2014-04-21T04:06:42.820Z,1398053202.820 [Supervisor](DEBUG): Initializing supervisor.
2014-04-21T04:06:42.823Z,1398053202.823 [SyncHandler](DEBUG): Created PCaller Thread at 4033C4E0
2014-04-21T04:06:42.824Z,1398053202.824 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2014-04-21T04:06:42.827Z,1398053202.827 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036C4E0
2014-04-21T04:06:42.830Z,1398053202.830 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2014-04-21T04:06:42.842Z,1398053202.842 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2014-04-21T04:06:42.843Z,1398053202.843 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039C4E0
2014-04-21T04:06:42.844Z,1398053202.844 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2014-04-21T04:06:42.847Z,1398053202.847 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CC4E0
2014-04-21T04:06:42.850Z,1398053202.850 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2014-04-21T04:06:42.850Z,1398053202.850 [Supervisor](INFO): Looking for Config files in directory: Config/
2014-04-21T04:06:42.855Z,1398053202.855 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2014-04-21T04:06:43.237Z,1398053203.237 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2014-04-21T04:06:43.238Z,1398053203.238 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2014-04-21T04:06:43.526Z,1398053203.526 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2014-04-21T04:06:43.526Z,1398053203.526 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2014-04-21T04:06:43.624Z,1398053203.624 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2014-04-21T04:06:43.626Z,1398053203.626 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2014-04-21T04:06:43.836Z,1398053203.836 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2014-04-21T04:06:43.837Z,1398053203.837 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2014-04-21T04:06:44.010Z,1398053204.010 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2014-04-21T04:06:44.013Z,1398053204.013 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2014-04-21T04:06:44.329Z,1398053204.329 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2014-04-21T04:06:44.330Z,1398053204.330 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2014-04-21T04:06:44.527Z,1398053204.527 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2014-04-21T04:06:44.529Z,1398053204.529 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2014-04-21T04:06:44.896Z,1398053204.896 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2014-04-21T04:06:44.899Z,1398053204.898 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2014-04-21T04:06:45.020Z,1398053205.020 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2014-04-21T04:06:45.020Z,1398053205.020 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2014-04-21T04:06:45.552Z,1398053205.552 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2014-04-21T04:06:45.553Z,1398053205.553 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2014-04-21T04:06:45.761Z,1398053205.761 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2014-04-21T04:06:45.762Z,1398053205.762 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2014-04-21T04:06:45.860Z,1398053205.860 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2014-04-21T04:06:45.973Z,1398053205.973 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2014-04-21T04:06:45.975Z,1398053205.975 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2014-04-21T04:06:46.093Z,1398053206.093 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2014-04-21T04:06:46.094Z,1398053206.094 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2014-04-21T04:06:46.245Z,1398053206.245 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2014-04-21T04:06:46.247Z,1398053206.247 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2014-04-21T04:06:46.251Z,1398053206.251 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2014-04-21T04:06:46.366Z,1398053206.366 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2014-04-21T04:06:46.510Z,1398053206.510 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2014-04-21T04:06:46.619Z,1398053206.619 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2014-04-21T04:06:46.723Z,1398053206.723 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2014-04-21T04:06:46.891Z,1398053206.891 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2014-04-21T04:06:47.023Z,1398053207.023 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2014-04-21T04:06:47.119Z,1398053207.119 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2014-04-21T04:06:47.231Z,1398053207.231 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2014-04-21T04:06:47.344Z,1398053207.344 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2014-04-21T04:06:47.452Z,1398053207.452 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2014-04-21T04:06:47.552Z,1398053207.552 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Estimation.cfg
