2015-03-30T15:42:48.460Z,1427730168.460 [Supervisor](DEBUG): Initializing supervisor.
2015-03-30T15:42:48.463Z,1427730168.463 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-03-30T15:42:48.463Z,1427730168.463 [SyncHandler](INFO): Protected caller Thread ID is 768
2015-03-30T15:42:48.464Z,1427730168.464 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-03-30T15:42:48.465Z,1427730168.465 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-03-30T15:42:48.465Z,1427730168.465 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 769
2015-03-30T15:42:48.468Z,1427730168.468 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-03-30T15:42:48.480Z,1427730168.480 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-03-30T15:42:48.481Z,1427730168.481 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-03-30T15:42:48.481Z,1427730168.481 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 770
2015-03-30T15:42:48.482Z,1427730168.482 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-03-30T15:42:48.483Z,1427730168.483 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-03-30T15:42:48.484Z,1427730168.484 [logger ThreadHandler](INFO): Protected caller Thread ID is 771
2015-03-30T15:42:48.486Z,1427730168.486 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-03-30T15:42:48.486Z,1427730168.486 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-03-30T15:42:48.489Z,1427730168.489 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-03-30T15:42:48.819Z,1427730168.819 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-03-30T15:42:48.820Z,1427730168.820 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-03-30T15:42:48.992Z,1427730168.992 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-03-30T15:42:48.993Z,1427730168.993 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-03-30T15:42:49.103Z,1427730169.103 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-03-30T15:42:49.103Z,1427730169.103 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-03-30T15:42:49.227Z,1427730169.227 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-03-30T15:42:49.227Z,1427730169.227 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-03-30T15:42:49.314Z,1427730169.314 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-03-30T15:42:49.476Z,1427730169.476 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-03-30T15:42:49.477Z,1427730169.477 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-03-30T15:42:49.564Z,1427730169.564 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-03-30T15:42:49.565Z,1427730169.565 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-03-30T15:42:49.778Z,1427730169.778 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-03-30T15:42:49.780Z,1427730169.780 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-03-30T15:42:50.138Z,1427730170.138 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-03-30T15:42:50.139Z,1427730170.139 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-03-30T15:42:50.440Z,1427730170.440 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-03-30T15:42:50.441Z,1427730170.441 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-03-30T15:42:50.947Z,1427730170.947 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-03-30T15:42:50.948Z,1427730170.948 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-03-30T15:42:51.162Z,1427730171.162 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-03-30T15:42:51.163Z,1427730171.163 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-03-30T15:42:51.268Z,1427730171.268 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-03-30T15:42:51.269Z,1427730171.269 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-03-30T15:42:51.683Z,1427730171.683 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-03-30T15:42:51.684Z,1427730171.684 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-03-30T15:42:51.797Z,1427730171.797 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-03-30T15:42:51.799Z,1427730171.799 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2015-03-30T15:42:51.802Z,1427730171.802 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2015-03-30T15:42:51.920Z,1427730171.920 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2015-03-30T15:42:52.114Z,1427730172.114 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2015-03-30T15:42:52.214Z,1427730172.214 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Estimation.cfg
2015-03-30T15:42:52.324Z,1427730172.324 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2015-03-30T15:42:52.421Z,1427730172.421 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2015-03-30T15:42:52.551Z,1427730172.551 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2015-03-30T15:42:52.707Z,1427730172.707 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2015-03-30T15:42:52.809Z,1427730172.809 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2015-03-30T15:42:52.901Z,1427730172.901 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2015-03-30T15:42:52.986Z,1427730172.986 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2015-03-30T15:42:53.085Z,1427730173.085 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2015-03-30T15:42:53.203Z,1427730173.203 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg
2015-03-30T15:42:53.448Z,1427730173.448 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-03-30T15:42:53.448Z,1427730173.448 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2015-03-30T15:42:53.453Z,1427730173.453 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-03-30T15:42:53.528Z,1427730173.528 [VerticalControl](DEBUG): Construct VerticalControl.
2015-03-30T15:42:53.653Z,1427730173.653 [VerticalControl] Loaded
2015-03-30T15:42:53.653Z,1427730173.653 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-03-30T15:42:53.653Z,1427730173.653 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-03-30T15:42:53.727Z,1427730173.727 [HorizontalControl] Loaded
2015-03-30T15:42:53.727Z,1427730173.727 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-03-30T15:42:53.728Z,1427730173.728 [SpeedControl](DEBUG): Construct SpeedControl.
2015-03-30T15:42:53.736Z,1427730173.736 [SpeedControl] Loaded
2015-03-30T15:42:53.736Z,1427730173.736 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-03-30T15:42:53.737Z,1427730173.737 [LoopControl](DEBUG): Construct LoopControl.
