2012-10-03T17:14:35.019Z,1349284475.019 [Supervisor](DEBUG): Initializing supervisor.
2012-10-03T17:14:35.023Z,1349284475.023 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-03T17:14:35.023Z,1349284475.023 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-03T17:14:35.024Z,1349284475.024 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-03T17:14:35.028Z,1349284475.028 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-03T17:14:35.038Z,1349284475.038 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-03T17:14:35.039Z,1349284475.039 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-03T17:14:35.040Z,1349284475.040 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-03T17:14:35.041Z,1349284475.041 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-03T17:14:35.044Z,1349284475.044 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-03T17:14:35.310Z,1349284475.310 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-03T17:14:35.312Z,1349284475.312 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-03T17:14:35.489Z,1349284475.489 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-03T17:14:35.490Z,1349284475.490 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-03T17:14:35.574Z,1349284475.574 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-03T17:14:35.576Z,1349284475.576 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-03T17:14:35.769Z,1349284475.769 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-03T17:14:35.770Z,1349284475.770 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-03T17:14:35.900Z,1349284475.900 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-03T17:14:35.902Z,1349284475.902 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-03T17:14:36.123Z,1349284476.123 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-03T17:14:36.124Z,1349284476.124 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-03T17:14:36.288Z,1349284476.288 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-03T17:14:36.291Z,1349284476.291 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-03T17:14:36.529Z,1349284476.529 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-03T17:14:36.531Z,1349284476.531 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-03T17:14:36.629Z,1349284476.629 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-03T17:14:36.629Z,1349284476.629 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-03T17:14:37.011Z,1349284477.011 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-03T17:14:37.012Z,1349284477.012 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-03T17:14:37.123Z,1349284477.123 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-03T17:14:37.124Z,1349284477.124 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-03T17:14:37.209Z,1349284477.209 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-03T17:14:37.213Z,1349284477.213 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-03T17:14:37.313Z,1349284477.313 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-03T17:14:37.439Z,1349284477.439 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-03T17:14:37.524Z,1349284477.524 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-03T17:14:37.624Z,1349284477.624 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-03T17:14:37.723Z,1349284477.723 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-03T17:14:37.871Z,1349284477.871 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-03T17:14:37.961Z,1349284477.961 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-03T17:14:38.047Z,1349284478.047 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-10-03T17:14:38.078Z,1349284478.078 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-03T17:14:38.247Z,1349284478.247 [InternalSim] Loaded
2012-10-03T17:14:38.248Z,1349284478.248 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-03T17:14:38.249Z,1349284478.249 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-03T17:14:38.249Z,1349284478.249 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-03T17:14:38.327Z,1349284478.327 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-03T17:14:38.340Z,1349284478.340 [SBIT] Loaded
2012-10-03T17:14:38.340Z,1349284478.340 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-03T17:14:38.341Z,1349284478.341 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-03T17:14:38.368Z,1349284478.368 [IBIT] Loaded
2012-10-03T17:14:38.368Z,1349284478.368 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-03T17:14:38.372Z,1349284478.372 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-03T17:14:38.485Z,1349284478.485 [CBIT] Loaded
2012-10-03T17:14:38.485Z,1349284478.485 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-03T17:14:38.486Z,1349284478.486 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-03T17:14:38.486Z,1349284478.486 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-03T17:14:38.648Z,1349284478.648 [BuoyancyServo] Loaded
2012-10-03T17:14:38.649Z,1349284478.649 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-03T17:14:38.658Z,1349284478.658 [ElevatorServo] Loaded
2012-10-03T17:14:38.658Z,1349284478.658 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-03T17:14:38.669Z,1349284478.669 [MassServo] Loaded
2012-10-03T17:14:38.669Z,1349284478.670 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-03T17:14:38.681Z,1349284478.681 [RudderServo] Loaded
2012-10-03T17:14:38.681Z,1349284478.681 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-03T17:14:38.692Z,1349284478.692 [ThrusterServo] Loaded
2012-10-03T17:14:38.692Z,1349284478.692 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-03T17:14:38.693Z,1349284478.693 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-03T17:14:38.694Z,1349284478.694 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-03T17:14:38.726Z,1349284478.726 [DepthRateCalculator] Loaded
