2012-10-02T18:23:10.987Z,1349202190.987 [Supervisor](DEBUG): Initializing supervisor.
2012-10-02T18:23:10.990Z,1349202190.990 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-02T18:23:10.990Z,1349202190.990 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-02T18:23:10.994Z,1349202190.994 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-02T18:23:10.998Z,1349202190.998 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-02T18:23:11.008Z,1349202191.008 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-02T18:23:11.010Z,1349202191.010 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-02T18:23:11.011Z,1349202191.011 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-02T18:23:11.012Z,1349202191.012 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-02T18:23:11.015Z,1349202191.015 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-02T18:23:11.311Z,1349202191.311 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-02T18:23:11.313Z,1349202191.313 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-02T18:23:11.512Z,1349202191.511 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-02T18:23:11.512Z,1349202191.512 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-02T18:23:11.606Z,1349202191.606 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-02T18:23:11.608Z,1349202191.608 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-02T18:23:11.811Z,1349202191.811 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-02T18:23:11.812Z,1349202191.812 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-02T18:23:11.958Z,1349202191.958 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-02T18:23:11.960Z,1349202191.960 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-02T18:23:12.204Z,1349202192.204 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-02T18:23:12.204Z,1349202192.204 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-02T18:23:12.394Z,1349202192.394 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-02T18:23:12.396Z,1349202192.396 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-02T18:23:12.664Z,1349202192.664 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-02T18:23:12.666Z,1349202192.666 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-02T18:23:12.779Z,1349202192.779 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-02T18:23:12.780Z,1349202192.780 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-02T18:23:13.204Z,1349202193.204 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-02T18:23:13.204Z,1349202193.204 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-02T18:23:13.325Z,1349202193.325 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-02T18:23:13.326Z,1349202193.326 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-02T18:23:13.419Z,1349202193.420 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-02T18:23:13.424Z,1349202193.424 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-02T18:23:13.536Z,1349202193.536 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-02T18:23:13.676Z,1349202193.676 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-02T18:23:13.770Z,1349202193.770 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-02T18:23:13.880Z,1349202193.880 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-02T18:23:13.988Z,1349202193.988 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-02T18:23:14.220Z,1349202194.220 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-02T18:23:14.404Z,1349202194.404 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-02T18:23:14.635Z,1349202194.635 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-10-02T18:23:18.611Z,1349202198.611 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-02T18:23:19.062Z,1349202199.062 [InternalSim] Loaded
2012-10-02T18:23:19.062Z,1349202199.062 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-02T18:23:19.063Z,1349202199.063 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-02T18:23:19.063Z,1349202199.063 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-02T18:23:19.145Z,1349202199.145 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-02T18:23:19.161Z,1349202199.161 [SBIT] Loaded
2012-10-02T18:23:19.162Z,1349202199.162 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-02T18:23:19.163Z,1349202199.163 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-02T18:23:19.189Z,1349202199.189 [IBIT] Loaded
2012-10-02T18:23:19.190Z,1349202199.190 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-02T18:23:19.193Z,1349202199.193 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-02T18:23:19.319Z,1349202199.319 [CBIT] Loaded
