2012-09-21T13:27:15.901Z,1348234035.901 [Supervisor](DEBUG): Initializing supervisor.
2012-09-21T13:27:15.906Z,1348234035.907 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-21T13:27:15.907Z,1348234035.907 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-21T13:27:15.910Z,1348234035.911 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-21T13:27:15.914Z,1348234035.914 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-21T13:27:15.925Z,1348234035.925 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-21T13:27:15.927Z,1348234035.927 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-21T13:27:15.927Z,1348234035.927 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-21T13:27:15.928Z,1348234035.928 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-21T13:27:15.931Z,1348234035.931 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-21T13:27:16.244Z,1348234036.244 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-21T13:27:16.246Z,1348234036.246 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-21T13:27:16.447Z,1348234036.447 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-21T13:27:16.448Z,1348234036.448 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-21T13:27:16.542Z,1348234036.542 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-21T13:27:16.544Z,1348234036.544 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-21T13:27:16.763Z,1348234036.763 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-21T13:27:16.764Z,1348234036.764 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-21T13:27:16.914Z,1348234036.914 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-21T13:27:16.916Z,1348234036.916 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-21T13:27:17.180Z,1348234037.180 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-21T13:27:17.180Z,1348234037.180 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-21T13:27:17.367Z,1348234037.367 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-21T13:27:17.369Z,1348234037.369 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-21T13:27:17.655Z,1348234037.655 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-21T13:27:17.657Z,1348234037.657 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-21T13:27:17.767Z,1348234037.767 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-21T13:27:17.768Z,1348234037.768 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-21T13:27:18.230Z,1348234038.230 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-21T13:27:18.231Z,1348234038.231 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-21T13:27:18.354Z,1348234038.354 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-21T13:27:18.355Z,1348234038.355 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-21T13:27:18.452Z,1348234038.452 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-21T13:27:18.455Z,1348234038.455 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-21T13:27:18.570Z,1348234038.570 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-21T13:27:18.715Z,1348234038.714 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-21T13:27:18.814Z,1348234038.814 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-21T13:27:18.934Z,1348234038.934 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-21T13:27:20.294Z,1348234040.294 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-21T13:27:20.434Z,1348234040.434 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-21T13:27:20.540Z,1348234040.540 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-21T13:27:20.689Z,1348234040.689 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-09-21T13:27:20.730Z,1348234040.730 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-21T13:27:20.915Z,1348234040.915 [InternalSim] Loaded
2012-09-21T13:27:20.915Z,1348234040.915 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-21T13:27:20.916Z,1348234040.916 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-21T13:27:20.916Z,1348234040.916 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-21T13:27:21.003Z,1348234041.003 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-21T13:27:21.016Z,1348234041.016 [SBIT] Loaded
2012-09-21T13:27:21.016Z,1348234041.016 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-21T13:27:21.017Z,1348234041.017 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-21T13:27:21.048Z,1348234041.048 [IBIT] Loaded
2012-09-21T13:27:21.048Z,1348234041.048 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-21T13:27:21.052Z,1348234041.052 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-21T13:27:21.176Z,1348234041.176 [CBIT] Loaded
2012-09-21T13:27:21.176Z,1348234041.176 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-21T13:27:21.177Z,1348234041.177 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-21T13:27:21.178Z,1348234041.178 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-21T13:27:21.345Z,1348234041.345 [BuoyancyServo] Loaded
2012-09-21T13:27:21.345Z,1348234041.345 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-21T13:27:21.358Z,1348234041.358 [RudderServo] Loaded
2012-09-21T13:27:21.358Z,1348234041.358 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-21T13:27:21.369Z,1348234041.369 [ThrusterServo] Loaded
2012-09-21T13:27:21.370Z,1348234041.370 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-21T13:27:21.370Z,1348234041.370 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-21T13:27:21.371Z,1348234041.371 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-21T13:27:21.403Z,1348234041.403 [DepthRateCalculator] Loaded
2012-09-21T13:27:21.403Z,1348234041.404 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-21T13:27:24.772Z,1348234044.772 [HFRadarModelCalc] Loaded
2012-09-21T13:27:24.772Z,1348234044.772 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-21T13:27:24.792Z,1348234044.792 [NavChart] Loaded