2012-10-03T17:14:38.726Z,1349284478.726 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-03T17:14:42.419Z,1349284482.419 [HFRadarModelCalc] Loaded
2012-10-03T17:14:42.419Z,1349284482.419 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-03T17:14:42.435Z,1349284482.435 [NavChart] Loaded
2012-10-03T17:14:42.435Z,1349284482.435 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-03T17:14:42.440Z,1349284482.441 [PitchRateCalculator] Loaded
2012-10-03T17:14:42.441Z,1349284482.441 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-03T17:14:42.447Z,1349284482.447 [SpeedCalculator] Loaded
2012-10-03T17:14:42.447Z,1349284482.447 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-03T17:14:42.462Z,1349284482.462 [TempGradientCalculator] Loaded
2012-10-03T17:14:42.462Z,1349284482.462 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-03T17:14:42.468Z,1349284482.468 [YawRateCalculator] Loaded
2012-10-03T17:14:42.468Z,1349284482.468 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-03T17:14:42.487Z,1349284482.487 [Navigation] Loaded
2012-10-03T17:14:42.487Z,1349284482.487 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-03T17:14:42.488Z,1349284482.487 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-03T17:14:42.488Z,1349284482.488 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-03T17:14:42.744Z,1349284482.744 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-03T17:14:42.745Z,1349284482.745 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-03T17:14:42.783Z,1349284482.783 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-03T17:14:42.784Z,1349284482.784 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-03T17:14:42.843Z,1349284482.843 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-03T17:14:42.885Z,1349284482.885 [VerticalControl] Loaded
2012-10-03T17:14:42.885Z,1349284482.885 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-03T17:14:42.886Z,1349284482.886 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-03T17:14:42.906Z,1349284482.906 [HorizontalControl] Loaded
2012-10-03T17:14:42.906Z,1349284482.906 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-03T17:14:42.907Z,1349284482.907 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-03T17:14:42.909Z,1349284482.909 [SpeedControl] Loaded
2012-10-03T17:14:42.909Z,1349284482.909 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-03T17:14:42.910Z,1349284482.910 [LoopControl](DEBUG): Construct LoopControl.
2012-10-03T17:14:42.910Z,1349284482.910 [LoopControl] Loaded
2012-10-03T17:14:42.911Z,1349284482.911 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-03T17:14:42.911Z,1349284482.911 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-03T17:14:42.912Z,1349284482.912 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-03T17:14:42.920Z,1349284482.920 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-03T17:14:42.925Z,1349284482.925 [AsyncPiEstimator] Loaded
2012-10-03T17:14:42.925Z,1349284482.925 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-03T17:14:42.927Z,1349284482.927 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-03T17:14:42.928Z,1349284482.928 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-03T17:14:42.929Z,1349284482.929 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-03T17:14:43.105Z,1349284483.105 [AHRS_sp3003D] Loaded
2012-10-03T17:14:43.106Z,1349284483.106 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-03T17:14:43.119Z,1349284483.119 [Depth_Keller] Loaded
2012-10-03T17:14:43.119Z,1349284483.119 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-03T17:14:43.125Z,1349284483.125 [DropWeight] Loaded
2012-10-03T17:14:43.125Z,1349284483.125 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-03T17:14:43.236Z,1349284483.236 [DVL_micro] Loaded
2012-10-03T17:14:43.236Z,1349284483.237 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-03T17:14:43.238Z,1349284483.238 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-03T17:14:43.317Z,1349284483.316 [NAL9602] Loaded
2012-10-03T17:14:43.317Z,1349284483.317 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-03T17:14:43.366Z,1349284483.366 [Onboard] Loaded
2012-10-03T17:14:43.366Z,1349284483.366 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-03T17:14:43.373Z,1349284483.373 [Radio_Freewave] Loaded
2012-10-03T17:14:43.373Z,1349284483.373 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-03T17:14:43.374Z,1349284483.374 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-03T17:14:43.375Z,1349284483.375 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-03T17:14:43.468Z,1349284483.467 [CTD_NeilBrown] Loaded
2012-10-03T17:14:43.468Z,1349284483.468 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-03T17:14:43.469Z,1349284483.469 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-03T17:14:43.479Z,1349284483.479 [PAR_Licor] Loaded
2012-10-03T17:14:43.479Z,1349284483.479 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-03T17:14:43.495Z,1349284483.495 [Turbulence_NPS] Loaded
2012-10-03T17:14:43.496Z,1349284483.496 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-03T17:14:43.497Z,1349284483.497 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-03T17:14:43.525Z,1349284483.525 [WetLabsBB2FL] Loaded
2012-10-03T17:14:43.525Z,1349284483.526 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-03T17:14:43.527Z,1349284483.527 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-03T17:14:43.527Z,1349284483.527 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-03T17:14:43.529Z,1349284483.529 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-03T17:14:43.530Z,1349284483.530 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-03T17:14:43.539Z,1349284483.539 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-03T17:14:43.541Z,1349284483.541 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407D94E0
2012-10-03T17:14:43.545Z,1349284483.545 [Supervisor](DEBUG): Running supervisor.
