2015-07-21T21:34:32.194Z,1437514472.194 [Supervisor](DEBUG): Initializing supervisor.
2015-07-21T21:34:32.197Z,1437514472.197 [SyncHandler](DEBUG): Created PCaller Thread at 4034C4E0
2015-07-21T21:34:32.197Z,1437514472.197 [SyncHandler](INFO): Protected caller Thread ID is 7071
2015-07-21T21:34:32.198Z,1437514472.198 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2015-07-21T21:34:32.199Z,1437514472.199 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4037C4E0
2015-07-21T21:34:32.199Z,1437514472.199 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 7072
2015-07-21T21:34:32.202Z,1437514472.202 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2015-07-21T21:34:32.214Z,1437514472.214 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2015-07-21T21:34:32.215Z,1437514472.215 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 403AC4E0
2015-07-21T21:34:32.215Z,1437514472.215 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 7073
2015-07-21T21:34:32.216Z,1437514472.216 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2015-07-21T21:34:32.217Z,1437514472.217 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403DC4E0
2015-07-21T21:34:32.217Z,1437514472.217 [logger ThreadHandler](INFO): Protected caller Thread ID is 7074
2015-07-21T21:34:32.219Z,1437514472.219 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2015-07-21T21:34:32.220Z,1437514472.220 [Supervisor](INFO): Looking for Config files in directory: Config/
2015-07-21T21:34:32.223Z,1437514472.223 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2015-07-21T21:34:32.753Z,1437514472.753 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2015-07-21T21:34:32.754Z,1437514472.754 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2015-07-21T21:34:32.932Z,1437514472.932 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2015-07-21T21:34:32.933Z,1437514472.933 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2015-07-21T21:34:33.046Z,1437514473.046 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2015-07-21T21:34:33.046Z,1437514473.046 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2015-07-21T21:34:33.174Z,1437514473.174 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2015-07-21T21:34:33.175Z,1437514473.175 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2015-07-21T21:34:33.264Z,1437514473.264 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2015-07-21T21:34:33.466Z,1437514473.466 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2015-07-21T21:34:33.466Z,1437514473.466 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2015-07-21T21:34:33.556Z,1437514473.556 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2015-07-21T21:34:33.557Z,1437514473.557 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2015-07-21T21:34:33.831Z,1437514473.831 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2015-07-21T21:34:33.832Z,1437514473.832 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2015-07-21T21:34:34.184Z,1437514474.184 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2015-07-21T21:34:34.185Z,1437514474.185 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2015-07-21T21:34:34.512Z,1437514474.512 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2015-07-21T21:34:34.513Z,1437514474.513 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2015-07-21T21:34:35.049Z,1437514475.049 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2015-07-21T21:34:35.050Z,1437514475.050 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2015-07-21T21:34:35.270Z,1437514475.270 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2015-07-21T21:34:35.271Z,1437514475.271 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2015-07-21T21:34:35.379Z,1437514475.379 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2015-07-21T21:34:35.380Z,1437514475.380 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2015-07-21T21:34:35.836Z,1437514475.836 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2015-07-21T21:34:35.837Z,1437514475.837 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2015-07-21T21:34:35.953Z,1437514475.953 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2015-07-21T21:34:35.955Z,1437514475.955 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2015-07-21T21:34:35.958Z,1437514475.958 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2015-07-21T21:34:36.203Z,1437514476.203 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2015-07-21T21:34:36.204Z,1437514476.204 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2015-07-21T21:34:36.328Z,1437514476.328 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2015-07-21T21:34:36.429Z,1437514476.429 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2015-07-21T21:34:36.532Z,1437514476.532 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2015-07-21T21:34:36.688Z,1437514476.688 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2015-07-21T21:34:36.836Z,1437514476.836 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2015-07-21T21:34:36.946Z,1437514476.946 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2015-07-21T21:34:37.041Z,1437514477.041 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2015-07-21T21:34:37.127Z,1437514477.127 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2015-07-21T21:34:37.229Z,1437514477.229 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2015-07-21T21:34:37.420Z,1437514477.420 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2015-07-21T21:34:37.423Z,1437514477.423 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2015-07-21T21:34:37.482Z,1437514477.482 [VerticalControl](DEBUG): Construct VerticalControl.
2015-07-21T21:34:37.596Z,1437514477.596 [VerticalControl] Loaded
2015-07-21T21:34:37.596Z,1437514477.596 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2015-07-21T21:34:37.597Z,1437514477.597 [HorizontalControl](DEBUG): Construct HorizontalControl.
2015-07-21T21:34:37.665Z,1437514477.665 [HorizontalControl] Loaded
2015-07-21T21:34:37.665Z,1437514477.665 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2015-07-21T21:34:37.666Z,1437514477.666 [SpeedControl](DEBUG): Construct SpeedControl.
2015-07-21T21:34:37.671Z,1437514477.671 [SpeedControl] Loaded
2015-07-21T21:34:37.671Z,1437514477.671 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2015-07-21T21:34:37.672Z,1437514477.672 [LoopControl](DEBUG): Construct LoopControl.
2015-07-21T21:34:37.673Z,1437514477.673 [LoopControl] Loaded