2015-03-30T15:42:53.737Z,1427730173.737 [LoopControl] Loaded
2015-03-30T15:42:53.738Z,1427730173.738 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-03-30T15:42:53.738Z,1427730173.738 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-03-30T15:42:53.739Z,1427730173.739 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-03-30T15:42:53.940Z,1427730173.940 [SBIT](DEBUG): Construct Startup Built In Test.
2015-03-30T15:42:53.952Z,1427730173.952 [SBIT] Loaded
2015-03-30T15:42:53.952Z,1427730173.952 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-03-30T15:42:53.953Z,1427730173.953 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-03-30T15:42:53.983Z,1427730173.983 [IBIT] Loaded
2015-03-30T15:42:53.983Z,1427730173.983 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-03-30T15:42:53.985Z,1427730173.985 [CBIT](DEBUG): Construct Continuous Built In Test.
2015-03-30T15:42:54.126Z,1427730174.126 [CBIT] Loaded
2015-03-30T15:42:54.126Z,1427730174.126 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-03-30T15:42:54.127Z,1427730174.127 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-03-30T15:42:54.127Z,1427730174.127 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-03-30T15:42:54.156Z,1427730174.156 [DepthRateCalculator] Loaded
2015-03-30T15:42:54.157Z,1427730174.157 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-03-30T15:42:54.163Z,1427730174.163 [PitchRateCalculator] Loaded
2015-03-30T15:42:54.163Z,1427730174.163 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-03-30T15:42:54.175Z,1427730174.175 [SpeedCalculator] Loaded
2015-03-30T15:42:54.175Z,1427730174.175 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-03-30T15:42:54.192Z,1427730174.192 [TempGradientCalculator] Loaded
2015-03-30T15:42:54.192Z,1427730174.192 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-03-30T15:42:54.197Z,1427730174.197 [YawRateCalculator] Loaded
2015-03-30T15:42:54.198Z,1427730174.198 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-03-30T15:42:54.198Z,1427730174.198 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-03-30T15:42:54.199Z,1427730174.199 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-03-30T15:42:54.288Z,1427730174.288 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-03-30T15:42:54.288Z,1427730174.288 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-03-30T15:42:54.566Z,1427730174.566 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-03-30T15:42:54.567Z,1427730174.567 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-03-30T15:42:54.675Z,1427730174.675 [DeadReckonUsingMultipleVelocitySources] Loaded
2015-03-30T15:42:54.676Z,1427730174.676 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2015-03-30T15:42:54.721Z,1427730174.721 [DeadReckonUsingSpeedCalculator] Loaded
2015-03-30T15:42:54.722Z,1427730174.722 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2015-03-30T15:42:54.739Z,1427730174.739 [NavChart] Loaded
2015-03-30T15:42:54.739Z,1427730174.739 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-03-30T15:42:54.744Z,1427730174.744 [UniversalFixResidualReporter] Loaded
2015-03-30T15:42:54.745Z,1427730174.745 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-03-30T15:42:54.745Z,1427730174.745 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-03-30T15:42:54.746Z,1427730174.746 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-03-30T15:42:54.754Z,1427730174.754 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-03-30T15:42:54.755Z,1427730174.755 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-03-30T15:42:54.952Z,1427730174.952 [Aanderaa_O2] Loaded
2015-03-30T15:42:54.952Z,1427730174.952 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2015-03-30T15:42:55.032Z,1427730175.032 [CTD_NeilBrown] Loaded
2015-03-30T15:42:55.032Z,1427730175.032 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2015-03-30T15:42:55.034Z,1427730175.034 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 405764E0
2015-03-30T15:42:55.034Z,1427730175.034 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 857
2015-03-30T15:42:55.047Z,1427730175.047 [ISUS] Loaded
2015-03-30T15:42:55.047Z,1427730175.047 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2015-03-30T15:42:55.062Z,1427730175.062 [PAR_Licor] Loaded
2015-03-30T15:42:55.063Z,1427730175.063 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2015-03-30T15:42:55.112Z,1427730175.112 [WetLabsBB2FL] Loaded
2015-03-30T15:42:55.113Z,1427730175.113 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2015-03-30T15:42:55.114Z,1427730175.114 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 405A64E0
2015-03-30T15:42:55.114Z,1427730175.114 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 858
2015-03-30T15:42:55.115Z,1427730175.115 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-03-30T15:42:55.115Z,1427730175.115 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-03-30T15:42:55.821Z,1427730175.821 [AHRS_sp3003D] Loaded
2015-03-30T15:42:55.821Z,1427730175.821 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2015-03-30T15:42:55.988Z,1427730175.988 [DataOverHttps] Loaded
2015-03-30T15:42:55.989Z,1427730175.989 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-03-30T15:42:56.003Z,1427730176.003 [Depth_Keller] Loaded
2015-03-30T15:42:56.003Z,1427730176.003 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-03-30T15:42:56.008Z,1427730176.008 [DropWeight] Loaded
2015-03-30T15:42:56.009Z,1427730176.009 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2015-03-30T15:42:56.145Z,1427730176.145 [DVL_micro] Loaded
2015-03-30T15:42:56.145Z,1427730176.145 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2015-03-30T15:42:56.242Z,1427730176.242 [NAL9602] Loaded
2015-03-30T15:42:56.242Z,1427730176.242 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-03-30T15:42:56.286Z,1427730176.286 [Onboard] Loaded
2015-03-30T15:42:56.286Z,1427730176.286 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-03-30T15:42:56.293Z,1427730176.293 [Radio_Surface] Loaded
2015-03-30T15:42:56.294Z,1427730176.294 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-03-30T15:42:56.295Z,1427730176.295 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407F64E0