2012-09-21T13:27:24.793Z,1348234044.793 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-21T13:27:24.799Z,1348234044.799 [PitchRateCalculator] Loaded
2012-09-21T13:27:24.799Z,1348234044.799 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-21T13:27:24.805Z,1348234044.805 [SpeedCalculator] Loaded
2012-09-21T13:27:24.805Z,1348234044.805 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-21T13:27:24.820Z,1348234044.820 [TempGradientCalculator] Loaded
2012-09-21T13:27:24.820Z,1348234044.820 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-21T13:27:24.826Z,1348234044.826 [YawRateCalculator] Loaded
2012-09-21T13:27:24.826Z,1348234044.826 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-21T13:27:24.849Z,1348234044.849 [Navigation] Loaded
2012-09-21T13:27:24.850Z,1348234044.850 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-21T13:27:24.850Z,1348234044.850 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-21T13:27:24.851Z,1348234044.851 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-21T13:27:25.454Z,1348234045.454 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-21T13:27:25.454Z,1348234045.454 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-21T13:27:25.533Z,1348234045.533 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-21T13:27:25.534Z,1348234045.534 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-21T13:27:25.598Z,1348234045.598 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-21T13:27:25.646Z,1348234045.646 [VerticalControl] Loaded
2012-09-21T13:27:25.646Z,1348234045.646 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-21T13:27:25.647Z,1348234045.647 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-21T13:27:25.672Z,1348234045.672 [HorizontalControl] Loaded
2012-09-21T13:27:25.672Z,1348234045.672 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-21T13:27:25.673Z,1348234045.673 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-21T13:27:25.675Z,1348234045.675 [SpeedControl] Loaded
2012-09-21T13:27:25.675Z,1348234045.675 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-21T13:27:25.676Z,1348234045.676 [LoopControl](DEBUG): Construct LoopControl.
2012-09-21T13:27:25.676Z,1348234045.676 [LoopControl] Loaded
2012-09-21T13:27:25.677Z,1348234045.677 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-21T13:27:25.677Z,1348234045.677 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-21T13:27:25.678Z,1348234045.678 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-21T13:27:25.686Z,1348234045.686 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-21T13:27:25.690Z,1348234045.690 [AsyncPiEstimator] Loaded
2012-09-21T13:27:25.691Z,1348234045.691 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-21T13:27:25.695Z,1348234045.694 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-21T13:27:25.695Z,1348234045.695 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-21T13:27:25.696Z,1348234045.696 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-21T13:27:25.868Z,1348234045.868 [AHRS_sp3003D] Loaded
2012-09-21T13:27:25.868Z,1348234045.868 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-21T13:27:25.885Z,1348234045.885 [Depth_Keller] Loaded
2012-09-21T13:27:25.886Z,1348234045.886 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-21T13:27:25.891Z,1348234045.891 [DropWeight] Loaded
2012-09-21T13:27:25.891Z,1348234045.891 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-21T13:27:26.015Z,1348234046.015 [DVL_micro] Loaded
2012-09-21T13:27:26.015Z,1348234046.015 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-21T13:27:26.019Z,1348234046.019 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-21T13:27:26.106Z,1348234046.106 [NAL9602] Loaded
2012-09-21T13:27:26.106Z,1348234046.106 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-21T13:27:26.159Z,1348234046.159 [Onboard] Loaded
2012-09-21T13:27:26.159Z,1348234046.159 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-21T13:27:26.165Z,1348234046.165 [Radio_Freewave] Loaded
2012-09-21T13:27:26.166Z,1348234046.166 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-21T13:27:26.167Z,1348234046.167 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-21T13:27:26.167Z,1348234046.167 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-21T13:27:26.265Z,1348234046.265 [CTD_NeilBrown] Loaded
2012-09-21T13:27:26.265Z,1348234046.265 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-21T13:27:26.271Z,1348234046.270 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-21T13:27:26.281Z,1348234046.281 [PAR_Licor] Loaded
2012-09-21T13:27:26.281Z,1348234046.281 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-21T13:27:26.302Z,1348234046.302 [Turbulence_NPS] Loaded
2012-09-21T13:27:26.302Z,1348234046.302 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-21T13:27:26.306Z,1348234046.306 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-21T13:27:26.341Z,1348234046.341 [WetLabsBB2FL] Loaded
2012-09-21T13:27:26.341Z,1348234046.341 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-21T13:27:26.343Z,1348234046.342 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-21T13:27:26.343Z,1348234046.343 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-21T13:27:26.345Z,1348234046.345 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-21T13:27:26.346Z,1348234046.346 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-21T13:27:26.352Z,1348234046.352 [NavChartDb](CRITICAL): No configuration setting for: NavChartDb.cycleTimeout
2012-09-21T13:27:26.353Z,1348234046.353 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-21T13:27:26.354Z,1348234046.355 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-21T13:27:26.359Z,1348234046.359 [Supervisor](DEBUG): Running supervisor.