2015-07-21T21:34:37.673Z,1437514477.673 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2015-07-21T21:34:37.673Z,1437514477.673 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2015-07-21T21:34:37.674Z,1437514477.674 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2015-07-21T21:34:37.795Z,1437514477.795 [SBIT](DEBUG): Construct Startup Built In Test.
2015-07-21T21:34:37.806Z,1437514477.806 [SBIT] Loaded
2015-07-21T21:34:37.806Z,1437514477.806 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2015-07-21T21:34:37.807Z,1437514477.807 [IBIT](DEBUG): Construct Initiated Built In Test.
2015-07-21T21:34:37.835Z,1437514477.835 [IBIT] Loaded
2015-07-21T21:34:37.835Z,1437514477.835 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2015-07-21T21:34:37.838Z,1437514477.838 [CBIT](DEBUG): Construct Continuous Built In Test.
2015-07-21T21:34:37.968Z,1437514477.968 [CBIT] Loaded
2015-07-21T21:34:37.969Z,1437514477.969 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2015-07-21T21:34:37.969Z,1437514477.969 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2015-07-21T21:34:37.970Z,1437514477.970 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2015-07-21T21:34:38.034Z,1437514478.034 [DepthRateCalculator] Loaded
2015-07-21T21:34:38.034Z,1437514478.034 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2015-07-21T21:34:38.044Z,1437514478.044 [PitchRateCalculator] Loaded
2015-07-21T21:34:38.044Z,1437514478.044 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2015-07-21T21:34:38.055Z,1437514478.055 [SpeedCalculator] Loaded
2015-07-21T21:34:38.055Z,1437514478.055 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2015-07-21T21:34:38.071Z,1437514478.071 [TempGradientCalculator] Loaded
2015-07-21T21:34:38.071Z,1437514478.071 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2015-07-21T21:34:38.076Z,1437514478.076 [YawRateCalculator] Loaded
2015-07-21T21:34:38.076Z,1437514478.076 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2015-07-21T21:34:38.077Z,1437514478.077 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2015-07-21T21:34:38.077Z,1437514478.077 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2015-07-21T21:34:38.124Z,1437514478.124 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2015-07-21T21:34:38.125Z,1437514478.125 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2015-07-21T21:34:38.342Z,1437514478.342 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2015-07-21T21:34:38.343Z,1437514478.343 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2015-07-21T21:34:38.436Z,1437514478.436 [DeadReckonUsingMultipleVelocitySources] Loaded
2015-07-21T21:34:38.436Z,1437514478.436 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2015-07-21T21:34:38.490Z,1437514478.490 [DeadReckonUsingSpeedCalculator] Loaded
2015-07-21T21:34:38.490Z,1437514478.490 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2015-07-21T21:34:38.506Z,1437514478.506 [NavChart] Loaded
2015-07-21T21:34:38.507Z,1437514478.507 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2015-07-21T21:34:38.511Z,1437514478.511 [UniversalFixResidualReporter] Loaded
2015-07-21T21:34:38.511Z,1437514478.511 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2015-07-21T21:34:38.512Z,1437514478.512 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2015-07-21T21:34:38.512Z,1437514478.512 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2015-07-21T21:34:38.524Z,1437514478.524 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2015-07-21T21:34:38.524Z,1437514478.524 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2015-07-21T21:34:38.696Z,1437514478.696 [Aanderaa_O2] Loaded
2015-07-21T21:34:38.697Z,1437514478.697 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2015-07-21T21:34:38.771Z,1437514478.771 [CTD_NeilBrown] Loaded
2015-07-21T21:34:38.771Z,1437514478.771 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2015-07-21T21:34:38.772Z,1437514478.772 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 405914E0
2015-07-21T21:34:38.773Z,1437514478.773 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 7153
2015-07-21T21:34:38.788Z,1437514478.788 [ESPComponent] Loaded
2015-07-21T21:34:38.788Z,1437514478.788 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2015-07-21T21:34:38.802Z,1437514478.802 [PAR_Licor] Loaded
2015-07-21T21:34:38.803Z,1437514478.803 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2015-07-21T21:34:38.851Z,1437514478.851 [WetLabsBB2FL] Loaded
2015-07-21T21:34:38.851Z,1437514478.851 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2015-07-21T21:34:38.852Z,1437514478.852 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 405C14E0
2015-07-21T21:34:38.853Z,1437514478.853 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 7154
2015-07-21T21:34:38.853Z,1437514478.853 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2015-07-21T21:34:38.854Z,1437514478.854 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2015-07-21T21:34:39.079Z,1437514479.079 [AcousticModem_Benthos_ATM900] Loaded
2015-07-21T21:34:39.079Z,1437514479.079 [ComponentRegistry](DEBUG): SyncComponent "AcousticModem_Benthos_ATM900" handled in the control thread.
2015-07-21T21:34:39.154Z,1437514479.154 [DataOverHttps] Loaded
2015-07-21T21:34:39.154Z,1437514479.154 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2015-07-21T21:34:39.167Z,1437514479.167 [Depth_Keller] Loaded
2015-07-21T21:34:39.168Z,1437514479.168 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2015-07-21T21:34:39.172Z,1437514479.172 [DropWeight] Loaded
2015-07-21T21:34:39.172Z,1437514479.172 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2015-07-21T21:34:39.260Z,1437514479.260 [NAL9602] Loaded
2015-07-21T21:34:39.261Z,1437514479.261 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2015-07-21T21:34:39.300Z,1437514479.300 [Onboard] Loaded
2015-07-21T21:34:39.300Z,1437514479.300 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2015-07-21T21:34:39.307Z,1437514479.307 [Radio_Surface] Loaded
2015-07-21T21:34:39.307Z,1437514479.307 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2015-07-21T21:34:39.308Z,1437514479.308 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408054E0
2015-07-21T21:34:39.309Z,1437514479.309 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 7155
2015-07-21T21:34:39.360Z,1437514479.360 [PNI_TCM] Loaded
2015-07-21T21:34:39.360Z,1437514479.360 [ComponentRegistry](DEBUG): SyncComponent "PNI_TCM" handled in the control thread.
2015-07-21T21:34:39.538Z,1437514479.538 [Rowe_600] Loaded
