2012-05-23T16:33:36.905Z,1337790816.905 [Supervisor](DEBUG): Initializing supervisor.
2012-05-23T16:33:36.908Z,1337790816.908 [SyncHandler](DEBUG): Created PCaller Thread at 1077138656
2012-05-23T16:33:36.908Z,1337790816.908 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-05-23T16:33:36.909Z,1337790816.909 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 1077335264
2012-05-23T16:33:36.910Z,1337790816.910 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-05-23T16:33:36.921Z,1337790816.921 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-05-23T16:33:36.922Z,1337790816.922 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 1077531872
2012-05-23T16:33:36.923Z,1337790816.923 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-05-23T16:33:36.923Z,1337790816.923 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-05-23T16:33:36.924Z,1337790816.924 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-05-23T16:33:37.191Z,1337790817.191 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-05-23T16:33:37.192Z,1337790817.192 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-05-23T16:33:37.371Z,1337790817.371 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-05-23T16:33:37.372Z,1337790817.372 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-05-23T16:33:37.456Z,1337790817.455 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-05-23T16:33:37.456Z,1337790817.456 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-05-23T16:33:37.640Z,1337790817.640 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-05-23T16:33:37.641Z,1337790817.641 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-05-23T16:33:37.763Z,1337790817.763 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-05-23T16:33:37.764Z,1337790817.764 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-05-23T16:33:37.977Z,1337790817.977 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-05-23T16:33:37.977Z,1337790817.977 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-05-23T16:33:38.122Z,1337790818.122 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-05-23T16:33:38.122Z,1337790818.122 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-05-23T16:33:38.375Z,1337790818.375 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-05-23T16:33:38.375Z,1337790818.375 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-05-23T16:33:38.471Z,1337790818.471 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-05-23T16:33:38.471Z,1337790818.471 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-05-23T16:33:38.845Z,1337790818.845 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-05-23T16:33:38.846Z,1337790818.846 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-05-23T16:33:38.953Z,1337790818.953 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-05-23T16:33:38.954Z,1337790818.954 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-05-23T16:33:39.038Z,1337790819.039 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-05-23T16:33:39.039Z,1337790819.039 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-05-23T16:33:39.140Z,1337790819.140 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-05-23T16:33:39.270Z,1337790819.270 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-05-23T16:33:39.368Z,1337790819.368 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-05-23T16:33:39.462Z,1337790819.462 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-05-23T16:33:39.568Z,1337790819.568 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-05-23T16:33:39.656Z,1337790819.656 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-05-23T16:33:39.741Z,1337790819.741 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-05-23T16:33:39.852Z,1337790819.852 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-05-23T16:33:40.017Z,1337790820.017 [InternalSim] Loaded
2012-05-23T16:33:40.017Z,1337790820.017 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-05-23T16:33:40.018Z,1337790820.018 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-05-23T16:33:40.018Z,1337790820.018 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-05-23T16:33:40.062Z,1337790820.062 [SBIT](DEBUG): Construct Startup Built In Test.
2012-05-23T16:33:40.073Z,1337790820.073 [SBIT] Loaded
2012-05-23T16:33:40.073Z,1337790820.073 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-05-23T16:33:40.074Z,1337790820.074 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-05-23T16:33:40.097Z,1337790820.098 [IBIT] Loaded
2012-05-23T16:33:40.098Z,1337790820.098 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-05-23T16:33:40.105Z,1337790820.105 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-05-23T16:33:40.211Z,1337790820.211 [CBIT] Loaded
2012-05-23T16:33:40.211Z,1337790820.211 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-05-23T16:33:40.212Z,1337790820.212 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-05-23T16:33:40.212Z,1337790820.212 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-05-23T16:33:40.341Z,1337790820.341 [BuoyancyServo] Loaded
2012-05-23T16:33:40.342Z,1337790820.342 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-05-23T16:33:40.348Z,1337790820.348 [ElevatorServo] Loaded
2012-05-23T16:33:40.349Z,1337790820.349 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-05-23T16:33:40.355Z,1337790820.355 [MassServo] Loaded
2012-05-23T16:33:40.355Z,1337790820.355 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-05-23T16:33:40.362Z,1337790820.362 [RudderServo] Loaded
2012-05-23T16:33:40.362Z,1337790820.362 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-05-23T16:33:40.369Z,1337790820.369 [ThrusterServo] Loaded