2012-09-21T13:27:26.360Z,1348234046.360 [CommandLine](INFO): Thread ID is 755
2012-09-21T13:27:26.363Z,1348234046.363 [controlThread](INFO): Thread ID is 754
2012-09-21T13:27:26.363Z,1348234046.363 [controlThread](DEBUG): Initializing ControlThread
2012-09-21T13:27:26.364Z,1348234046.364 [CycleStarter](INFO): Thread ID is 753
2012-09-21T13:27:26.364Z,1348234046.365 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-21T13:27:26.480Z,1348234046.480 [AsyncPiEstimator](INFO): Thread ID is 827
2012-09-21T13:27:26.480Z,1348234046.480 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-21T13:27:26.556Z,1348234046.556 [DVL_micro](INFO): Thread ID is 828
2012-09-21T13:27:26.867Z,1348234046.867 [CTD_NeilBrown](INFO): Thread ID is 829
2012-09-21T13:27:26.867Z,1348234046.867 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-21T13:27:26.870Z,1348234046.870 [Turbulence_NPS](INFO): Thread ID is 830
2012-09-21T13:27:26.873Z,1348234046.874 [SBIT](INFO): Initialize SBIT Component.
2012-09-21T13:27:26.874Z,1348234046.874 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9861
2012-09-21T13:27:26.875Z,1348234046.875 [IBIT](INFO): Initialize IBIT Component.
2012-09-21T13:27:26.876Z,1348234046.876 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-21T13:27:26.876Z,1348234046.876 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-09-21T13:27:26.876Z,1348234046.876 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-21T13:27:26.887Z,1348234046.887 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-21T13:27:26.899Z,1348234046.899 [WetLabsBB2FL](INFO): Thread ID is 831
2012-09-21T13:27:26.899Z,1348234046.899 [WetLabsBB2FL](INFO): Powering down
2012-09-21T13:27:26.904Z,1348234046.904 [NavChartDb](INFO): Thread ID is 832
2012-09-21T13:27:26.912Z,1348234046.912 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-21T13:27:26.912Z,1348234046.912 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-21T13:27:26.913Z,1348234046.913 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-21T13:27:26.913Z,1348234046.913 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-21T13:27:26.913Z,1348234046.913 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-21T13:27:26.915Z,1348234046.915 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-21T13:27:26.915Z,1348234046.915 [Navigation](DEBUG): Initializing Navigation.