2015-07-21T21:34:39.538Z,1437514479.538 [ComponentRegistry](DEBUG): Component "Rowe_600" handled in its own thread.
2015-07-21T21:34:39.539Z,1437514479.539 [Rowe_600 ThreadHandler](DEBUG): Created PCaller Thread at 408354E0
2015-07-21T21:34:39.540Z,1437514479.540 [Rowe_600 ThreadHandler](INFO): Protected caller Thread ID is 7156
2015-07-21T21:34:41.365Z,1437514481.365 [BPC1] Loaded
2015-07-21T21:34:41.365Z,1437514481.365 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2015-07-21T21:34:41.365Z,1437514481.365 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2015-07-21T21:34:41.366Z,1437514481.366 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2015-07-21T21:34:41.461Z,1437514481.461 [BuoyancyServo] Loaded
2015-07-21T21:34:41.461Z,1437514481.461 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2015-07-21T21:34:41.473Z,1437514481.473 [ElevatorServo] Loaded
2015-07-21T21:34:41.473Z,1437514481.473 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2015-07-21T21:34:41.485Z,1437514481.485 [MassServo] Loaded
2015-07-21T21:34:41.485Z,1437514481.485 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2015-07-21T21:34:41.497Z,1437514481.497 [RudderServo] Loaded
2015-07-21T21:34:41.497Z,1437514481.497 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2015-07-21T21:34:41.509Z,1437514481.509 [ThrusterServo] Loaded
2015-07-21T21:34:41.509Z,1437514481.509 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2015-07-21T21:34:41.509Z,1437514481.509 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2015-07-21T21:34:41.510Z,1437514481.510 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2015-07-21T21:34:41.605Z,1437514481.605 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2015-07-21T21:34:41.605Z,1437514481.605 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2015-07-21T21:34:41.628Z,1437514481.628 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2015-07-21T21:34:41.632Z,1437514481.632 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2015-07-21T21:34:41.633Z,1437514481.633 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2015-07-21T21:34:41.640Z,1437514481.640 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2015-07-21T21:34:41.641Z,1437514481.641 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 408E34E0
2015-07-21T21:34:41.641Z,1437514481.641 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 7157
2015-07-21T21:34:41.646Z,1437514481.646 [Supervisor](INFO): Main Thread ID is 766
2015-07-21T21:34:41.646Z,1437514481.646 [Supervisor](DEBUG): Running supervisor.
2015-07-21T21:34:41.647Z,1437514481.647 [CommandLine ThreadHandler](INFO): Handler Thread ID is 7158
2015-07-21T21:34:41.649Z,1437514481.649 [controlThread ThreadHandler](INFO): Handler Thread ID is 7159
2015-07-21T21:34:41.650Z,1437514481.650 [controlThread](DEBUG): Initializing ControlThread
2015-07-21T21:34:41.651Z,1437514481.651 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2015-07-21T21:34:41.653Z,1437514481.653 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2015-07-21T21:34:41.653Z,1437514481.653 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2015-07-21T21:34:41.654Z,1437514481.654 [LoopControl](DEBUG): Initialize LoopControlComponent.
2015-07-21T21:34:41.654Z,1437514481.654 [SBIT](INFO): Initialize SBIT Component.
2015-07-21T21:34:41.655Z,1437514481.655 [SBIT](IMPORTANT): Tethys CM Info: SVN revision:12496
2015-07-21T21:34:41.655Z,1437514481.655 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2015-07-21T21:34:41.655Z,1437514481.655 [SBIT](IMPORTANT): Kernel Version:#639 PREEMPT Wed Mar 12 12:53:33 PDT 2014
2015-07-21T21:34:41.656Z,1437514481.656 [SBIT](INFO): Beginning SBIT in 63.000000 seconds.
2015-07-21T21:34:41.657Z,1437514481.657 [IBIT](INFO): Initialize IBIT Component.
2015-07-21T21:34:41.658Z,1437514481.658 [CBIT](DEBUG): Initialize CBIT Component.
2015-07-21T21:34:41.658Z,1437514481.658 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2015-07-21T21:34:41.659Z,1437514481.659 [logger ThreadHandler](INFO): Handler Thread ID is 7160
2015-07-21T21:34:41.679Z,1437514481.679 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 7161
2015-07-21T21:34:41.680Z,1437514481.680 [CTD_NeilBrown](INFO): Powering down
2015-07-21T21:34:41.687Z,1437514481.687 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2015-07-21T21:34:41.687Z,1437514481.687 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2015-07-21T21:34:41.687Z,1437514481.687 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2015-07-21T21:34:41.688Z,1437514481.688 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2015-07-21T21:34:41.688Z,1437514481.688 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2015-07-21T21:34:41.689Z,1437514481.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2015-07-21T21:34:41.689Z,1437514481.689 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider orientation measurement stale after this many seconds: 120.000000
2015-07-21T21:34:41.690Z,1437514481.690 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider velocity measurement stale after this many seconds: 20.000000
2015-07-21T21:34:41.690Z,1437514481.690 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2015-07-21T21:34:41.691Z,1437514481.691 [DeadReckonUsingSpeedCalculator](INFO): Will consider orientation measurement stale after this many seconds: 120.000000
2015-07-21T21:34:41.691Z,1437514481.691 [DeadReckonUsingSpeedCalculator](INFO): Will consider velocity measurement stale after this many seconds: 20.000000
2015-07-21T21:34:41.692Z,1437514481.692 [NavChart](DEBUG): Initialize NavChart Navigation.
2015-07-21T21:34:41.692Z,1437514481.692 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2015-07-21T21:34:41.716Z,1437514481.716 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2015-07-21T21:34:41.723Z,1437514481.723 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 7162
2015-07-21T21:34:41.724Z,1437514481.724 [WetLabsBB2FL](INFO): Powering down
2015-07-21T21:34:41.745Z,1437514481.745 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-07-21T21:34:41.751Z,1437514481.751 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 7163
2015-07-21T21:34:41.771Z,1437514481.771 [Radio_Surface](INFO): Powering up
2015-07-21T21:34:41.775Z,1437514481.775 [Rowe_600 ThreadHandler](INFO): Handler Thread ID is 7164
2015-07-21T21:34:41.796Z,1437514481.796 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 7165
2015-07-21T21:34:41.798Z,1437514481.798 [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>