2012-10-02T18:23:19.319Z,1349202199.319 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-02T18:23:19.319Z,1349202199.319 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-02T18:23:19.320Z,1349202199.320 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-02T18:23:19.484Z,1349202199.484 [BuoyancyServo] Loaded
2012-10-02T18:23:19.484Z,1349202199.484 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-02T18:23:19.493Z,1349202199.493 [ElevatorServo] Loaded
2012-10-02T18:23:19.493Z,1349202199.493 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-02T18:23:19.505Z,1349202199.505 [MassServo] Loaded
2012-10-02T18:23:19.505Z,1349202199.505 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-02T18:23:19.521Z,1349202199.521 [RudderServo] Loaded
2012-10-02T18:23:19.521Z,1349202199.521 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-02T18:23:19.532Z,1349202199.532 [ThrusterServo] Loaded
2012-10-02T18:23:19.532Z,1349202199.532 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-02T18:23:19.533Z,1349202199.533 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-02T18:23:19.534Z,1349202199.533 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-02T18:23:19.570Z,1349202199.569 [DepthRateCalculator] Loaded
2012-10-02T18:23:19.570Z,1349202199.570 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-02T18:23:24.250Z,1349202204.250 [HFRadarModelCalc] Loaded
2012-10-02T18:23:24.250Z,1349202204.250 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-02T18:23:24.266Z,1349202204.266 [NavChart] Loaded
2012-10-02T18:23:24.266Z,1349202204.266 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-02T18:23:24.271Z,1349202204.272 [PitchRateCalculator] Loaded
2012-10-02T18:23:24.272Z,1349202204.272 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-02T18:23:24.278Z,1349202204.278 [SpeedCalculator] Loaded
2012-10-02T18:23:24.278Z,1349202204.278 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-02T18:23:24.292Z,1349202204.292 [TempGradientCalculator] Loaded
2012-10-02T18:23:24.292Z,1349202204.292 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-02T18:23:24.298Z,1349202204.298 [YawRateCalculator] Loaded
2012-10-02T18:23:24.298Z,1349202204.298 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-02T18:23:24.317Z,1349202204.317 [Navigation] Loaded
2012-10-02T18:23:24.317Z,1349202204.317 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-02T18:23:24.317Z,1349202204.318 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-02T18:23:24.318Z,1349202204.318 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-02T18:23:24.572Z,1349202204.572 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-02T18:23:24.572Z,1349202204.572 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-02T18:23:24.612Z,1349202204.612 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-02T18:23:24.612Z,1349202204.612 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-02T18:23:24.670Z,1349202204.670 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-02T18:23:24.711Z,1349202204.711 [VerticalControl] Loaded
2012-10-02T18:23:24.711Z,1349202204.711 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-02T18:23:24.712Z,1349202204.713 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-02T18:23:24.732Z,1349202204.732 [HorizontalControl] Loaded
2012-10-02T18:23:24.733Z,1349202204.733 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-02T18:23:24.734Z,1349202204.734 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-02T18:23:24.735Z,1349202204.735 [SpeedControl] Loaded
2012-10-02T18:23:24.735Z,1349202204.735 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-02T18:23:24.736Z,1349202204.736 [LoopControl](DEBUG): Construct LoopControl.
2012-10-02T18:23:24.737Z,1349202204.737 [LoopControl] Loaded
2012-10-02T18:23:24.737Z,1349202204.737 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-02T18:23:24.737Z,1349202204.737 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-02T18:23:24.738Z,1349202204.738 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-02T18:23:24.746Z,1349202204.746 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-02T18:23:24.751Z,1349202204.751 [AsyncPiEstimator] Loaded
2012-10-02T18:23:24.751Z,1349202204.751 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-02T18:23:24.752Z,1349202204.752 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-02T18:23:24.753Z,1349202204.753 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-02T18:23:24.753Z,1349202204.753 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-02T18:23:24.914Z,1349202204.914 [AHRS_sp3003D] Loaded