2012-10-03T17:14:43.546Z,1349284483.546 [CommandLine](INFO): Thread ID is 2240
2012-10-03T17:14:43.549Z,1349284483.549 [controlThread](INFO): Thread ID is 2239
2012-10-03T17:14:43.549Z,1349284483.549 [controlThread](DEBUG): Initializing ControlThread
2012-10-03T17:14:43.550Z,1349284483.550 [CycleStarter](INFO): Thread ID is 2238
2012-10-03T17:14:43.551Z,1349284483.551 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-03T17:14:43.649Z,1349284483.649 [AsyncPiEstimator](INFO): Thread ID is 2301
2012-10-03T17:14:43.649Z,1349284483.649 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-03T17:14:43.711Z,1349284483.711 [DVL_micro](INFO): Thread ID is 2302
2012-10-03T17:14:43.787Z,1349284483.787 [CTD_NeilBrown](INFO): Thread ID is 2303
2012-10-03T17:14:43.787Z,1349284483.787 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-03T17:14:43.790Z,1349284483.790 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-03T17:14:43.820Z,1349284483.820 [Turbulence_NPS](INFO): Thread ID is 2304
2012-10-03T17:14:43.821Z,1349284483.820 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-03T17:14:43.821Z,1349284483.821 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-03T17:14:43.838Z,1349284483.838 [SBIT](INFO): Initialize SBIT Component.
2012-10-03T17:14:43.838Z,1349284483.838 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9922
2012-10-03T17:14:43.840Z,1349284483.839 [WetLabsBB2FL](INFO): Thread ID is 2305
2012-10-03T17:14:43.840Z,1349284483.840 [WetLabsBB2FL](INFO): Powering down
2012-10-03T17:14:43.859Z,1349284483.859 [DVL_micro](INFO): Initializing
2012-10-03T17:14:43.860Z,1349284483.860 [DVL_micro](INFO): start:Powering up
2012-10-03T17:14:43.860Z,1349284483.861 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T17:14:43.861Z,1349284483.861 [DVL_micro](INFO): Cycling power to configure device.
2012-10-03T17:14:43.863Z,1349284483.863 [IBIT](INFO): Initialize IBIT Component.
2012-10-03T17:14:43.864Z,1349284483.864 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-03T17:14:43.864Z,1349284483.864 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-03T17:14:43.864Z,1349284483.865 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-03T17:14:43.868Z,1349284483.868 [NavChartDb](INFO): Thread ID is 2306
2012-10-03T17:14:43.874Z,1349284483.874 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-03T17:14:43.891Z,1349284483.891 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-03T17:14:43.892Z,1349284483.892 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-03T17:14:43.892Z,1349284483.892 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-03T17:14:43.892Z,1349284483.892 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-03T17:14:43.904Z,1349284483.904 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-03T17:14:43.905Z,1349284483.905 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-03T17:14:43.905Z,1349284483.905 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-03T17:14:43.905Z,1349284483.905 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-03T17:14:43.906Z,1349284483.906 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-03T17:14:43.907Z,1349284483.907 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-03T17:14:43.908Z,1349284483.908 [Navigation](DEBUG): Initializing Navigation.