2012-05-23T16:33:40.369Z,1337790820.369 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-05-23T16:33:40.369Z,1337790820.369 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-05-23T16:33:40.370Z,1337790820.370 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-05-23T16:33:40.385Z,1337790820.385 [DepthRateCalculator] Loaded
2012-05-23T16:33:40.385Z,1337790820.385 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-05-23T16:33:40.401Z,1337790820.401 [NavChart] Loaded
2012-05-23T16:33:40.401Z,1337790820.401 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-05-23T16:33:40.407Z,1337790820.407 [PitchRateCalculator] Loaded
2012-05-23T16:33:40.407Z,1337790820.407 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-05-23T16:33:40.413Z,1337790820.413 [SpeedCalculator] Loaded
2012-05-23T16:33:40.413Z,1337790820.413 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-05-23T16:33:40.428Z,1337790820.428 [TempGradientCalculator] Loaded
2012-05-23T16:33:40.428Z,1337790820.428 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-05-23T16:33:40.433Z,1337790820.433 [YawRateCalculator] Loaded
2012-05-23T16:33:40.434Z,1337790820.434 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-05-23T16:33:40.463Z,1337790820.463 [Navigation] Loaded
2012-05-23T16:33:40.463Z,1337790820.463 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-05-23T16:33:40.464Z,1337790820.464 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-05-23T16:33:40.464Z,1337790820.464 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-05-23T16:33:40.675Z,1337790820.675 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-05-23T16:33:40.676Z,1337790820.676 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-05-23T16:33:40.697Z,1337790820.697 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-05-23T16:33:40.697Z,1337790820.697 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-05-23T16:33:40.735Z,1337790820.735 [VerticalControl](DEBUG): Construct VerticalControl.
2012-05-23T16:33:40.778Z,1337790820.778 [VerticalControl] Loaded
2012-05-23T16:33:40.778Z,1337790820.778 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-05-23T16:33:40.779Z,1337790820.779 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-05-23T16:33:40.798Z,1337790820.798 [HorizontalControl] Loaded
2012-05-23T16:33:40.799Z,1337790820.799 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-05-23T16:33:40.800Z,1337790820.800 [SpeedControl](DEBUG): Construct SpeedControl.
2012-05-23T16:33:40.801Z,1337790820.801 [SpeedControl] Loaded
2012-05-23T16:33:40.802Z,1337790820.802 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-05-23T16:33:40.803Z,1337790820.803 [LoopControl](DEBUG): Construct LoopControl.
2012-05-23T16:33:40.803Z,1337790820.803 [LoopControl] Loaded
2012-05-23T16:33:40.803Z,1337790820.803 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-05-23T16:33:40.804Z,1337790820.804 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-05-23T16:33:40.804Z,1337790820.804 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-05-23T16:33:40.809Z,1337790820.809 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-05-23T16:33:40.814Z,1337790820.814 [AsyncPiEstimator] Loaded
2012-05-23T16:33:40.814Z,1337790820.814 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-05-23T16:33:40.816Z,1337790820.816 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 1078994144
2012-05-23T16:33:40.816Z,1337790820.816 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-05-23T16:33:40.817Z,1337790820.817 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-05-23T16:33:40.908Z,1337790820.908 [AHRS_sp3003D] Loaded
2012-05-23T16:33:40.908Z,1337790820.908 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-05-23T16:33:41.152Z,1337790821.151 [Batt_Ocean_Server] Loaded
2012-05-23T16:33:41.152Z,1337790821.152 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-05-23T16:33:41.164Z,1337790821.164 [Depth_Keller] Loaded
2012-05-23T16:33:41.164Z,1337790821.164 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-05-23T16:33:41.169Z,1337790821.169 [DropWeight] Loaded
2012-05-23T16:33:41.170Z,1337790821.170 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-05-23T16:33:41.262Z,1337790821.262 [DVL_micro] Loaded
2012-05-23T16:33:41.262Z,1337790821.262 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2012-05-23T16:33:41.340Z,1337790821.340 [NAL9601] Loaded
2012-05-23T16:33:41.340Z,1337790821.340 [ComponentRegistry](DEBUG): SyncComponent "NAL9601" handled in the control thread.
2012-05-23T16:33:41.388Z,1337790821.388 [Onboard] Loaded
2012-05-23T16:33:41.388Z,1337790821.388 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-05-23T16:33:41.394Z,1337790821.394 [Radio_Freewave] Loaded
2012-05-23T16:33:41.395Z,1337790821.395 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-05-23T16:33:41.395Z,1337790821.395 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-05-23T16:33:41.396Z,1337790821.396 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-05-23T16:33:41.440Z,1337790821.440 [CTD_NeilBrown] Loaded
2012-05-23T16:33:41.440Z,1337790821.440 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-05-23T16:33:41.441Z,1337790821.441 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 1079645408
2012-05-23T16:33:41.471Z,1337790821.471 [WetLabsBB2FL] Loaded
2012-05-23T16:33:41.471Z,1337790821.471 [ComponentRegistry](DEBUG): SyncComponent "WetLabsBB2FL" handled in the control thread.
2012-05-23T16:33:41.472Z,1337790821.472 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-05-23T16:33:41.474Z,1337790821.474 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-05-23T16:33:41.475Z,1337790821.475 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-05-23T16:33:41.480Z,1337790821.480 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-05-23T16:33:41.481Z,1337790821.481 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 1079842016