2014-04-21T04:06:47.660Z,1398053207.660 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2014-04-21T04:06:47.663Z,1398053207.663 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2014-04-21T04:06:48.433Z,1398053208.433 [AHRS_sp3003D] Loaded
2014-04-21T04:06:48.433Z,1398053208.433 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2014-04-21T04:06:48.757Z,1398053208.757 [Batt_Ocean_Server] Loaded
2014-04-21T04:06:48.757Z,1398053208.757 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2014-04-21T04:06:48.771Z,1398053208.771 [Depth_Keller] Loaded
2014-04-21T04:06:48.771Z,1398053208.771 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2014-04-21T04:06:48.776Z,1398053208.776 [DropWeight] Loaded
2014-04-21T04:06:48.776Z,1398053208.776 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2014-04-21T04:06:48.926Z,1398053208.926 [DVL_micro] Loaded
2014-04-21T04:06:48.926Z,1398053208.926 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2014-04-21T04:06:49.037Z,1398053209.037 [NAL9602] Loaded
2014-04-21T04:06:49.037Z,1398053209.037 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2014-04-21T04:06:49.097Z,1398053209.097 [Onboard] Loaded
2014-04-21T04:06:49.097Z,1398053209.097 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2014-04-21T04:06:49.104Z,1398053209.104 [Radio_Freewave] Loaded
2014-04-21T04:06:49.104Z,1398053209.104 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2014-04-21T04:06:49.111Z,1398053209.111 [SCPI] Loaded
2014-04-21T04:06:49.111Z,1398053209.111 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2014-04-21T04:06:49.112Z,1398053209.112 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2014-04-21T04:06:49.112Z,1398053209.112 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2014-04-21T04:06:49.317Z,1398053209.317 [InternalSim] Loaded
2014-04-21T04:06:49.317Z,1398053209.317 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2014-04-21T04:06:49.318Z,1398053209.318 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2014-04-21T04:06:49.318Z,1398053209.318 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2014-04-21T04:06:49.619Z,1398053209.619 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2014-04-21T04:06:49.620Z,1398053209.620 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2014-04-21T04:06:49.628Z,1398053209.628 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2014-04-21T04:06:49.637Z,1398053209.637 [AsyncPiEstimator] Loaded
2014-04-21T04:06:49.637Z,1398053209.637 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2014-04-21T04:06:49.642Z,1398053209.642 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A24E0
2014-04-21T04:06:49.643Z,1398053209.643 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2014-04-21T04:06:49.643Z,1398053209.643 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2014-04-21T04:06:49.747Z,1398053209.747 [DeadReckonUsingMultipleVelocitySources] Loaded
2014-04-21T04:06:49.747Z,1398053209.747 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2014-04-21T04:06:49.767Z,1398053209.767 [NavChart] Loaded
2014-04-21T04:06:49.768Z,1398053209.768 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2014-04-21T04:06:49.772Z,1398053209.772 [UniversalFixResidualReporter] Loaded
2014-04-21T04:06:49.772Z,1398053209.772 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2014-04-21T04:06:49.773Z,1398053209.773 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2014-04-21T04:06:49.773Z,1398053209.773 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2014-04-21T04:06:49.843Z,1398053209.843 [VerticalControl](DEBUG): Construct VerticalControl.
2014-04-21T04:06:49.965Z,1398053209.965 [VerticalControl] Loaded
2014-04-21T04:06:49.966Z,1398053209.966 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2014-04-21T04:06:49.966Z,1398053209.966 [HorizontalControl](DEBUG): Construct HorizontalControl.
2014-04-21T04:06:50.041Z,1398053210.041 [HorizontalControl] Loaded
2014-04-21T04:06:50.041Z,1398053210.041 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2014-04-21T04:06:50.042Z,1398053210.042 [SpeedControl](DEBUG): Construct SpeedControl.
2014-04-21T04:06:50.044Z,1398053210.044 [SpeedControl] Loaded
2014-04-21T04:06:50.044Z,1398053210.044 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2014-04-21T04:06:50.045Z,1398053210.045 [LoopControl](DEBUG): Construct LoopControl.
