, a = g.fwd(WpESPInshoreLon, WpESPInshoreLat, az00-180, 4300)

-->

    <DefineArg Name="WpCorner1Lat"><Description>
        Latitude of waypoint for first corner of box.
    </Description><Units:degree/><Value>33.586554427309956</Value></DefineArg>

    <DefineArg Name="WpCorner1Lon"><Description>
        Longitude of waypoint for first corner of box.
    </Description><Units:degree/><Value>-117.97990263671926</Value></DefineArg>

    <DefineArg Name="WpCorner2Lat"><Description>
        Latitude of waypoint for second corner of box.
    </Description><Units:degree/><Value>33.563841488839024</Value></DefineArg>

    <DefineArg Name="WpCorner2Lon"><Description>
        Longitude of waypoint for second corner of box.
    </Description><Units:degree/><Value>-117.99744852771295</Value></DefineArg>

    <DefineArg Name="WpCorner3Lat"><Description>
        Latitude of waypoint for third corner of box.
    </Description><Units:degree/><Value>33.60651834669941</Value></DefineArg>

    <DefineArg Name="WpCorner3Lon"><Description>
        Longitude of waypoint for third corner of box.
    </Description><Units:degree/><Value>-118.076275825578</Value></DefineArg>

    <DefineArg Name="WpCorner4Lat"><Description>
        Latitude of waypoint for fourth corner of box.
    </Description><Units:degree/><Value>33.628662266112016</Value></DefineArg>

    <DefineArg Name="WpCorner4Lon"><Description>
        Longitude of waypoint for fourth corner of box.
    </Description><Units:degree/><Value>-118.05771227683994</Value></DefineArg>

<!-- Approach Settings -->

    <DefineArg Name="ApproachDepth"><Description>
        Depth for initial approach to WpCorner1.
    </Description><Units:meter/><Value>10.0</Value></DefineArg>

    <DefineArg Name="ApproachTimeout"><Description>
        Maximum duration of initial approach
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="ApproachNeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications. Only active
        during the approach.
    </Description><Units:minute/><Value>20</Value></DefineArg>

<!-- Science loop settings -->

    <DefineArg Name="Repeat"><Description>
        Number of times to repeat the science loop
    </Description><Units:count/><Value>13</Value></DefineArg>

    <DefineArg Name="CircleRadius"><Description>
        Radius of circle around Inshore ESP during wait time
    </Description><Units:meter/><Value>500</Value></DefineArg>

    <DefineArg Name="CircleRepeat"><Description>
        Maximum number of times to circle the wayopint at the start of each lap.
    </Description><Units:count/><Value>13</Value></DefineArg>

    <DefineArg Name="CircleDivisor"><Description>
        UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for
        reports at 0000, 0800, 1600 UTC)
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="CircleModulus"><Description>
        Current time modulo CircleDivisor (internal variable).
    </Description><Units:hour/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CircleTimeout"><Description>
        Timeout for circling buoy at start of each lap (internal variable).
    </Description><Units:hour/><Value>3</Value></DefineArg>

    <DefineArg Name="LapTimeout"><Description>
        Maximum duration of lap around box.
    </Description><Units:hour/><Value>8</Value></DefineArg>

    <DefineArg Name="SCPITimeout"><Description>
        Request data from the SCPI for this long.
    </Description><Units:second/><Value>420</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth during yo-yo's.
    </Description><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth during yo-yo's.
    </Description><Units:meter/><Value>78.0</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Min altitude while in yo-yo mode.
    </Description><Units:meter/><Value>6.0</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Pitch when yo-yo's are ascending.
    </Description><Units:degree/><Value>20.0</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Pitch when yo-yo's are descending.
    </Description><Units:degree/><Value>-20.0</Value></DefineArg>

<!-- Variables used internally during the mission -->

<!-- The mission -->

    <Timeout Duration="MissionTimeout"/>

<!-- High-priority directives that should always be near the top -->

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
    </Guidance:OffshoreEnvelope>

<!-- High-level NeedComms helpful for field debugging. -->

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

<!-- NOTE: The <Assign> clauses below will not take effect until you actually run the mission. RedefineArg will not work in this case if you use a "set" after loading the mission. -->

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:SurfaceSpeed"/><Arg Name="Speed"/></Assign>