2012-05-23T16:33:41.482Z,1337790821.482 [Supervisor](DEBUG): Running supervisor.
2012-05-23T16:33:41.485Z,1337790821.485 [controlThread](DEBUG): Initializing ControlThread
2012-05-23T16:33:41.486Z,1337790821.486 [InternalSim](DEBUG):  InternalSim initializing...
2012-05-23T16:33:41.520Z,1337790821.520 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-05-23T16:33:41.529Z,1337790821.529 [SBIT](INFO): Initialize SBIT Component.
2012-05-23T16:33:41.530Z,1337790821.530 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9636 $
2012-05-23T16:33:41.530Z,1337790821.530 [IBIT](INFO): Initialize IBIT Component.
2012-05-23T16:33:41.533Z,1337790821.533 [CBIT](DEBUG): Initialize CBIT Component.
2012-05-23T16:33:41.534Z,1337790821.533 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-05-23T16:33:41.535Z,1337790821.535 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-05-23T16:33:41.559Z,1337790821.559 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-05-23T16:33:41.560Z,1337790821.560 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-05-23T16:33:41.560Z,1337790821.560 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-05-23T16:33:41.560Z,1337790821.560 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-05-23T16:33:41.561Z,1337790821.561 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-05-23T16:33:41.564Z,1337790821.564 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-05-23T16:33:41.564Z,1337790821.564 [Navigation](DEBUG): Initializing Navigation.
2012-05-23T16:33:41.564Z,1337790821.565 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-05-23T16:33:41.575Z,1337790821.575 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-05-23T16:33:41.576Z,1337790821.576 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-05-23T16:33:41.576Z,1337790821.576 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-05-23T16:33:41.647Z,1337790821.647 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-05-23T16:33:41.652Z,1337790821.652 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-05-23T16:33:41.656Z,1337790821.656 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-05-23T16:33:41.660Z,1337790821.660 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-05-23T16:33:41.664Z,1337790821.664 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-05-23T16:33:41.665Z,1337790821.665 [NavChartDb](INFO): Creating index for Soundings
2012-05-23T16:33:41.668Z,1337790821.668 [NavChartDb](INFO): Creating index for Contour 0p0
2012-05-23T16:33:41.670Z,1337790821.670 [NavChartDb](INFO): Creating index for Contour 1p8
2012-05-23T16:33:41.672Z,1337790821.672 [NavChartDb](INFO): Creating index for Contour 3p6
2012-05-23T16:33:41.674Z,1337790821.674 [NavChartDb](INFO): Creating index for Contour 5p4
2012-05-23T16:33:41.676Z,1337790821.676 [NavChartDb](INFO): Creating index for Contour 9p1
2012-05-23T16:33:41.678Z,1337790821.678 [NavChartDb](INFO): Creating index for Contour 10p9
2012-05-23T16:33:41.680Z,1337790821.680 [NavChartDb](INFO): Creating index for Contour 18p2
2012-05-23T16:33:41.682Z,1337790821.682 [NavChartDb](INFO): Creating index for Contour 36p5
2012-05-23T16:33:41.684Z,1337790821.684 [NavChartDb](INFO): Creating index for Contour 54p8
2012-05-23T16:33:41.687Z,1337790821.687 [NavChartDb](INFO): Creating index for Contour 73p1
2012-05-23T16:33:41.688Z,1337790821.688 [NavChartDb](INFO): Creating index for Contour 91p4
2012-05-23T16:33:41.690Z,1337790821.690 [NavChartDb](INFO): Creating index for Contour 182p8
2012-05-23T16:33:41.692Z,1337790821.692 [NavChartDb](INFO): Creating index for Contour 365p7
2012-05-23T16:33:41.694Z,1337790821.694 [NavChartDb](INFO): Creating index for Contour 548p6
2012-05-23T16:33:41.696Z,1337790821.696 [NavChartDb](INFO): Creating index for Contour 731p5
2012-05-23T16:33:41.698Z,1337790821.698 [NavChartDb](INFO): Creating index for Contour 914p4
2012-05-23T16:33:41.700Z,1337790821.700 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-05-23T16:33:41.702Z,1337790821.702 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-05-23T16:33:41.704Z,1337790821.704 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-05-23T16:33:41.706Z,1337790821.706 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-05-23T16:33:41.708Z,1337790821.708 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-05-23T16:33:41.710Z,1337790821.710 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-05-23T16:33:41.712Z,1337790821.712 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-05-23T16:33:41.714Z,1337790821.714 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-05-23T16:33:41.716Z,1337790821.716 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-05-23T16:33:41.718Z,1337790821.718 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-05-23T16:33:41.720Z,1337790821.720 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-05-23T16:33:41.722Z,1337790821.722 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-05-23T16:33:41.724Z,1337790821.724 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-05-23T16:33:41.726Z,1337790821.726 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-05-23T16:33:41.728Z,1337790821.728 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-05-23T16:33:43.167Z,1337790823.167 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-05-23T16:33:43.172Z,1337790823.172 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-05-23T16:33:43.183Z,1337790823.183 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T16:33:43.195Z,1337790823.195 [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 RunIn="Progression"/>