2015-03-30T15:42:56.295Z,1427730176.295 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 859
2015-03-30T15:42:58.220Z,1427730178.220 [BPC1] Loaded
2015-03-30T15:42:58.220Z,1427730178.220 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-03-30T15:42:58.221Z,1427730178.221 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-03-30T15:42:58.222Z,1427730178.222 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-03-30T15:42:58.352Z,1427730178.352 [BuoyancyServo] Loaded
2015-03-30T15:42:58.353Z,1427730178.353 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-03-30T15:42:58.366Z,1427730178.366 [ElevatorServo] Loaded
2015-03-30T15:42:58.366Z,1427730178.366 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-03-30T15:42:58.379Z,1427730178.379 [MassServo] Loaded
2015-03-30T15:42:58.379Z,1427730178.379 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2015-03-30T15:42:58.392Z,1427730178.392 [RudderServo] Loaded
2015-03-30T15:42:58.392Z,1427730178.392 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-03-30T15:42:58.404Z,1427730178.404 [ThrusterServo] Loaded
2015-03-30T15:42:58.404Z,1427730178.404 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-03-30T15:42:58.405Z,1427730178.405 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-03-30T15:42:58.405Z,1427730178.405 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-03-30T15:42:58.546Z,1427730178.546 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-03-30T15:42:58.547Z,1427730178.547 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-03-30T15:42:58.586Z,1427730178.586 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-03-30T15:42:58.588Z,1427730178.588 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-03-30T15:42:58.589Z,1427730178.589 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-03-30T15:42:58.596Z,1427730178.596 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-03-30T15:42:58.597Z,1427730178.597 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408A74E0
2015-03-30T15:42:58.597Z,1427730178.597 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 860
2015-03-30T15:42:58.602Z,1427730178.602 [Supervisor](INFO): Main Thread ID is 764
2015-03-30T15:42:58.602Z,1427730178.602 [Supervisor](DEBUG): Running supervisor.
2015-03-30T15:42:58.603Z,1427730178.603 [CommandLine ThreadHandler](INFO): Handler Thread ID is 861
2015-03-30T15:42:58.606Z,1427730178.606 [controlThread ThreadHandler](INFO): Handler Thread ID is 862
2015-03-30T15:42:58.606Z,1427730178.606 [controlThread](DEBUG): Initializing ControlThread
2015-03-30T15:42:58.607Z,1427730178.607 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-03-30T15:42:58.609Z,1427730178.609 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-03-30T15:42:58.610Z,1427730178.610 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-03-30T15:42:58.610Z,1427730178.610 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-03-30T15:42:58.610Z,1427730178.610 [SBIT](INFO): Initialize SBIT Component.
2015-03-30T15:42:58.611Z,1427730178.611 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:12068
2015-03-30T15:42:58.611Z,1427730178.611 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-03-30T15:42:58.611Z,1427730178.611 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-03-30T15:42:58.612Z,1427730178.612 [IBIT](INFO): Initialize IBIT Component.
2015-03-30T15:42:58.613Z,1427730178.613 [CBIT](DEBUG): Initialize CBIT Component.
2015-03-30T15:42:58.613Z,1427730178.613 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2015-03-30T15:42:58.613Z,1427730178.613 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-03-30T15:42:58.614Z,1427730178.614 [logger ThreadHandler](INFO): Handler Thread ID is 863
2015-03-30T15:42:58.634Z,1427730178.634 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 864
2015-03-30T15:42:58.635Z,1427730178.635 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2015-03-30T15:42:58.638Z,1427730178.638 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-03-30T15:42:58.638Z,1427730178.638 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-03-30T15:42:58.638Z,1427730178.638 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-03-30T15:42:58.639Z,1427730178.639 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-03-30T15:42:58.639Z,1427730178.639 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-03-30T15:42:58.639Z,1427730178.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2015-03-30T15:42:58.640Z,1427730178.640 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2015-03-30T15:42:58.640Z,1427730178.640 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-03-30T15:42:58.641Z,1427730178.641 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-03-30T15:42:58.662Z,1427730178.662 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2015-03-30T15:42:58.671Z,1427730178.671 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 866
2015-03-30T15:42:58.672Z,1427730178.672 [WetLabsBB2FL](INFO): Powering down
2015-03-30T15:42:58.702Z,1427730178.702 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 867
2015-03-30T15:42:58.709Z,1427730178.709 [Radio_Surface](INFO): Powering up
2015-03-30T15:42:58.717Z,1427730178.717 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-03-30T15:42:58.729Z,1427730178.729 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 868
2015-03-30T15:42:58.743Z,1427730178.743 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-03-30T15:42:58.750Z,1427730178.750 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-03-30T15:42:58.751Z,1427730178.751 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-03-30T15:42:58.751Z,1427730178.751 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-03-30T15:42:58.751Z,1427730178.751 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-03-30T15:42:58.751Z,1427730178.751 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-03-30T15:42:58.751Z,1427730178.751 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-03-30T15:42:58.752Z,1427730178.752 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-03-30T15:42:58.752Z,1427730178.752 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-03-30T15:42:58.785Z,1427730178.785 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-03-30T15:42:58.819Z,1427730178.819 [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>