2012-09-21T13:27:26.916Z,1348234046.916 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-21T13:27:26.918Z,1348234046.918 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-21T13:27:26.919Z,1348234046.919 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-21T13:27:26.919Z,1348234046.919 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-21T13:27:26.925Z,1348234046.925 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-21T13:27:26.988Z,1348234046.989 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-21T13:27:27.019Z,1348234047.019 [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>


2012-09-21T13:27:27.020Z,1348234047.020 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-21T13:27:27.082Z,1348234047.082 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-21T13:27:27.088Z,1348234047.088 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-21T13:27:27.091Z,1348234047.091 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-21T13:27:27.099Z,1348234047.099 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-21T13:27:27.102Z,1348234047.102 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-21T13:27:27.109Z,1348234047.109 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-21T13:27:27.118Z,1348234047.118 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-21T13:27:27.121Z,1348234047.121 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-21T13:27:27.130Z,1348234047.130 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-21T13:27:27.134Z,1348234047.134 [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>


2012-09-21T13:27:27.138Z,1348234047.138 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-21T13:27:27.162Z,1348234047.162 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-21T13:27:27.272Z,1348234047.272 [DVL_micro](INFO): Initializing
2012-09-21T13:27:27.273Z,1348234047.273 [DVL_micro](INFO): start:Powering up
2012-09-21T13:27:27.329Z,1348234047.329 [Radio_Freewave](INFO): Powering up
2012-09-21T13:27:27.417Z,1348234047.417 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-21T13:27:27.424Z,1348234047.424 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-21T13:27:27.430Z,1348234047.430 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-21T13:27:27.431Z,1348234047.431 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-21T13:27:27.437Z,1348234047.437 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-21T13:27:27.439Z,1348234047.439 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-21T13:27:31.487Z,1348234051.487 [NAL9602](INFO): Powering up NAL9602
2012-09-21T13:27:31.551Z,1348234051.551 [PAR_Licor](ERROR): PAR reading out of range: -0.012716 uMol/s/m2
2012-09-21T13:27:32.779Z,1348234052.779 [PAR_Licor](ERROR): PAR reading out of range: -0.076296 uMol/s/m2
2012-09-21T13:27:33.413Z,1348234053.413 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-21T13:27:33.467Z,1348234053.467 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-21T13:27:33.486Z,1348234053.487 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-21T13:27:33.535Z,1348234053.535 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-21T13:27:33.869Z,1348234053.869 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-21T13:27:33.870Z,1348234053.870 [NavChartDb](INFO): Creating index for Soundings
2012-09-21T13:27:34.299Z,1348234054.299 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-21T13:27:34.301Z,1348234054.301 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-21T13:27:34.416Z,1348234054.416 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-21T13:27:34.417Z,1348234054.417 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-21T13:27:34.440Z,1348234054.440 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-21T13:27:34.442Z,1348234054.442 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-21T13:27:34.456Z,1348234054.456 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-21T13:27:34.458Z,1348234054.458 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-21T13:27:34.511Z,1348234054.511 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-21T13:27:34.513Z,1348234054.513 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-21T13:27:34.531Z,1348234054.531 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-21T13:27:34.532Z,1348234054.532 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-21T13:27:34.534Z,1348234054.534 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-21T13:27:34.552Z,1348234054.552 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-21T13:27:34.554Z,1348234054.554 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-21T13:27:34.680Z,1348234054.680 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-21T13:27:34.682Z,1348234054.682 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-21T13:27:34.697Z,1348234054.697 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-21T13:27:34.767Z,1348234054.767 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-21T13:27:34.769Z,1348234054.769 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-21T13:27:35.167Z,1348234055.167 [PAR_Licor](ERROR): PAR reading out of range: -0.012716 uMol/s/m2
2012-09-21T13:27:35.283Z,1348234055.283 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-21T13:27:35.285Z,1348234055.285 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-21T13:27:35.403Z,1348234055.402 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-21T13:27:35.404Z,1348234055.404 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-21T13:27:35.493Z,1348234055.493 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-21T13:27:35.495Z,1348234055.495 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-21T13:27:35.496Z,1348234055.496 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-21T13:27:35.498Z,1348234055.498 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-21T13:27:35.632Z,1348234055.632 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-21T13:27:35.634Z,1348234055.634 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-21T13:27:35.744Z,1348234055.744 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-21T13:27:39.183Z,1348234059.183 [PAR_Licor](ERROR): PAR reading out of range: -0.001589 uMol/s/m2
2012-09-21T13:27:41.403Z,1348234061.403 [DVL_micro](INFO): Querying output modes
2012-09-21T13:27:41.404Z,1348234061.404 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-21T13:27:42.195Z,1348234062.195 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:pCopyright(c) 2010
NAL Research Corporation
2012-09-21T13:27:42.195Z,1348234062.195 [NAL9602] Communications Fault, FailCount= 1
2012-09-21T13:27:42.195Z,1348234062.195 [NAL9602](ERROR): Communications Fault
2012-09-21T13:27:42.978Z,1348234062.978 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-09-21T13:27:43.343Z,1348234063.343 [AHRS_sp3003D](FAULT): Read Acceleration Vector Failure.