<!-- Surfacing behaviors -->

    <Insert Filename="Insert/Surface.xml" Id="SurfaceComms"/>

    <Insert Filename="Insert/SurfaceCommsSplit.xml" Id="SurfaceCommsSplit"/>

    <Insert Filename="Insert/SurfaceCommsShort.xml" Id="SurfaceCommsShort"/>

    <Insert Filename="Insert/SurfaceGPS.xml" Id="SurfaceGPS"/>

    <Insert Filename="Insert/SurfaceSafety.xml" Id="SurfaceSafety"/>

<!-- TODO put all of these together into a master Surface insert file -->

<!-- mass and buoyancy defaults are lower priority than surfacing, but higher than everything else -->

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
    </Guidance:Pitch>

    <Guidance:Buoyancy>
        <Parallel/>
        <Setting><Guidance:Buoyancy.position/><Arg Name="BuoyancyNeutral"/></Setting>
    </Guidance:Buoyancy>

<!-- Begin callable aggregates used in this mission. 
     (Note priority still matters, so these are done _below_ important safety 
     directives like OffshoreEnvelope.) 
     -->

    <Insert Filename="Insert/CircleWaypointRepeatedly.xml"/>

    <Aggregate Id="UpdateCircleTimeout">

        <Description>
            Calculate (current time) mod (CircleDivisor) and determine when to
            stop circling the start-of-lap waypoint.
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Sequence/><Arg Name="CircleModulus"/><Universal:time/><Mod><Arg Name="CircleDivisor"/>
        </Mod></Assign>

<!-- TODO 
            Might need to add an offset in somewhere to handle specific 
            surfacing times (e.g., 2am, 10pm)
             
            It would be even more useful to have a general method for 
            TimeUntil(arg).
        -->

        <Syslog Severity="Important">CircleModulus calculated as: <Arg Name="CircleModulus"/><Units:hour/></Syslog>

        <Assign><Sequence/><Arg Name="CircleTimeout"/><Arg Name="CircleDivisor"/><Sub><Arg Name="CircleModulus"/></Sub></Assign>

        <Syslog Severity="Important">CircleTimeout updated to: <Arg Name="CircleTimeout"/><Units:hour/></Syslog>

    </Aggregate>

    <Aggregate Id="CircleInshoreESPBuoy">

        <Description>
            Circle a waypoint at the nominal location of the Inshore ESP buoy
            until timeout specified by CircleDivisor and current time.
        </Description>

        <When>
            <Called/>
        </When>

        <Call RefId="UpdateCircleTimeout"/>

        <Aggregate Id="TellMeHowLong">

            <Description>
                Convenience aggregate to notify operator of estimated circling
                time _before_ starting to circle the waypoint. May be commented
                out, since the Timeout in CircleWaypointRepeatedly will still
                achieve the desired behavior.
            </Description>

            <Sequence/>

            <Syslog Severity="Important">CircleInshoreESPBuoy should complete in <Arg Name="CircleTimeout"/><Units:minute/>, due to timeout in CircleWaypointRepeatedly aggregate.</Syslog>

            <Call RefId="SurfaceCommsShort"/>

        </Aggregate>

        <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:Timeout"/><Arg Name="CircleTimeout"/></Assign>

        <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:Radius"/><Arg Name="CircleRadius"/></Assign>

        <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:CenterLat"/><Arg Name="WpESPInshoreLat"/></Assign>

        <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:CenterLon"/><Arg Name="WpESPInshoreLon"/></Assign>

<!-- Use default values for: Timeout, MaxError, TurnToPort, KwpHeading -->

        <Call RefId="CircleWaypointRepeatedly"/>

        <Syslog Severity="Important">**** Finished circling. ****</Syslog>

        <Call RefId="SurfaceCommsSplit"/>

    </Aggregate>

    <Aggregate Id="Lap">

        <Description>
            Run around the box.
        </Description>

        <When>
            <Called/>
        </When>

        <Timeout Duration="LapTimeout"/>

        <Guidance:Waypoint Id="WpESPInshore">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPInshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPInshoreLon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner1">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner1Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner1Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner2">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner2Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner2Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpESPOffshore">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPOffshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPOffshoreLon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Aggregate Id="CircleOffshoreESPBuoy">

            <Sequence/>

            <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:MaxLaps"/><Units:count/><Value>2.0</Value></Assign>

            <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:Timeout"/><Arg Name="CircleTimeout"/></Assign>

            <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:Radius"/><Arg Name="CircleRadius"/></Assign>

            <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:CenterLat"/><Arg Name="WpESPOffshoreLat"/></Assign>

            <Assign><Sequence/><Arg Name="CircleWaypointRepeatedly:CenterLon"/><Arg Name="WpESPOffshoreLon"/></Assign>