2012-10-03T17:14:43.908Z,1349284483.908 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-03T17:14:43.910Z,1349284483.910 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-03T17:14:43.911Z,1349284483.911 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-03T17:14:43.911Z,1349284483.911 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-03T17:14:43.932Z,1349284483.932 [Turbulence_NPS](INFO): Pause powering down
2012-10-03T17:14:43.954Z,1349284483.954 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-03T17:14:43.990Z,1349284483.990 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-03T17:14:44.001Z,1349284484.001 [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>


2012-10-03T17:14:44.002Z,1349284484.002 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-03T17:14:44.042Z,1349284484.042 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-03T17:14:44.044Z,1349284484.044 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-03T17:14:44.047Z,1349284484.047 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-03T17:14:44.055Z,1349284484.055 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-03T17:14:44.058Z,1349284484.058 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-03T17:14:44.065Z,1349284484.065 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-03T17:14:44.073Z,1349284484.073 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-03T17:14:44.076Z,1349284484.076 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-03T17:14:44.081Z,1349284484.081 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-03T17:14:44.085Z,1349284484.085 [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>


2012-10-03T17:14:44.089Z,1349284484.089 [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,
2012-10-03T17:14:44.110Z,1349284484.110 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-03T17:14:45.668Z,1349284485.668 [Radio_Freewave](INFO): Powering up
2012-10-03T17:14:45.887Z,1349284485.887 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-03T17:14:45.891Z,1349284485.891 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-03T17:14:45.898Z,1349284485.898 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-03T17:14:45.899Z,1349284485.899 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T17:14:45.899Z,1349284485.899 [DVL_micro](INFO): Querying output modes
2012-10-03T17:14:45.900Z,1349284485.900 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-03T17:14:45.901Z,1349284485.901 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-03T17:14:45.915Z,1349284485.915 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-03T17:14:45.919Z,1349284485.919 [MassServo](DEBUG): Initializing MassServo.
2012-10-03T17:14:45.925Z,1349284485.925 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-03T17:14:45.939Z,1349284485.939 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-03T17:14:45.940Z,1349284485.940 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-03T17:14:48.024Z,1349284488.024 [DVL_micro](DEBUG): cmdResponse: 
2012-10-03T17:14:48.024Z,1349284488.024 [DVL_micro](INFO): Output Modes: No Response
2012-10-03T17:14:48.025Z,1349284488.025 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-03T17:14:48.719Z,1349284488.719 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-10-03T17:14:48.719Z,1349284488.719 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-10-03T17:14:48.719Z,1349284488.719 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-10-03T17:14:48.719Z,1349284488.719 [AHRS_sp3003D](ERROR): Hardware Fault
2012-10-03T17:14:48.723Z,1349284488.723 [NAL9602](INFO): Powering up NAL9602
2012-10-03T17:14:49.205Z,1349284489.204 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-10-03T17:14:49.259Z,1349284489.259 [AHRS_sp3003D](INFO): Powering down
2012-10-03T17:14:49.377Z,1349284489.377 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-10-03T17:14:49.377Z,1349284489.377 [AHRS_sp3003D] No Fault, FailCount= 1
2012-10-03T17:14:50.026Z,1349284490.026 [DVL_micro](DEBUG): cmdResponse: 
2012-10-03T17:14:50.032Z,1349284490.032 [DVL_micro](INFO): pause:Powering down
2012-10-03T17:14:50.857Z,1349284490.857 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-03T17:14:52.391Z,1349284492.391 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-10-03T17:14:52.391Z,1349284492.391 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-10-03T17:14:52.391Z,1349284492.391 [AHRS_sp3003D] Hardware Fault, FailCount= 2
2012-10-03T17:14:52.391Z,1349284492.391 [AHRS_sp3003D](ERROR): Hardware Fault
2012-10-03T17:14:52.735Z,1349284492.735 [DVL_micro](INFO): NQ1 requested
2012-10-03T17:14:52.735Z,1349284492.736 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T17:14:52.736Z,1349284492.736 [DVL_micro](INFO): resume:Powering up
2012-10-03T17:14:52.736Z,1349284492.736 [DVL_micro](INFO): Cycling power to configure device.