2012-09-21T13:27:43.343Z,1348234063.343 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-21T13:27:43.344Z,1348234063.344 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-21T13:27:43.356Z,1348234063.356 [NAL9602](INFO): Powering down
2012-09-21T13:27:43.828Z,1348234063.828 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-21T13:27:43.831Z,1348234063.831 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-21T13:27:43.831Z,1348234063.831 [CBIT](INFO): Clearing failed state for component NAL9602
2012-09-21T13:27:43.831Z,1348234063.831 [NAL9602] No Fault, FailCount= 1
2012-09-21T13:27:43.831Z,1348234063.831 [CBIT](IMPORTANT): Beginning GF scan
2012-09-21T13:27:43.898Z,1348234063.898 [AHRS_sp3003D](INFO): Powering down
2012-09-21T13:27:44.748Z,1348234064.748 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-21T13:27:44.748Z,1348234064.748 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-21T13:27:45.856Z,1348234065.856 [Radio_Freewave](INFO): Powering down
2012-09-21T13:27:45.951Z,1348234065.951 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-21T13:27:45.971Z,1348234065.971 [Radio_Freewave](INFO): Powering up
2012-09-21T13:27:45.975Z,1348234065.975 [PAR_Licor](ERROR): PAR reading out of range: -0.058811 uMol/s/m2
2012-09-21T13:27:48.243Z,1348234068.243 [PAR_Licor](ERROR): PAR reading out of range: -0.038148 uMol/s/m2
2012-09-21T13:27:48.924Z,1348234068.924 [NAL9602](INFO): Powering up NAL9602
2012-09-21T13:27:49.399Z,1348234069.399 [AHRS_sp3003D](FAULT): Read Acceleration Vector Failure.
2012-09-21T13:27:49.400Z,1348234069.399 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-21T13:27:49.400Z,1348234069.399 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-21T13:27:49.890Z,1348234069.890 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-21T13:27:49.938Z,1348234069.938 [AHRS_sp3003D](INFO): Powering down
2012-09-21T13:27:50.826Z,1348234070.826 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-21T13:27:50.826Z,1348234070.826 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-21T13:27:51.563Z,1348234071.563 [DVL_micro](DEBUG): cmdResponse: 
2012-09-21T13:27:51.563Z,1348234071.563 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-21T13:27:51.658Z,1348234071.658 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-21T13:27:53.247Z,1348234073.247 [PAR_Licor](ERROR): PAR reading out of range: -0.017484 uMol/s/m2
2012-09-21T13:27:55.555Z,1348234075.555 [AHRS_sp3003D](FAULT): Read Heading/Pitch/Roll Failure.