<!-- Use default values for: Timeout, MaxError, TurnToPort, KwpHeading -->

            <Call RefId="CircleWaypointRepeatedly"/>

            <Syslog Severity="Important">**** Finished circling. ****</Syslog>

            <Call RefId="SurfaceCommsShort"/>

        </Aggregate>

        <Guidance:Waypoint Id="WpCorner3">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner3Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner3Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpCorner4">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpCorner4Lat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpCorner4Lon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

        <Guidance:Waypoint Id="WpESPInshore">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPInshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPInshoreLon"/></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceCommsShort"/>

    </Aggregate>

<!-- End callable aggregates used in this mission. -->

    <Aggregate Id="Approach">

        <Description>
            Get to start point.
        </Description>

        <Sequence/>

        <Timeout Duration="ApproachTimeout"/>

        <Aggregate>

            <Description>
                Check in periodically, but do not split logs
            </Description>

            <When>
                <Elapsed><Universal:platform_communications/></Elapsed>
                <Gt><Arg Name="ApproachNeedCommsTime"/></Gt>
            </When>

            <Call RefId="SurfaceCommsShort"/>

        </Aggregate>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:Waypoint Id="WpApproach">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="WpESPInshoreLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="WpESPInshoreLon"/></Setting>
        </Guidance:Waypoint>

<!-- Consider removing the SurfaceComms call at the end of the approach. -->

        <Call RefId="SurfaceComms"/>

    </Aggregate>

    <Aggregate Id="ScienceOps">

        <Description>
            Circle then lap many times, collecting science data.
        </Description>

        <Sequence Repeat="Repeat"/>

        <Insert Filename="Insert/Science.xml" Id="Science">
            <Description>
                Get science data, including PeakDetectChl
            </Description>
            <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
            <RedefineArg Name="SampleISUS"><True/></RedefineArg>
            <RedefineArg Name="SampleISUSmaxPitch"><Units:degree/><Value>30.0</Value></RedefineArg>
            <RedefineArg Name="SampleISUSminPitch"><Units:degree/><Value>10.0</Value></RedefineArg>
            <RedefineArg Name="ComputeWaterCurrent"><False/></RedefineArg>
            <RedefineArg Name="UpwardDerivativeOfTemperatureActive"><False/></RedefineArg>
        </Insert>

<!-- compute Vertical Temperature Homogeneity Index -->

        <Insert Filename="Insert/VerticalTemperatureHomogeneityIndex.xml" Id="VTHIdx">
            <RedefineArg Name="DepthShallow"><Units:meter/><Value>5</Value></RedefineArg>
            <RedefineArg Name="DepthMidShallow"><Units:meter/><Value>10</Value></RedefineArg>
            <RedefineArg Name="DepthMidDeep"><Units:meter/><Value>20</Value></RedefineArg>
            <RedefineArg Name="DepthDeep"><Units:meter/><Value>25</Value></RedefineArg>
            <RedefineArg Name="Verbosity"><Units:count/><Value>1</Value></RedefineArg>
        </Insert>

<!-- SCPI activation -->

        <Aggregate Id="RollSCPI">

            <Description>
                Turn on the SCPI camera. (SCPI.sampleTime is set in Sensor.cfg)
            </Description>

            <When>
                <Universal:depth/>
                <Lt><Units:meter/><Value>40</Value></Lt>
                <And><CustomUri Uri="SCPI.loadAtStartup"/></And>
            </When>

            <Timeout Duration="SCPITimeout"/>

            <ReadData Strategy="MinError">
                <Sensor:SCPI.sampleSCPI/>
            </ReadData>

<!--            <Syslog Severity="Important">rolling SCPI</Syslog> -->

        </Aggregate>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
            <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:DepthEnvelope>

        <Guidance:AltitudeEnvelope>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

        <Guidance:YoYo>
            <Parallel/>
            <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
            <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:YoYo>