2012-10-02T18:23:24.914Z,1349202204.914 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-02T18:23:24.927Z,1349202204.927 [Depth_Keller] Loaded
2012-10-02T18:23:24.928Z,1349202204.928 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-02T18:23:24.933Z,1349202204.933 [DropWeight] Loaded
2012-10-02T18:23:24.933Z,1349202204.933 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-02T18:23:25.045Z,1349202205.045 [DVL_micro] Loaded
2012-10-02T18:23:25.045Z,1349202205.045 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-02T18:23:25.047Z,1349202205.046 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-02T18:23:25.126Z,1349202205.126 [NAL9602] Loaded
2012-10-02T18:23:25.126Z,1349202205.126 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-02T18:23:25.175Z,1349202205.175 [Onboard] Loaded
2012-10-02T18:23:25.176Z,1349202205.175 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-02T18:23:25.182Z,1349202205.182 [Radio_Freewave] Loaded
2012-10-02T18:23:25.183Z,1349202205.182 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-02T18:23:25.183Z,1349202205.183 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-02T18:23:25.184Z,1349202205.184 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-02T18:23:25.276Z,1349202205.276 [CTD_NeilBrown] Loaded
2012-10-02T18:23:25.276Z,1349202205.276 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-02T18:23:25.277Z,1349202205.277 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-02T18:23:25.287Z,1349202205.287 [PAR_Licor] Loaded
2012-10-02T18:23:25.287Z,1349202205.287 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-02T18:23:25.304Z,1349202205.304 [Turbulence_NPS] Loaded
2012-10-02T18:23:25.304Z,1349202205.304 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-02T18:23:25.305Z,1349202205.305 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-02T18:23:25.333Z,1349202205.333 [WetLabsBB2FL] Loaded
2012-10-02T18:23:25.334Z,1349202205.334 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-02T18:23:25.335Z,1349202205.335 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-02T18:23:25.335Z,1349202205.335 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-02T18:23:25.340Z,1349202205.340 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-02T18:23:25.341Z,1349202205.341 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-02T18:23:25.357Z,1349202205.357 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-02T18:23:25.359Z,1349202205.359 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407D94E0
2012-10-02T18:23:25.364Z,1349202205.364 [Supervisor](DEBUG): Running supervisor.
2012-10-02T18:23:25.365Z,1349202205.365 [CommandLine](INFO): Thread ID is 754
2012-10-02T18:23:25.368Z,1349202205.368 [controlThread](INFO): Thread ID is 753
2012-10-02T18:23:25.368Z,1349202205.368 [controlThread](DEBUG): Initializing ControlThread
2012-10-02T18:23:25.368Z,1349202205.368 [CycleStarter](INFO): Thread ID is 752
2012-10-02T18:23:25.369Z,1349202205.369 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-02T18:23:25.467Z,1349202205.467 [AsyncPiEstimator](INFO): Thread ID is 820
2012-10-02T18:23:25.468Z,1349202205.468 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-02T18:23:25.529Z,1349202205.529 [DVL_micro](INFO): Thread ID is 821
2012-10-02T18:23:25.605Z,1349202205.605 [CTD_NeilBrown](INFO): Thread ID is 822
2012-10-02T18:23:25.605Z,1349202205.605 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-02T18:23:25.608Z,1349202205.608 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-02T18:23:25.644Z,1349202205.644 [Turbulence_NPS](INFO): Thread ID is 823
2012-10-02T18:23:25.645Z,1349202205.645 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-02T18:23:25.645Z,1349202205.645 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-02T18:23:25.653Z,1349202205.653 [DVL_micro](INFO): Initializing
2012-10-02T18:23:25.653Z,1349202205.653 [DVL_micro](INFO): start:Powering up
2012-10-02T18:23:25.654Z,1349202205.654 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-02T18:23:25.655Z,1349202205.655 [DVL_micro](INFO): Cycling power to configure device.
2012-10-02T18:23:25.662Z,1349202205.662 [SBIT](INFO): Initialize SBIT Component.
2012-10-02T18:23:25.662Z,1349202205.662 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9914
2012-10-02T18:23:25.663Z,1349202205.663 [WetLabsBB2FL](INFO): Thread ID is 824
2012-10-02T18:23:25.664Z,1349202205.664 [WetLabsBB2FL](INFO): Powering down
2012-10-02T18:23:25.691Z,1349202205.691 [IBIT](INFO): Initialize IBIT Component.