2015-03-30T15:42:58.820Z,1427730178.820 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-03-30T15:42:58.912Z,1427730178.912 [MissionManager](INFO): DefineArg Default.TimeMissionWasStarted = 0.000000 h
2015-03-30T15:42:58.924Z,1427730178.924 [MissionManager](INFO): DefineArg Default.ElapsedSinceMissionWasStarted = 0.000000 h
2015-03-30T15:42:58.928Z,1427730178.928 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2015-03-30T15:42:58.965Z,1427730178.965 [Default:CheckIn:A.SetSpeed](DEBUG): Construct.
2015-03-30T15:42:58.992Z,1427730178.992 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-03-30T15:42:59.025Z,1427730179.025 [Default:WaitAtTheSurface:RunApplicationAtLowSpeed.SetSpeed](DEBUG): Construct.
2015-03-30T15:42:59.064Z,1427730179.064 [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="TimeMissionWasStarted"><Units:hour/><Value>0</Value></DefineArg>

    <DefineArg Name="ElapsedSinceMissionWasStarted"><Units:hour/><Value>0</Value></DefineArg>

    <Aggregate Id="StartClock">

        <Sequence/>

        <Assign><Arg Name="TimeMissionWasStarted"/><Universal:time/></Assign>

    </Aggregate>

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

    <Aggregate Id="CheckIn">

        <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>

<!-- TODO: Do we really want this When operating on platform_communications? or on something else like time_fix? -->

<!-- Run application at high speed -->

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

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
<!-- NOTE: Original Default.xml didn't have a timeout on the GPS read, so theoretically could have hung indefinitely there... -->
            <Universal:latitude_fix/>
        </ReadDatum>

<!-- 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="UpdateAndReportMinutesSinceMissionStarted">

        <When>
            <Elapsed><Arg Name="ElapsedSinceMissionWasStarted"/></Elapsed>
            <Gt><Units:minute/><Value>5.0</Value></Gt>
        </When>

        <Assign><Arg Name="ElapsedSinceMissionWasStarted"/><Universal:time/><Sub><Arg Name="TimeMissionWasStarted"/></Sub></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceMissionWasStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Aggregate Id="WaitAtTheSurface">