<!-- Call the behavior aggregates that we defined above. -->

        <Call RefId="CircleInshoreESPBuoy"/>

        <Call RefId="Lap"/>

    </Aggregate>

</Mission>


2014-04-28T20:58:04.984Z,1398718684.984 [CommandLine](IMPORTANT): Loaded ./Missions/Science/EcoHAB_box.xml
2014-04-28T20:58:14.136Z,1398718694.136 [CommandLine](IMPORTANT): got command set EcoHAB_box.NeedCommsTime 30.000000 minute
2014-04-28T20:58:14.145Z,1398718694.145 [CommandLine](IMPORTANT): got command set EcoHAB_box.MissionTimeout 65.000000 hour
2014-04-28T20:58:14.145Z,1398718694.145 [CommandLine](IMPORTANT): got command set EcoHAB_box.LapTimeout 12.000000 hour
2014-04-28T20:58:14.146Z,1398718694.146 [CommandLine](IMPORTANT): got command run 
2014-04-28T20:58:14.150Z,1398718694.150 [CommandLine](IMPORTANT): Running 
2014-04-28T20:58:14.165Z,1398718694.165 [NAL9602](INFO): Powering down
2014-04-28T20:58:14.385Z,1398718694.385 [SBIT](IMPORTANT): Beginning Startup BIT
2014-04-28T20:58:14.388Z,1398718694.388 [CBIT](IMPORTANT): Beginning GF scan
2014-04-28T20:58:41.540Z,1398718721.540 [CBIT](IMPORTANT): No ground fault detected
2014-04-28T20:59:08.645Z,1398718748.645 [SBIT](IMPORTANT): SBIT PASSED
2014-04-28T20:59:09.087Z,1398718749.087 [MissionManager](IMPORTANT): Started mission Startup
2014-04-28T20:59:09.087Z,1398718749.087 [Startup] Running Loop=1
2014-04-28T20:59:09.088Z,1398718749.088 [Startup](INFO): Aggregate::initialize Startup
2014-04-28T20:59:09.088Z,1398718749.088 [Startup:A.GoToSurface] Running Loop=1
2014-04-28T20:59:09.088Z,1398718749.088 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2014-04-28T20:59:09.118Z,1398718749.118 [Startup:StartupSatComms] Running Loop=1
2014-04-28T20:59:09.118Z,1398718749.118 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2014-04-28T20:59:09.118Z,1398718749.118 [Startup:StartupSatComms:A] Running Loop=1
2014-04-28T20:59:09.781Z,1398718749.781 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2014-04-28T20:59:10.252Z,1398718750.252 [NAL9602](INFO): Powering up
2014-04-28T20:59:15.570Z,1398718755.570 [NAL9602](IMPORTANT): GPS fix at: 1398718755.56
2014-04-28T20:59:15.601Z,1398718755.601 [Startup:StartupSatComms:A] Stopped
2014-04-28T20:59:15.601Z,1398718755.601 [Startup:StartupSatComms:B] Running Loop=1
2014-04-28T20:59:16.067Z,1398718756.067 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2014-04-28T20:59:18.396Z,1398718758.396 [NAL9602](INFO): No messages in MT queue
2014-04-28T20:59:21.060Z,1398718761.060 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20140428T205139/Courier0008.lzma
2014-04-28T20:59:22.041Z,1398718762.041 [DataOverHttps](INFO): Moved sent file to Logs/20140428T205139/Courier0008.lzma.bak
2014-04-28T20:59:22.041Z,1398718762.041 [DataOverHttps](INFO): SBD MOMSN=802652
2014-04-28T20:59:25.457Z,1398718765.457 [NAL9602](INFO): Powering down
2014-04-28T20:59:29.433Z,1398718769.433 [DataOverHttps](INFO): Sending 360 bytes from file Logs/20140428T205727/Courier0000.lzma
2014-04-28T20:59:30.402Z,1398718770.402 [DataOverHttps](INFO): Moved sent file to Logs/20140428T205727/Courier0000.lzma.bak
2014-04-28T20:59:30.402Z,1398718770.402 [DataOverHttps](INFO): SBD MOMSN=802654
2014-04-28T20:59:37.006Z,1398718777.006 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20140428T205727/Courier0004.lzma
2014-04-28T20:59:37.838Z,1398718777.838 [DataOverHttps](INFO): Moved sent file to Logs/20140428T205727/Courier0004.lzma.bak
2014-04-28T20:59:37.838Z,1398718777.838 [DataOverHttps](INFO): SBD MOMSN=802658
2014-04-28T20:59:43.705Z,1398718783.705 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20140428T205139/Express0009.lzma
2014-04-28T20:59:44.517Z,1398718784.517 [DataOverHttps](INFO): Moved sent file to Logs/20140428T205139/Express0009.lzma.bak
2014-04-28T20:59:44.517Z,1398718784.517 [DataOverHttps](INFO): SBD MOMSN=802660
2014-04-28T20:59:50.447Z,1398718790.447 [DataOverHttps](INFO): Sending 1032 bytes from file Logs/20140428T205727/Express0001.lzma
2014-04-28T20:59:51.416Z,1398718791.416 [DataOverHttps](INFO): Moved sent file to Logs/20140428T205727/Express0001.lzma.bak
2014-04-28T20:59:51.416Z,1398718791.416 [DataOverHttps](INFO): SBD MOMSN=802662