2015-07-21T21:34:41.800Z,1437514481.800 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2015-07-21T21:34:41.802Z,1437514481.802 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2015-07-21T21:34:41.803Z,1437514481.803 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2015-07-21T21:34:41.803Z,1437514481.803 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2015-07-21T21:34:41.803Z,1437514481.803 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2015-07-21T21:34:41.803Z,1437514481.803 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2015-07-21T21:34:41.804Z,1437514481.804 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2015-07-21T21:34:41.804Z,1437514481.804 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2015-07-21T21:34:41.804Z,1437514481.804 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2015-07-21T21:34:41.805Z,1437514481.805 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2015-07-21T21:34:41.885Z,1437514481.885 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2015-07-21T21:34:41.886Z,1437514481.886 [Default:A.GoToSurface](DEBUG): Construct GoToSurface.
2015-07-21T21:34:41.932Z,1437514481.932 [Default:SplitLargeDefaultLogs:A.Execute](DEBUG): Construct Execute.
2015-07-21T21:34:41.937Z,1437514481.937 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2015-07-21T21:34:41.970Z,1437514481.970 [Default:CheckIn:WaitAnHour:A.Wait](DEBUG): Construct Wait.
2015-07-21T21:34:41.971Z,1437514481.971 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2015-07-21T21:34:42.024Z,1437514482.024 [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="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