2012-09-21T13:27:55.555Z,1348234075.555 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-21T13:27:55.555Z,1348234075.555 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-21T13:27:55.670Z,1348234075.670 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-21T13:27:55.710Z,1348234075.710 [AHRS_sp3003D](INFO): Powering down
2012-09-21T13:27:57.133Z,1348234077.133 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.797676
2012-09-21T13:27:57.135Z,1348234077.135 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-21T13:27:57.135Z,1348234077.135 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-21T13:27:58.083Z,1348234078.083 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-21T13:27:59.866Z,1348234079.866 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:Copyright(c) 2010
NAL Research Corporation
2012-09-21T13:27:59.866Z,1348234079.866 [NAL9602] Communications Fault, FailCount= 2
2012-09-21T13:27:59.867Z,1348234079.866 [NAL9602](ERROR): Communications Fault
2012-09-21T13:28:00.330Z,1348234080.330 [CBIT](ERROR): Communications Fault in component: NAL9602
2012-09-21T13:28:00.330Z,1348234080.330 [CBIT](CRITICAL): Communications Fault in component: NAL9602
2012-09-21T13:28:00.403Z,1348234080.403 [NAL9602](INFO): Powering down
2012-09-21T13:28:01.378Z,1348234081.378 [PAR_Licor](ERROR): PAR reading out of range: -0.232066 uMol/s/m2
2012-09-21T13:28:01.794Z,1348234081.795 [AHRS_sp3003D](FAULT): Read Magnetics Failure.
2012-09-21T13:28:01.795Z,1348234081.795 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-21T13:28:01.795Z,1348234081.795 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-21T13:28:01.867Z,1348234081.867 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-21T13:28:01.891Z,1348234081.891 [DVL_micro](DEBUG): cmdResponse: 
AUTO_VEL_ON 
2012-09-21T13:28:01.965Z,1348234081.964 [AHRS_sp3003D](INFO): Powering down
2012-09-21T13:28:01.979Z,1348234081.979 [DVL_micro](INFO): pause:Powering down
2012-09-21T13:28:01.980Z,1348234081.980 [DVL_micro](INFO): NQ1 requested
2012-09-21T13:28:01.981Z,1348234081.981 [DVL_micro](INFO): resume:Powering up
2012-09-21T13:28:02.102Z,1348234082.102 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-21T13:28:02.102Z,1348234082.102 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-21T13:28:03.155Z,1348234083.155 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-21T13:28:05.971Z,1348234085.971 [PAR_Licor](ERROR): PAR reading out of range: -0.014305 uMol/s/m2
2012-09-21T13:28:07.987Z,1348234087.987 [AHRS_sp3003D](FAULT): Read Acceleration Vector Failure.
2012-09-21T13:28:07.988Z,1348234087.987 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-21T13:28:07.988Z,1348234087.988 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-21T13:28:08.432Z,1348234088.432 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-21T13:28:08.515Z,1348234088.515 [AHRS_sp3003D](INFO): Powering down
2012-09-21T13:28:09.040Z,1348234089.040 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-21T13:28:09.040Z,1348234089.040 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-21T13:28:11.152Z,1348234091.152 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-21T13:28:11.606Z,1348234091.606 [PAR_Licor](ERROR): PAR reading out of range: -0.274983 uMol/s/m2
2012-09-21T13:28:11.664Z,1348234091.664 [CBIT](IMPORTANT): No ground fault detected
2012-09-21T13:28:13.499Z,1348234093.499 [DVL_micro](INFO): Querying output modes
2012-09-21T13:28:13.500Z,1348234093.500 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-21T13:28:13.834Z,1348234093.834 [AHRS_sp3003D](FAULT): Read Acceleration Vector Failure.
2012-09-21T13:28:13.834Z,1348234093.834 [AHRS_sp3003D] Communications Fault, FailCount= 2
2012-09-21T13:28:13.835Z,1348234093.835 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-21T13:28:13.873Z,1348234093.873 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-21T13:28:13.917Z,1348234093.917 [AHRS_sp3003D](INFO): Powering down
2012-09-21T13:28:14.753Z,1348234094.753 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-21T13:28:14.753Z,1348234094.753 [AHRS_sp3003D] No Fault, FailCount= 2
2012-09-21T13:28:15.325Z,1348234095.325 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-21T13:28:17.351Z,1348234097.351 [PAR_Licor](ERROR): PAR reading out of range: -0.047685 uMol/s/m2
2012-09-21T13:28:19.062Z,1348234099.062 [AHRS_sp3003D](FAULT): Read Acceleration Vector Failure.