2012-10-02T18:23:25.692Z,1349202205.692 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-02T18:23:25.692Z,1349202205.692 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-02T18:23:25.692Z,1349202205.692 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2012-10-02T18:23:25.693Z,1349202205.693 [NavChartDb](INFO): Thread ID is 825
2012-10-02T18:23:25.720Z,1349202205.720 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-02T18:23:25.720Z,1349202205.720 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-02T18:23:25.720Z,1349202205.720 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-02T18:23:25.721Z,1349202205.721 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-02T18:23:25.721Z,1349202205.721 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-02T18:23:25.722Z,1349202205.722 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-02T18:23:25.723Z,1349202205.723 [Navigation](DEBUG): Initializing Navigation.
2012-10-02T18:23:25.723Z,1349202205.723 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-02T18:23:25.725Z,1349202205.725 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-02T18:23:25.725Z,1349202205.725 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-02T18:23:25.726Z,1349202205.726 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-02T18:23:25.735Z,1349202205.735 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-02T18:23:25.797Z,1349202205.797 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T18:23:25.808Z,1349202205.808 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-02T18:23:25.809Z,1349202205.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-02T18:23:25.809Z,1349202205.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-02T18:23:25.809Z,1349202205.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-02T18:23:25.809Z,1349202205.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-02T18:23:25.814Z,1349202205.815 [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>


2012-10-02T18:23:25.815Z,1349202205.815 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-02T18:23:25.848Z,1349202205.848 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-02T18:23:25.851Z,1349202205.851 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-02T18:23:25.854Z,1349202205.854 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T18:23:25.862Z,1349202205.862 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-02T18:23:25.865Z,1349202205.865 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T18:23:25.872Z,1349202205.872 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-02T18:23:25.881Z,1349202205.881 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-02T18:23:25.884Z,1349202205.884 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-02T18:23:25.888Z,1349202205.888 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-02T18:23:25.892Z,1349202205.892 [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>


2012-10-02T18:23:25.896Z,1349202205.896 [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,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-10-02T18:23:25.917Z,1349202205.917 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-02T18:23:26.369Z,1349202206.369 [Radio_Freewave](INFO): Powering up
2012-10-02T18:23:26.551Z,1349202206.551 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-02T18:23:26.555Z,1349202206.555 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-02T18:23:26.561Z,1349202206.561 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-02T18:23:26.567Z,1349202206.567 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-02T18:23:26.568Z,1349202206.568 [MassServo](DEBUG): Initializing MassServo.
2012-10-02T18:23:26.574Z,1349202206.574 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-02T18:23:26.583Z,1349202206.583 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-02T18:23:26.585Z,1349202206.585 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-02T18:23:27.899Z,1349202207.899 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-02T18:23:27.899Z,1349202207.899 [DVL_micro](INFO): Querying output modes
2012-10-02T18:23:27.900Z,1349202207.899 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-02T18:23:27.903Z,1349202207.903 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-02T18:23:27.903Z,1349202207.903 [DVL_micro](INFO): NQ1 output enabled
2012-10-02T18:23:27.903Z,1349202207.903 [DVL_micro](INFO): RSSI output enabled
2012-10-02T18:23:27.903Z,1349202207.903 [DVL_micro](INFO): ADCP output enabled
2012-10-02T18:23:27.904Z,1349202207.904 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-02T18:23:27.911Z,1349202207.911 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-02T18:23:27.916Z,1349202207.916 [DVL_micro](INFO): pause:Powering down
2012-10-02T18:23:30.321Z,1349202210.321 [NAL9602](INFO): Powering up NAL9602
2012-10-02T18:23:41.044Z,1349202221.044 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-02T18:23:41.047Z,1349202221.047 [CBIT](IMPORTANT): Beginning GF scan
2012-10-02T18:23:41.383Z,1349202221.383 [NAL9602](INFO): NAL9602 initialized
2012-10-02T18:24:08.826Z,1349202248.826 [CBIT](IMPORTANT): No ground fault detected