2014-04-21T04:06:50.045Z,1398053210.045 [LoopControl] Loaded
2014-04-21T04:06:50.046Z,1398053210.046 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2014-04-21T04:06:50.046Z,1398053210.046 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2014-04-21T04:06:50.047Z,1398053210.047 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2014-04-21T04:06:50.083Z,1398053210.083 [DepthRateCalculator] Loaded
2014-04-21T04:06:50.083Z,1398053210.083 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2014-04-21T04:06:50.089Z,1398053210.089 [PitchRateCalculator] Loaded
2014-04-21T04:06:50.089Z,1398053210.089 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2014-04-21T04:06:50.097Z,1398053210.097 [SpeedCalculator] Loaded
2014-04-21T04:06:50.097Z,1398053210.097 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2014-04-21T04:06:50.113Z,1398053210.113 [TempGradientCalculator] Loaded
2014-04-21T04:06:50.113Z,1398053210.113 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2014-04-21T04:06:50.118Z,1398053210.118 [YawRateCalculator] Loaded
2014-04-21T04:06:50.119Z,1398053210.119 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2014-04-21T04:06:50.119Z,1398053210.119 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2014-04-21T04:06:50.120Z,1398053210.120 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2014-04-21T04:06:50.255Z,1398053210.255 [CTD_NeilBrown] Loaded
2014-04-21T04:06:50.255Z,1398053210.255 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2014-04-21T04:06:50.259Z,1398053210.259 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407444E0
2014-04-21T04:06:50.272Z,1398053210.272 [ISUS] Loaded
2014-04-21T04:06:50.272Z,1398053210.272 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2014-04-21T04:06:50.290Z,1398053210.290 [PAR_Licor] Loaded
2014-04-21T04:06:50.291Z,1398053210.291 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2014-04-21T04:06:50.331Z,1398053210.331 [WetLabsBB2FL] Loaded
2014-04-21T04:06:50.331Z,1398053210.331 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2014-04-21T04:06:50.335Z,1398053210.335 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407744E0
2014-04-21T04:06:50.336Z,1398053210.336 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2014-04-21T04:06:50.338Z,1398053210.338 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2014-04-21T04:06:50.461Z,1398053210.461 [SBIT](DEBUG): Construct Startup Built In Test.
2014-04-21T04:06:50.477Z,1398053210.477 [SBIT] Loaded
2014-04-21T04:06:50.477Z,1398053210.477 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2014-04-21T04:06:50.478Z,1398053210.478 [IBIT](DEBUG): Construct Initiated Built In Test.
2014-04-21T04:06:50.490Z,1398053210.490 [IBIT] Loaded
2014-04-21T04:06:50.490Z,1398053210.490 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2014-04-21T04:06:50.492Z,1398053210.492 [CBIT](DEBUG): Construct CBIT Built In Test.
2014-04-21T04:06:50.570Z,1398053210.570 [CBIT] Loaded
2014-04-21T04:06:50.570Z,1398053210.570 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2014-04-21T04:06:50.570Z,1398053210.570 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2014-04-21T04:06:50.573Z,1398053210.573 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2014-04-21T04:06:50.701Z,1398053210.701 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2014-04-21T04:06:50.702Z,1398053210.702 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2014-04-21T04:06:50.833Z,1398053210.833 [BuoyancyServo] Loaded
2014-04-21T04:06:50.834Z,1398053210.834 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2014-04-21T04:06:50.850Z,1398053210.850 [ElevatorServo] Loaded
2014-04-21T04:06:50.851Z,1398053210.851 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2014-04-21T04:06:50.862Z,1398053210.862 [MassServo] Loaded
2014-04-21T04:06:50.862Z,1398053210.862 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2014-04-21T04:06:50.874Z,1398053210.874 [RudderServo] Loaded
2014-04-21T04:06:50.875Z,1398053210.875 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2014-04-21T04:06:50.886Z,1398053210.886 [ThrusterServo] Loaded
2014-04-21T04:06:50.886Z,1398053210.886 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2014-04-21T04:06:50.887Z,1398053210.887 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2014-04-21T04:06:50.887Z,1398053210.887 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2014-04-21T04:06:50.935Z,1398053210.935 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2014-04-21T04:06:50.937Z,1398053210.937 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2014-04-21T04:06:50.938Z,1398053210.938 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2014-04-21T04:06:50.944Z,1398053210.944 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2014-04-21T04:06:50.948Z,1398053210.948 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408424E0
2014-04-21T04:06:50.953Z,1398053210.953 [Supervisor](DEBUG): Running supervisor.