2014-04-28T20:59:56.985Z,1398718796.985 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20140428T205727/Express0005.lzma
2014-04-28T20:59:57.834Z,1398718797.834 [DataOverHttps](INFO): Moved sent file to Logs/20140428T205727/Express0005.lzma.bak
2014-04-28T20:59:57.834Z,1398718797.834 [DataOverHttps](INFO): SBD MOMSN=802686
2014-04-28T20:59:58.328Z,1398718798.328 [Startup:StartupSatComms:B] Stopped
2014-04-28T20:59:58.328Z,1398718798.328 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2014-04-28T20:59:58.328Z,1398718798.328 [Startup:StartupSatComms] Stopped
2014-04-28T20:59:58.328Z,1398718798.328 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2014-04-28T20:59:58.329Z,1398718798.329 [Startup](INFO): Completed Startup
2014-04-28T20:59:58.330Z,1398718798.330 [Startup] Stopped
2014-04-28T20:59:58.330Z,1398718798.330 [Startup](INFO): Aggregate::uninitialize Startup
2014-04-28T20:59:58.330Z,1398718798.330 [Startup:A.GoToSurface] Stopped
2014-04-28T20:59:58.330Z,1398718798.330 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2014-04-28T20:59:58.771Z,1398718798.771 [MissionManager](IMPORTANT): Started mission EcoHAB_box
2014-04-28T20:59:58.771Z,1398718798.771 [EcoHAB_box] Running Loop=1
2014-04-28T20:59:58.772Z,1398718798.772 [EcoHAB_box](INFO): Aggregate::initialize EcoHAB_box
2014-04-28T20:59:58.772Z,1398718798.772 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2014-04-28T20:59:58.772Z,1398718798.772 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2014-04-28T20:59:58.772Z,1398718798.772 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2014-04-28T20:59:58.772Z,1398718798.772 [EcoHAB_box:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2014-04-28T20:59:58.772Z,1398718798.772 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2014-04-28T20:59:58.773Z,1398718798.773 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2014-04-28T20:59:58.773Z,1398718798.773 [EcoHAB_box:L.Pitch] Running Loop=1
2014-04-28T20:59:58.773Z,1398718798.773 [EcoHAB_box:L.Pitch](DEBUG): Initialize.
2014-04-28T20:59:58.773Z,1398718798.773 [EcoHAB_box:M.Buoyancy] Running Loop=1
2014-04-28T20:59:58.773Z,1398718798.773 [EcoHAB_box:M.Buoyancy](DEBUG): Initialize Buoyancy Component.
2014-04-28T20:59:58.773Z,1398718798.773 [EcoHAB_box:E] Running Loop=1
2014-04-28T20:59:58.774Z,1398718798.774 [EcoHAB_box:M.Buoyancy] Running Loop=1
2014-04-28T20:59:58.783Z,1398718798.783 [EcoHAB_box:L.Pitch] Running Loop=1
2014-04-28T20:59:58.802Z,1398718798.802 [EcoHAB_box:E] Stopped
2014-04-28T20:59:58.803Z,1398718798.803 [EcoHAB_box:F] Running Loop=1
2014-04-28T20:59:58.803Z,1398718798.803 [EcoHAB_box:C.OffshoreEnvelope] Running Loop=1
2014-04-28T20:59:58.811Z,1398718798.811 [EcoHAB_box:B.DepthEnvelope] Running Loop=1
2014-04-28T20:59:58.817Z,1398718798.817 [EcoHAB_box:A.AltitudeEnvelope] Running Loop=1
2014-04-28T20:59:59.812Z,1398718799.812 [EcoHAB_box:F] Stopped
2014-04-28T20:59:59.812Z,1398718799.812 [EcoHAB_box:SurfaceComms] Running Loop=1
2014-04-28T20:59:59.812Z,1398718799.812 [EcoHAB_box:SurfaceComms](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms
2014-04-28T20:59:59.812Z,1398718799.812 [EcoHAB_box:SurfaceComms:A.GoToSurface] Running Loop=1
2014-04-28T20:59:59.813Z,1398718799.813 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2014-04-28T21:00:00.277Z,1398718800.277 [EcoHAB_box:SurfaceComms:B] Running Loop=1
2014-04-28T21:00:00.277Z,1398718800.277 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:B
2014-04-28T21:00:00.277Z,1398718800.277 [EcoHAB_box:SurfaceComms:B:A] Running Loop=1
2014-04-28T21:00:00.777Z,1398718800.777 [EcoHAB_box:SurfaceComms:B] Stopped
2014-04-28T21:00:00.777Z,1398718800.777 [EcoHAB_box:SurfaceComms:B](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:B
2014-04-28T21:00:00.777Z,1398718800.777 [EcoHAB_box:SurfaceComms:B:A] Stopped
2014-04-28T21:00:00.777Z,1398718800.777 [EcoHAB_box:SurfaceComms:C] Running Loop=1
2014-04-28T21:00:00.777Z,1398718800.777 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::initialize EcoHAB_box:SurfaceComms:C
2014-04-28T21:00:00.777Z,1398718800.777 [EcoHAB_box:SurfaceComms:C:A] Running Loop=1