        <Sequence/>

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

    </Aggregate>

</Mission>


2015-03-30T15:42:59.069Z,1427730179.069 [controlThread](DEBUG): Component order: CycleStarter,Aanderaa_O2,ISUS,PAR_Licor,AHRS_sp3003D,DataOverHttps,Depth_Keller,DropWeight,DVL_micro,NAL9602,Onboard,BPC1,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2015-03-30T15:42:59.106Z,1427730179.106 [CTD_NeilBrown](DEBUG): CTD uart timeout: serial timeout
2015-03-30T15:42:59.107Z,1427730179.107 [CTD_NeilBrown](ERROR): Could not get real or simulated CTD data. startTime.elapsed() = 0.444289
2015-03-30T15:42:59.241Z,1427730179.241 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2015-03-30T15:42:59.286Z,1427730179.286 [Depth_Keller](ERROR): Pressure reading out of range: 1831.023193 decibar
2015-03-30T15:42:59.520Z,1427730179.520 [DVL_micro](INFO): Initializing
2015-03-30T15:42:59.818Z,1427730179.818 [DepthRateCalculator](ERROR): Depth measurement is not active
2015-03-30T15:42:59.885Z,1427730179.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 0 cycles since last successful read, accepting data for 5 cycles.
2015-03-30T15:43:00.072Z,1427730180.072 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-03-30T15:43:00.084Z,1427730180.084 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-03-30T15:43:00.121Z,1427730180.121 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-03-30T15:43:00.124Z,1427730180.124 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-03-30T15:43:00.130Z,1427730180.130 [MassServo](DEBUG): Initializing EZServoServo.
2015-03-30T15:43:00.137Z,1427730180.137 [MassServo](DEBUG): Initializing MassServo.
2015-03-30T15:43:00.154Z,1427730180.154 [RudderServo](DEBUG): Initializing EZServoServo.
2015-03-30T15:43:00.160Z,1427730180.160 [RudderServo](DEBUG): Initializing RudderServo.
2015-03-30T15:43:00.166Z,1427730180.166 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-03-30T15:43:00.172Z,1427730180.172 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-03-30T15:43:00.668Z,1427730180.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 1 cycles since last successful read, accepting data for 5 cycles.
2015-03-30T15:43:01.001Z,1427730181.001 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2015-03-30T15:43:01.001Z,1427730181.001 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2015-03-30T15:43:01.002Z,1427730181.002 [BuoyancyServo] Communications Fault, FailCount= 1
2015-03-30T15:43:01.002Z,1427730181.002 [BuoyancyServo](ERROR): Communications Fault
2015-03-30T15:43:01.224Z,1427730181.224 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2015-03-30T15:43:01.557Z,1427730181.557 [NAL9602](INFO): Powering up NAL9602
2015-03-30T15:43:01.603Z,1427730181.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 2 cycles since last successful read, accepting data for 5 cycles.
2015-03-30T15:43:01.622Z,1427730181.622 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2015-03-30T15:43:01.623Z,1427730181.623 [BuoyancyServo](INFO): Powering down
2015-03-30T15:43:02.175Z,1427730182.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 3 cycles since last successful read, accepting data for 5 cycles.
2015-03-30T15:43:02.635Z,1427730182.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 4 cycles since last successful read, accepting data for 5 cycles.
2015-03-30T15:43:02.888Z,1427730182.888 [Aanderaa_O2](INFO): Powering down
2015-03-30T15:43:03.451Z,1427730183.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): No bottom track data -- 5 cycles since last successful read, accepting data for 5 cycles.
2015-03-30T15:43:04.181Z,1427730184.181 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2015-03-30T15:43:04.181Z,1427730184.181 [BuoyancyServo] No Fault, FailCount= 1
2015-03-30T15:43:04.524Z,1427730184.524 [DVL_micro](DEBUG): LCB error: Software Overcurrent.
2015-03-30T15:43:04.664Z,1427730184.664 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-03-30T15:43:04.781Z,1427730184.781 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-03-30T15:43:05.294Z,1427730185.294 [DVL_micro](DEBUG): LCB error: Software Overcurrent.
2015-03-30T15:43:05.937Z,1427730185.937 [DVL_micro](DEBUG): LCB error: Software Overcurrent.
2015-03-30T15:43:06.616Z,1427730186.616 [DVL_micro](DEBUG): LCB error: Software Overcurrent.
2015-03-30T15:4