2014-04-21T04:06:50.954Z,1398053210.954 [CommandLine](INFO): Thread ID is 774
2014-04-21T04:06:50.961Z,1398053210.961 [controlThread](INFO): Thread ID is 773
2014-04-21T04:06:50.961Z,1398053210.961 [controlThread](DEBUG): Initializing ControlThread
2014-04-21T04:06:50.961Z,1398053210.961 [CycleStarter](INFO): Thread ID is 772
2014-04-21T04:06:50.969Z,1398053210.969 [logger](INFO): Thread ID is 775
2014-04-21T04:06:51.005Z,1398053211.005 [AsyncPiEstimator](INFO): Thread ID is 857
2014-04-21T04:06:51.005Z,1398053211.005 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2014-04-21T04:06:51.025Z,1398053211.025 [CTD_NeilBrown](INFO): Thread ID is 858
2014-04-21T04:06:51.025Z,1398053211.025 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2014-04-21T04:06:51.028Z,1398053211.028 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2014-04-21T04:06:51.038Z,1398053211.038 [WetLabsBB2FL](INFO): Thread ID is 859
2014-04-21T04:06:51.039Z,1398053211.039 [WetLabsBB2FL](INFO): Powering down
2014-04-21T04:06:51.069Z,1398053211.069 [NavChartDb](INFO): Thread ID is 860
2014-04-21T04:06:51.086Z,1398053211.086 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2014-04-21T04:06:51.089Z,1398053211.089 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2014-04-21T04:06:51.089Z,1398053211.089 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2014-04-21T04:06:51.089Z,1398053211.089 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2014-04-21T04:06:51.089Z,1398053211.089 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2014-04-21T04:06:51.090Z,1398053211.090 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2014-04-21T04:06:51.090Z,1398053211.090 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2014-04-21T04:06:51.090Z,1398053211.090 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2014-04-21T04:06:51.090Z,1398053211.090 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2014-04-21T04:06:52.912Z,1398053212.912 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2014-04-21T04:06:52.942Z,1398053212.942 [InternalSim](DEBUG):  InternalSim initializing...
2014-04-21T04:06:53.392Z,1398053213.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-21T04:06:53.392Z,1398053213.392 [NavChart](DEBUG): Initialize NavChart Navigation.
2014-04-21T04:06:53.393Z,1398053213.393 [UniversalFixResidualReporter](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2014-04-21T04:06:53.393Z,1398053213.393 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2014-04-21T04:06:53.395Z,1398053213.395 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2014-04-21T04:06:53.404Z,1398053213.404 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2014-04-21T04:06:53.404Z,1398053213.404 [LoopControl](DEBUG): Initialize LoopControlComponent.
2014-04-21T04:06:53.404Z,1398053213.404 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2014-04-21T04:06:53.405Z,1398053213.405 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2014-04-21T04:06:53.405Z,1398053213.405 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2014-04-21T04:06:53.406Z,1398053213.406 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2014-04-21T04:06:53.406Z,1398053213.406 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2014-04-21T04:06:53.416Z,1398053213.416 [SBIT](INFO): Initialize SBIT Component.
2014-04-21T04:06:53.417Z,1398053213.417 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:11231
2014-04-21T04:06:53.417Z,1398053213.417 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2014-04-21T04:06:53.417Z,1398053213.417 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2014-04-21T04:06:53.418Z,1398053213.418 [IBIT](INFO): Initialize IBIT Component.
2014-04-21T04:06:53.419Z,1398053213.419 [CBIT](DEBUG): Initialize CBIT Component.
2014-04-21T04:06:53.419Z,1398053213.419 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2014-04-21T04:06:53.419Z,1398053213.419 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2014-04-21T04:06:53.446Z,1398053213.446 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2014-04-21T04:06:53.473Z,1398053213.473 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-21T04:06:53.489Z,1398053213.489 [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>


2014-04-21T04:06:53.490Z,1398053213.490 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2014-04-21T04:06:53.580Z,1398053213.580 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2014-04-21T04:06:53.582Z,1398053213.582 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2014-04-21T04:06:53.594Z,1398053213.594 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-21T04:06:53.630Z,1398053213.630 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2014-04-21T04:06:53.634Z,1398053213.634 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-21T04:06:53.649Z,1398053213.649 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2014-04-21T04:06:53.689Z,1398053213.689 [Default:WaitAtTheSurface:RunAtLowSpeed.SetSpeed](DEBUG): Construct.
2014-04-21T04:06:53.692Z,1398053213.692 [Default:WaitAtTheSurface:B.GoToSurface](DEBUG): Construct GoToSurface.