2014-04-28T21:00:01.294Z,1398718801.294 [EcoHAB_box:M.Buoyancy] Preempted
2014-04-28T21:00:01.295Z,1398718801.295 [EcoHAB_box:L.Pitch] Preempted
2014-04-28T21:00:01.296Z,1398718801.296 [EcoHAB_box:SurfaceComms:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2014-04-28T21:00:01.692Z,1398718801.692 [NAL9602](INFO): Powering up
2014-04-28T21:00:07.202Z,1398718807.202 [NAL9602](IMPORTANT): GPS fix at: 1398718807.20
2014-04-28T21:00:07.256Z,1398718807.256 [EcoHAB_box:SurfaceComms:C:A] Stopped
2014-04-28T21:00:07.257Z,1398718807.257 [EcoHAB_box:SurfaceComms:C:B] Running Loop=1
2014-04-28T21:00:07.737Z,1398718807.737 [EcoHAB_box:SurfaceComms:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2014-04-28T21:00:09.006Z,1398718809.006 [NAL9602](INFO): No messages in MT queue
2014-04-28T21:00:10.411Z,1398718810.411 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20140428T205727/Courier0008.lzma
2014-04-28T21:00:11.455Z,1398718811.455 [DataOverHttps](INFO): Moved sent file to Logs/20140428T205727/Courier0008.lzma.bak
2014-04-28T21:00:11.456Z,1398718811.456 [DataOverHttps](INFO): SBD MOMSN=802688
2014-04-28T21:00:15.233Z,1398718815.233 [NAL9602](INFO): Powering down
2014-04-28T21:00:17.299Z,1398718817.299 [DataOverHttps](INFO): Sending 198 bytes from file Logs/20140428T205727/Express0009.lzma
2014-04-28T21:00:17.713Z,1398718817.713 [CommandLine](IMPORTANT): got command restart system
2014-04-28T21:00:18.212Z,1398718818.212 [DataOverHttps](INFO): Moved sent file to Logs/20140428T205727/Express0009.lzma.bak
2014-04-28T21:00:18.212Z,1398718818.212 [DataOverHttps](INFO): SBD MOMSN=802690
2014-04-28T21:00:18.767Z,1398718818.767 [EcoHAB_box:SurfaceComms:C:B] Stopped
2014-04-28T21:00:18.767Z,1398718818.767 [EcoHAB_box:SurfaceComms:C:C] Running Loop=1
2014-04-28T21:00:19.248Z,1398718819.248 [EcoHAB_box:SurfaceComms:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2014-04-28T21:00:20.130Z,1398718820.130 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2014-04-28T21:00:20.131Z,1398718820.131 [CommandLine ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.195Z,1398718820.195 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2014-04-28T21:00:20.195Z,1398718820.195 [CommandLine ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.196Z,1398718820.196 [CommandLine](INFO): Join timeout helper Thread ID is 905
2014-04-28T21:00:20.209Z,1398718820.209 [NAL9602](INFO): Powering up
2014-04-28T21:00:20.212Z,1398718820.212 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2014-04-28T21:00:20.212Z,1398718820.212 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.213Z,1398718820.213 [NavChartDb](INFO): Join timeout helper Thread ID is 906
2014-04-28T21:00:20.246Z,1398718820.246 [EcoHAB_box] Stopped
2014-04-28T21:00:20.247Z,1398718820.247 [EcoHAB_box](INFO): Aggregate::uninitialize EcoHAB_box
2014-04-28T21:00:20.247Z,1398718820.247 [EcoHAB_box:A.AltitudeEnvelope] Stopped
2014-04-28T21:00:20.247Z,1398718820.247 [EcoHAB_box:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2014-04-28T21:00:20.251Z,1398718820.251 [EcoHAB_box:B.DepthEnvelope] Stopped
2014-04-28T21:00:20.251Z,1398718820.251 [EcoHAB_box:B.DepthEnvelope](DEBUG): Uninitialize.
2014-04-28T21:00:20.251Z,1398718820.251 [EcoHAB_box:C.OffshoreEnvelope] Stopped
2014-04-28T21:00:20.251Z,1398718820.251 [EcoHAB_box:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2014-04-28T21:00:20.252Z,1398718820.252 [EcoHAB_box:SurfaceComms] Stopped
2014-04-28T21:00:20.252Z,1398718820.252 [EcoHAB_box:SurfaceComms](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms
2014-04-28T21:00:20.252Z,1398718820.252 [EcoHAB_box:SurfaceComms:A.GoToSurface] Stopped
2014-04-28T21:00:20.252Z,1398718820.252 [EcoHAB_box:SurfaceComms:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2014-04-28T21:00:20.252Z,1398718820.252 [EcoHAB_box:SurfaceComms:C] Stopped
2014-04-28T21:00:20.252Z,1398718820.252 [EcoHAB_box:SurfaceComms:C](INFO): Aggregate::uninitialize EcoHAB_box:SurfaceComms:C
2014-04-28T21:00:20.252Z,1398718820.252 [EcoHAB_box:SurfaceComms:C:C] Stopped
2014-04-28T21:00:20.252Z,1398718820.252 [EcoHAB_box:L.Pitch] Stopped
2014-04-28T21:00:20.252Z,1398718820.252 [EcoHAB_box:M.Buoyancy] Stopped