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

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

    <Aggregate Id="ReportMinutesSinceMissionStarted">

        <When>
            <Elapsed><Universal:mission_started/></Elapsed>
            <Gt><Units:minute/><Value>10</Value></Gt>
            <And><Elapsed><Universal:time_fix/></Elapsed><Lt><Units:millisecond/><Value>500</Value></Lt></And>
        </When>

        <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

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

    </Aggregate>

    <Aggregate Id="SplitLargeDefaultLogs">

        <When>
            <Arg Name="ElapsedSinceDefaultStarted"/>
            <Gt><Units:day/><Value>1</Value></Gt>
        </When>

        <Guidance:Execute>
            <Sequence/>
            <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
        </Guidance:Execute>

    </Aggregate>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_Iridium">
            <Sequence/>
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn 300</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Aggregate Id="WaitAnHour">

            <When>
                <Universal:platform_conversation/>
                <Eq><False/></Eq>
            </When>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Units:hour/><Value>1</Value></Setting>
            </Guidance:Wait>

        </Aggregate>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

    </Aggregate>

</Mission>


2015-07-21T21:34:42.029Z,1437514482.029 [controlThread](DEBUG): Component order: CycleStarter,Aanderaa_O2,ESPComponent,PAR_Licor,AcousticModem_Benthos_ATM900,DataOverHttps,Depth_Keller,DropWeight,NAL9602,Onboard,PNI_TCM,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,
2015-07-21T21:34:42.039Z,1437514482.039 [Rowe_600](INFO): Powering down
2015-07-21T21:34:42.180Z,1437514482.180 [AcousticModem_Benthos_ATM900](INFO): Powering up
2015-07-21T21:34:42.180Z,1437514482.180 [AcousticModem_Benthos_ATM900](DEBUG): Initializing AcousticModem_Benthos_ATM900.
2015-07-21T21:34:42.280Z,1437514482.280 [Rowe_600](INFO): Initializing
2015-07-21T21:34:42.292Z,1437514482.292 [Rowe_600](INFO): Powering up
2015-07-21T21:34:42.668Z,1437514482.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:42.693Z,1437514482.693 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:42.798Z,1437514482.798 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2015-07-21T21:34:42.804Z,1437514482.804 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2015-07-21T21:34:42.826Z,1437514482.826 [ElevatorServo](DEBUG): Initializing EZServoServo.
2015-07-21T21:34:42.833Z,1437514482.833 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2015-07-21T21:34:42.851Z,1437514482.851 [MassServo](DEBUG): Initializing EZServoServo.
2015-07-21T21:34:42.857Z,1437514482.857 [MassServo](DEBUG): Initializing MassServo.
2015-07-21T21:34:42.870Z,1437514482.870 [RudderServo](DEBUG): Initializing EZServoServo.
2015-07-21T21:34:42.877Z,1437514482.877 [RudderServo](DEBUG): Initializing RudderServo.
2015-07-21T21:34:42.882Z,1437514482.882 [ThrusterServo](DEBUG): Initializing EZServoServo.
2015-07-21T21:34:42.889Z,1437514482.889 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2015-07-21T21:34:43.140Z,1437514483.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:43.149Z,1437514483.149 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:43.438Z,1437514483.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:43.439Z,1437514483.439 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:43.957Z,1437514483.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:43.974Z,1437514483.974 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:44.312Z,1437514484.312 [NAL9602](INFO): Powering up NAL9602
2015-07-21T21:34:44.584Z,1437514484.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:44.585Z,1437514484.585 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:44.697Z,1437514484.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:44.699Z,1437514484.699 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:45.338Z,1437514485.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:45.339Z,1437514485.339 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:45.569Z,1437514485.569 [Aanderaa_O2](INFO): Powering down
2015-07-21T21:34:45.901Z,1437514485.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2015-07-21T21:34:45.902Z,1437514485