2012-09-21T13:28:19.062Z,1348234099.062 [AHRS_sp3003D] Communications Fault, FailCount= 1
2012-09-21T13:28:19.062Z,1348234099.062 [AHRS_sp3003D](ERROR): Communications Fault
2012-09-21T13:28:19.520Z,1348234099.520 [CBIT](ERROR): Communications Fault in component: AHRS_sp3003D
2012-09-21T13:28:19.568Z,1348234099.568 [AHRS_sp3003D](INFO): Powering down
2012-09-21T13:28:20.776Z,1348234100.776 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-21T13:28:20.776Z,1348234100.776 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-21T13:28:21.006Z,1348234101.006 [CommandLine](IMPORTANT): got command quit
2012-09-21T13:28:21.218Z,1348234101.218 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-21T13:28:22.042Z,1348234102.042 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-09-21T13:28:22.043Z,1348234102.043 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-09-21T13:28:22.359Z,1348234102.359 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-09-21T13:28:22.423Z,1348234102.423 [WetLabsBB2FL](INFO): Powering down
2012-09-21T13:28:22.730Z,1348234102.730 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-09-21T13:28:23.119Z,1348234103.119 [Turbulence_NPS](INFO): Powering down
2012-09-21T13:28:23.458Z,1348234103.458 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-09-21T13:28:23.819Z,1348234103.819 [CTD_NeilBrown](INFO): Powering down
2012-09-21T13:28:23.835Z,1348234103.835 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-09-21T13:28:23.851Z,1348234103.851 [DVL_micro](DEBUG): cmdResponse: 
01 03 16
2012-09-21T13:28:23.851Z,1348234103.851 [DVL_micro](INFO): NQ1 output enabled
2012-09-21T13:28:23.851Z,1348234103.851 [DVL_micro](INFO): RSSI output enabled
2012-09-21T13:28:23.851Z,1348234103.851 [DVL_micro](INFO): ADCP output enabled
2012-09-21T13:28:23.851Z,1348234103.851 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-21T13:28:23.855Z,1348234103.855 [DVL_micro](DEBUG): cmdResponse: 
AUTO_VEL_ON 
2012-09-21T13:28:23.856Z,1348234103.856 [DVL_micro](INFO): uninitialize:Powering down
2012-09-21T13:28:23.860Z,1348234103.860 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-09-21T13:28:23.969Z,1348234103.969 [PAR_Licor](ERROR): PAR reading out of range: -0.031790 uMol/s/m2
2012-09-21T13:28:24.151Z,1348234104.151 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-09-21T13:28:24.159Z,1348234104.159 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-09-21T13:28:24.161Z,1348234104.161 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-09-21T13:28:24.315Z,1348234104.315 [controlThread](DEBUG): Uninitializing ControlThread
2012-09-21T13:28:24.315Z,1348234104.315 [AHRS_sp3003D](INFO): Powering down
2012-09-21T13:28:24.403Z,1348234104.403 [NAL9602](INFO): Powering down
2012-09-21T13:28:24.405Z,1348234104.405 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-21T13:28:24.405Z,1348234104.405 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-09-21T13:28:24.411Z,1348234104.411 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-09-21T13:28:24.411Z,1348234104.411 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-09-21T13:28:24.412Z,1348234104.412 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-09-21T13:28:24.412Z,1348234104.412 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-09-21T13:28:24.412Z,1348234104.412 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-09-21T13:28:24.412Z,1348234104.412 [BuoyancyServo](INFO): Powering down
2012-09-21T13:28:24.413Z,1348234104.413 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-21T13:28:24.414Z,1348234104.414 [RudderServo](INFO): Powering down
2012-09-21T13:28:24.414Z,1348234104.414 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-09-21T13:28:24.415Z,1348234104.415 [ThrusterServo](INFO): Powering down
2012-09-21T13:28:24.415Z,1348234104.415 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-09-21T13:28:24.416Z,1348234104.416 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-09-21T13:28:24.416Z,1348234104.416 [CBIT](DEBUG): Uninitialize CBIT Component.