2014-04-28T21:00:20.252Z,1398718820.252 [EcoHAB_box:M.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2014-04-28T21:00:20.392Z,1398718820.392 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2014-04-28T21:00:20.392Z,1398718820.392 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.407Z,1398718820.407 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2014-04-28T21:00:20.408Z,1398718820.408 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.408Z,1398718820.408 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 907
2014-04-28T21:00:20.668Z,1398718820.668 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2014-04-28T21:00:20.668Z,1398718820.668 [WetLabsBB2FL](INFO): Powering down
2014-04-28T21:00:20.669Z,1398718820.669 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.688Z,1398718820.688 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2014-04-28T21:00:20.688Z,1398718820.688 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.688Z,1398718820.688 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 908
2014-04-28T21:00:20.724Z,1398718820.724 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2014-04-28T21:00:20.724Z,1398718820.724 [CTD_NeilBrown](INFO): Powering down
2014-04-28T21:00:20.725Z,1398718820.725 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.744Z,1398718820.744 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2014-04-28T21:00:20.744Z,1398718820.744 [AsyncPiEstimator ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.744Z,1398718820.744 [AsyncPiEstimator](INFO): Join timeout helper Thread ID is 909
2014-04-28T21:00:20.808Z,1398718820.808 [AsyncPiEstimator ThreadHandler](INFO): Uninitializing protected caller thread.
2014-04-28T21:00:20.808Z,1398718820.808 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2014-04-28T21:00:20.809Z,1398718820.809 [AsyncPiEstimator ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.813Z,1398718820.813 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2014-04-28T21:00:20.813Z,1398718820.813 [logger ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.814Z,1398718820.814 [logger](INFO): Join timeout helper Thread ID is 910
2014-04-28T21:00:20.815Z,1398718820.815 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2014-04-28T21:00:20.815Z,1398718820.815 [logger ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.828Z,1398718820.828 [MissionManager](IMPORTANT): Started mission Default
2014-04-28T21:00:20.828Z,1398718820.828 [Default] Running Loop=1
2014-04-28T21:00:20.828Z,1398718820.828 [Default](INFO): Aggregate::initialize Default
2014-04-28T21:00:20.829Z,1398718820.829 [Default:Iridium] Running Loop=1
2014-04-28T21:00:20.829Z,1398718820.829 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2014-04-28T21:00:20.829Z,1398718820.829 [Default:Iridium:A.SetSpeed] Running Loop=1
2014-04-28T21:00:20.829Z,1398718820.829 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2014-04-28T21:00:20.829Z,1398718820.829 [Default:Iridium:B.GoToSurface] Running Loop=1
2014-04-28T21:00:20.830Z,1398718820.830 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2014-04-28T21:00:20.833Z,1398718820.833 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2014-04-28T21:00:20.833Z,1398718820.833 [CommandLine ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.833Z,1398718820.833 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2014-04-28T21:00:20.833Z,1398718820.833 [controlThread ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:20.834Z,1398718820.834 [controlThread](INFO): Join timeout helper Thread ID is 911
2014-04-28T21:00:20.838Z,1398718820.838 [Default:Iridium:B.GoToSurface] Stopped
2014-04-28T21:00:20.838Z,1398718820.838 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2014-04-28T21:00:20.838Z,1398718820.838 [Default:Iridium:Read_Iridium] Running Loop=1
2014-04-28T21:00:20.838Z,1398718820.838 [Default:Iridium:A.SetSpeed] Running Loop=1
2014-04-28T21:00:20.844Z,1398718820.844 [Default:GPS] Running Loop=1
2014-04-28T21:00:20.844Z,1398718820.844 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2014-04-28T21:00:20.844Z,1398718820.844 [Default:GPS:A.SetSpeed] Running Loop=1