    <Aggregate Id="StartupSatComms" >

        <ReadDatum>
            <Timeout Duration="P1M" /><Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" /><Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2012-05-23T16:33:43.195Z,1337790823.195 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-05-23T16:33:43.221Z,1337790823.221 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-05-23T16:33:43.223Z,1337790823.223 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-05-23T16:33:43.226Z,1337790823.226 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T16:33:43.234Z,1337790823.234 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-05-23T16:33:43.237Z,1337790823.237 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T16:33:43.243Z,1337790823.243 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-05-23T16:33:43.253Z,1337790823.253 [Default:D.SetSpeed](DEBUG): Construct.
2012-05-23T16:33:43.256Z,1337790823.256 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-05-23T16:33:43.260Z,1337790823.260 [Default:F.Wait](DEBUG): Construct Wait.
2012-05-23T16:33:43.264Z,1337790823.264 [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 RunIn="Parallel">
            <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Setting>
        </Guidance:SetSpeed>

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Get GPS fix -->

        <ReadDatum Id="Read_GPS"><Universal:latitude_fix/>
        </ReadDatum>

        <Assign><Arg Name="NeedGPS"/><False/></Assign>

    </Aggregate>

    <Aggregate Id="Iridium" >

<!-- Run at high speed -->

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

<!-- Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!-- Do data comms -->

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute RunIn="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><Arg Name="NeedGPS"/><True/></Assign>