2014-04-21T04:06:53.724Z,1398053213.724 [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>


2014-04-21T04:06:53.745Z,1398053213.745 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,DVL_micro,NAL9602,Onboard,Radio_Freewave,SCPI,ISUS,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2014-04-21T04:06:53.893Z,1398053213.893 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2014-04-21T04:06:53.940Z,1398053213.940 [Depth_Keller](ERROR): Pressure reading out of range: 1831.023193 decibar
2014-04-21T04:06:54.017Z,1398053214.017 [DVL_micro](INFO): Initializing
2014-04-21T04:06:54.047Z,1398053214.047 [NAL9602](INFO): Powering up NAL9602
2014-04-21T04:06:54.114Z,1398053214.114 [Radio_Freewave](INFO): Powering up
2014-04-21T04:06:54.574Z,1398053214.574 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2014-04-21T04:06:54.578Z,1398053214.578 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2014-04-21T04:06:54.600Z,1398053214.600 [ElevatorServo](DEBUG): Initializing EZServoServo.
2014-04-21T04:06:54.606Z,1398053214.606 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2014-04-21T04:06:54.628Z,1398053214.628 [MassServo](DEBUG): Initializing EZServoServo.
2014-04-21T04:06:54.638Z,1398053214.638 [MassServo](DEBUG): Initializing MassServo.
2014-04-21T04:06:54.644Z,1398053214.644 [RudderServo](DEBUG): Initializing EZServoServo.
2014-04-21T04:06:54.650Z,1398053214.650 [RudderServo](DEBUG): Initializing RudderServo.
2014-04-21T04:06:54.672Z,1398053214.672 [ThrusterServo](DEBUG): Initializing EZServoServo.
2014-04-21T04:06:54.678Z,1398053214.678 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2014-04-21T04:06:54.696Z,1398053214.696 [CommandLine](FAULT): Scheduling is paused
2014-04-21T04:06:55.467Z,1398053215.467 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2014-04-21T04:06:55.467Z,1398053215.467 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2014-04-21T04:06:55.467Z,1398053215.467 [BuoyancyServo] Communications Fault, FailCount= 1
2014-04-21T04:06:55.467Z,1398053215.467 [BuoyancyServo](ERROR): Communications Fault
2014-04-21T04:06:55.697Z,1398053215.697 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2014-04-21T04:06:56.199Z,1398053216.199 [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
2014-04-21T04:06:56.274Z,1398053216.274 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2014-04-21T04:06:56.275Z,1398053216.275 [BuoyancyServo](INFO): Powering down
2014-04-21T04:06:58.763Z,1398053218.763 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2014-04-21T04:06:58.763Z,1398053218.763 [BuoyancyServo] No Fault, FailCount= 1
2014-04-21T04:06:59.235Z,1398053219.235 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2014-04-21T04:06:59.235Z,1398053219.235 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2014-04-21T04:07:04.710Z,1398053224.710 [NAL9602](INFO): NAL9602 initialized
2014-04-21T04:07:09.090Z,1398053229.090 [SBIT](IMPORTANT): Beginning Startup BIT
2014-04-21T04:07:09.093Z,1398053229.093 [CBIT](IMPORTANT): Beginning GF scan
2014-04-21T04:07:10.535Z,1398053230.535 [DVL_micro](ERROR): DVL Failure: Failed to read in all data items. Got 4 of 46
2014-04-21T04:07:10.535Z,1398053230.535 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES  1 1 1 30.2 32.4 32.4 30.1 157.1 187.2 174.8 154.9 118 238 193 138 7 8 8 7 -23.6 43.1 181.7 1 70.3 3.8 174.5 1 -100 133 185 2 165 23 185 2 -5.34 -4.40 241.1 30.1 15.8 0.005 35.0 1489 80
2014-04-21T04:07:25.999Z,1398053245.999 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=27894, MT Status=1, MTMSN=1824
2014-04-21T04:07:25.999Z,1398053245.999 [NAL9602](INFO): Data available in MT queue
2014-04-21T04:07:26.584Z,1398053246.584 [DVL_micro](ERROR): NQ1 string checksum mismatch. Reported:103 Calculated:117
2014-04-21T04:07:26.584Z,1398053246.584 [DVL_micro](ERROR): Failed to parse DVL response:$#NQ.RES 0X0000 1 1 1 1 5 31.1 29.8 2.4 24.4 -15.6 -34.4 20 56 41 -28 7 7 7 6 24.0 78.5 -6.3 1 44.5 -68.6 -9.9 1 -28 112 24 2 104 -50 24 2 -2.84 -0.60 230.1 29.8 15.8 0.005 35.0 1489 103
2014-04-21T04:07:26.812Z,1398053246.812 [NAL9602](INFO): Received command:restart logs