2014-04-28T21:00:20.845Z,1398718820.845 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2014-04-28T21:00:20.845Z,1398718820.845 [Default:GPS:B.GoToSurface] Running Loop=1
2014-04-28T21:00:20.845Z,1398718820.845 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2014-04-28T21:00:20.851Z,1398718820.851 [Default:GPS:B.GoToSurface] Stopped
2014-04-28T21:00:20.851Z,1398718820.851 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2014-04-28T21:00:20.851Z,1398718820.851 [Default:GPS:Read_GPS] Running Loop=1
2014-04-28T21:00:20.851Z,1398718820.851 [Default:GPS:A.SetSpeed] Running Loop=1
2014-04-28T21:00:20.868Z,1398718820.868 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2014-04-28T21:00:20.868Z,1398718820.868 [controlThread](DEBUG): Uninitializing ControlThread
2014-04-28T21:00:20.869Z,1398718820.869 [AHRS_sp3003D](INFO): Powering down
2014-04-28T21:00:20.873Z,1398718820.873 [DVL_micro](INFO): uninitialize:Powering down
2014-04-28T21:00:20.874Z,1398718820.874 [NAL9602](INFO): Powering down
2014-04-28T21:00:20.966Z,1398718820.966 [Radio_Freewave](INFO): Powering down
2014-04-28T21:00:20.969Z,1398718820.969 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-04-28T21:00:20.970Z,1398718820.970 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2014-04-28T21:00:20.970Z,1398718820.970 [Default] Stopped
2014-04-28T21:00:20.971Z,1398718820.971 [Default](INFO): Aggregate::uninitialize Default
2014-04-28T21:00:20.971Z,1398718820.971 [Default:GPS] Stopped
2014-04-28T21:00:20.971Z,1398718820.971 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2014-04-28T21:00:20.971Z,1398718820.971 [Default:GPS:A.SetSpeed] Stopped
2014-04-28T21:00:20.971Z,1398718820.971 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2014-04-28T21:00:20.971Z,1398718820.971 [Default:GPS:Read_GPS] Stopped
2014-04-28T21:00:20.971Z,1398718820.971 [Default:Iridium] Stopped
2014-04-28T21:00:20.972Z,1398718820.972 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2014-04-28T21:00:20.972Z,1398718820.972 [Default:Iridium:A.SetSpeed] Stopped
2014-04-28T21:00:20.972Z,1398718820.972 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2014-04-28T21:00:20.972Z,1398718820.972 [Default:Iridium:Read_Iridium] Stopped
2014-04-28T21:00:20.978Z,1398718820.978 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2014-04-28T21:00:20.978Z,1398718820.978 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2014-04-28T21:00:20.978Z,1398718820.978 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2014-04-28T21:00:20.978Z,1398718820.978 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2014-04-28T21:00:20.979Z,1398718820.979 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2014-04-28T21:00:20.979Z,1398718820.979 [BuoyancyServo](INFO): Powering down
2014-04-28T21:00:20.993Z,1398718820.993 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2014-04-28T21:00:20.993Z,1398718820.993 [ElevatorServo](INFO): Powering down
2014-04-28T21:00:20.994Z,1398718820.994 [MassServo](DEBUG): Uninitialize Mass Servo.
2014-04-28T21:00:20.994Z,1398718820.994 [MassServo](INFO): Powering down
2014-04-28T21:00:20.995Z,1398718820.995 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2014-04-28T21:00:20.995Z,1398718820.995 [RudderServo](INFO): Powering down
2014-04-28T21:00:20.996Z,1398718820.996 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2014-04-28T21:00:20.996Z,1398718820.996 [SBIT](DEBUG): Uninitialize SBIT Component.
2014-04-28T21:00:20.997Z,1398718820.997 [IBIT](DEBUG): Uninitialize IBIT Component.
2014-04-28T21:00:20.997Z,1398718820.997 [CBIT](DEBUG): Uninitialize CBIT Component.
2014-04-28T21:00:21.041Z,1398718821.041 [controlThread ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:21.109Z,1398718821.109 [AsyncPiEstimator ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:21.132Z,1398718821.132 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:21.136Z,1398718821.136 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:21.164Z,1398718821.164 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2014-04-28T21:00:21.222Z,1398718821.222 [logger ThreadHandler](INFO): Thread cancelled.