        <Call RefId="Iridium"/>

    </Aggregate>

<!-- Wait forever at the surface-->

<!-- Run at low speed -->

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

    <Guidance:GoToSurface RunIn="Parallel"/>

    <Guidance:Wait RunIn="Sequence"></Guidance:Wait>

</Mission>


2012-05-23T16:33:43.269Z,1337790823.269 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,DVL_micro,NAL9601,Onboard,Radio_Freewave,WetLabsBB2FL,Depth_Keller,DepthRateCalculator,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-05-23T16:33:43.289Z,1337790823.289 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-05-23T16:33:43.398Z,1337790823.398 [DVL_micro](DEBUG): Initializing DVL_micro.
2012-05-23T16:33:43.418Z,1337790823.418 [Radio_Freewave](INFO): Powering up
2012-05-23T16:33:43.423Z,1337790823.423 [WetLabsBB2FL](INFO): Powering down
2012-05-23T16:33:43.490Z,1337790823.490 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-05-23T16:33:43.491Z,1337790823.491 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-05-23T16:33:43.502Z,1337790823.502 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-05-23T16:33:43.503Z,1337790823.503 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-05-23T16:33:43.511Z,1337790823.511 [MassServo](DEBUG): Initializing EZServoServo.
2012-05-23T16:33:43.512Z,1337790823.512 [MassServo](DEBUG): Initializing MassServo.
2012-05-23T16:33:43.519Z,1337790823.519 [RudderServo](DEBUG): Initializing EZServoServo.
2012-05-23T16:33:43.520Z,1337790823.520 [RudderServo](DEBUG): Initializing RudderServo.
2012-05-23T16:33:43.531Z,1337790823.531 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-05-23T16:33:43.532Z,1337790823.532 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-05-23T16:33:46.606Z,1337790826.606 [NAL9601](INFO): Powering up NAL9601
2012-05-23T16:33:57.022Z,1337790837.022 [SBIT](IMPORTANT): Beginning Startup BIT
2012-05-23T16:33:57.024Z,1337790837.024 [CBIT](IMPORTANT): Beginning GF scan
2012-05-23T16:34:23.256Z,1337790863.256 [CBIT](IMPORTANT): No ground fault detected
2012-05-23T16:34:39.166Z,1337790879.165 [SBIT](IMPORTANT): SBIT PASSED
2012-05-23T16:34:39.591Z,1337790879.591 [MissionManager](IMPORTANT): Started mission Startup
2012-05-23T16:34:39.591Z,1337790879.591 [Startup] Running Loop=1
2012-05-23T16:34:39.591Z,1337790879.591 [Startup](INFO): Aggregate::initialize Startup
2012-05-23T16:34:39.591Z,1337790879.591 [Startup:A.GoToSurface] Running Loop=1
2012-05-23T16:34:39.591Z,1337790879.591 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-05-23T16:34:39.597Z,1337790879.597 [Startup:StartupSatComms] Running Loop=1
2012-05-23T16:34:39.597Z,1337790879.597 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-05-23T16:34:39.597Z,1337790879.597 [Startup:StartupSatComms:A] Running Loop=1
2012-05-23T16:34:39.956Z,1337790879.956 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-05-23T16:34:52.451Z,1337790892.451 [NAL9601](INFO): NAL9601 initialized
2012-05-23T16:34:59.291Z,1337790899.291 [CommandLine](IMPORTANT): got command quit
2012-05-23T16:34:59.310Z,1337790899.310 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-05-23T16:34:59.310Z,1337790899.310 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-05-23T16:34:59.667Z,1337790899.667 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-05-23T16:34:59.671Z,1337790899.671 [CTD_NeilBrown](INFO): Powering down
2012-05-23T16:34:59.672Z,1337790899.671 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-05-23T16:34:59.857Z,1337790899.857 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-05-23T16:34:59.857Z,1337790899.857 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-05-23T16:34:59.857Z,1337790899.857 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-05-23T16:34:59.989Z,1337790899.990 [controlThread](DEBUG): Uninitializing ControlThread
2012-05-23T16:34:59.990Z,1337790899.990 [AHRS_sp3003D](INFO): Powering down
2012-05-23T16:35:00.112Z,1337790900.112 [DVL_micro](INFO): Powering down
2012-05-23T16:35:00.112Z,1337790900.112 [NAL9601](INFO): Powering down
2012-05-23T16:35:00.113Z,1337790900.113 [WetLabsBB2FL](INFO): Powering down
2012-05-23T16:35:00.113Z,1337790900.114 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-05-23T16:35:00.114Z,1337790900.114 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-05-23T16:35:00.118Z,1337790900.118 [Startup] Stopped
2012-05-23T16:35:00.119Z,1337790900.119 [Startup](INFO): Aggregate::uninitialize Startup
2012-05-23T16:35:00.119Z,1337790900.119 [Startup:A.GoToSurface] Stopped
2012-05-23T16:35:00.119Z,1337790900.119 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-05-23T16:35:00.119Z,1337790900.119 [Startup:StartupSatComms] Stopped
2012-05-23T16:35:00.119Z,1337790900.119 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-05-23T16:35:00.119Z,1337790900.119 [Startup:StartupSatComms:A] Stopped
2012-05-23T16:35:00.120Z,1337790900.120 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-05-23T16:35:00.121Z,1337790900.121 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-05-23T16:35:00.121Z,1337790900.121 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-05-23T16:35:00.121Z,1337790900.121 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-05-23T16:35:00.121Z,1337790900.121 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-05-23T16:35:00.122Z,1337790900.122 [BuoyancyServo](INFO): Powering down
2012-05-23T16:35:00.122Z,1337790900.122 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-05-23T16:35:00.122Z,1337790900.122 [ElevatorServo](INFO): Powering down
2012-05-23T16:35:00.123Z,1337790900.123 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-05-23T16:35:00.123Z,1337790900.123 [MassServo](INFO): Powering down
2012-05-23T16:35:00.123Z,1337790900.123 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-05-23T16:35:00.123Z,1337790900.123 [RudderServo](INFO): Powering down
2012-05-23T16:35:00.124Z,1337790900.124 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-05-23T16:35:00.124Z,1337790900.124 [ThrusterServo](INFO): Powering down
2012-05-23T16:35:00.124Z,1337790900.124 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-05-23T16:35:00.124Z,1337790900.125 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-05-23T16:35:00.125Z,1337790900.125 [CBIT](DEBUG): Uninitialize CBIT Component.