2012-10-03T17:14:53.177Z,1349284493.177 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-10-03T17:14:53.243Z,1349284493.243 [AHRS_sp3003D](INFO): Powering down
2012-10-03T17:14:53.873Z,1349284493.873 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-10-03T17:14:53.873Z,1349284493.874 [AHRS_sp3003D] No Fault, FailCount= 2
2012-10-03T17:14:55.047Z,1349284495.047 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T17:14:55.047Z,1349284495.047 [DVL_micro](INFO): Querying output modes
2012-10-03T17:14:55.047Z,1349284495.047 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-03T17:14:55.866Z,1349284495.866 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-03T17:14:56.139Z,1349284496.139 [CommandLine](IMPORTANT): got command burn 2.000000
2012-10-03T17:14:56.987Z,1349284496.987 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-10-03T17:14:56.987Z,1349284496.987 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-10-03T17:14:56.987Z,1349284496.987 [AHRS_sp3003D] Hardware Fault, FailCount= 3
2012-10-03T17:14:56.987Z,1349284496.987 [AHRS_sp3003D](ERROR): Hardware Fault
2012-10-03T17:14:57.322Z,1349284497.322 [DVL_micro](DEBUG): cmdResponse: 
2012-10-03T17:14:57.323Z,1349284497.323 [DVL_micro](INFO): Output Modes: No Response
2012-10-03T17:14:57.323Z,1349284497.323 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-03T17:14:57.373Z,1349284497.373 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-10-03T17:14:57.421Z,1349284497.421 [AHRS_sp3003D](INFO): Powering down
2012-10-03T17:14:57.544Z,1349284497.544 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-10-03T17:14:57.544Z,1349284497.544 [AHRS_sp3003D] No Fault, FailCount= 3
2012-10-03T17:14:58.622Z,1349284498.622 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-03T17:14:59.495Z,1349284499.494 [DVL_micro](DEBUG): cmdResponse: 
2012-10-03T17:14:59.497Z,1349284499.497 [DVL_micro](INFO): pause:Powering down
2012-10-03T17:15:00.262Z,1349284500.263 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-10-03T17:15:00.263Z,1349284500.263 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-10-03T17:15:00.263Z,1349284500.263 [AHRS_sp3003D] Hardware Fault, FailCount= 4
2012-10-03T17:15:00.263Z,1349284500.263 [AHRS_sp3003D](ERROR): Hardware Fault
2012-10-03T17:15:00.483Z,1349284500.483 [DVL_micro](INFO): NQ1 requested
2012-10-03T17:15:00.484Z,1349284500.484 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T17:15:00.484Z,1349284500.484 [DVL_micro](INFO): resume:Powering up
2012-10-03T17:15:00.484Z,1349284500.484 [DVL_micro](INFO): Cycling power to configure device.
2012-10-03T17:15:00.943Z,1349284500.943 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-03T17:15:00.945Z,1349284500.945 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-10-03T17:15:00.945Z,1349284500.945 [CBIT](IMPORTANT): Beginning GF scan
2012-10-03T17:15:01.029Z,1349284501.029 [AHRS_sp3003D](INFO): Powering down
2012-10-03T17:15:01.151Z,1349284501.151 [NAL9602](INFO): NAL9602 initialized
2012-10-03T17:15:01.951Z,1349284501.951 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-10-03T17:15:01.951Z,1349284501.951 [AHRS_sp3003D] No Fault, FailCount= 4
2012-10-03T17:15:02.715Z,1349284502.715 [CommandLine](IMPORTANT): got command quit
2012-10-03T17:15:02.795Z,1349284502.795 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T17:15:02.796Z,1349284502.796 [DVL_micro](INFO): Querying output modes
2012-10-03T17:15:02.796Z,1349284502.796 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-03T17:15:02.850Z,1349284502.850 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-03T17:15:03.854Z,1349284503.855 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-03T17:15:03.855Z,1349284503.855 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-03T17:15:04.211Z,1349284504.211 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-10-03T17:15:04.211Z,1349284504.211 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-10-03T17:15:04.211Z,1349284504.211 [AHRS_sp3003D] Hardware Fault, FailCount= 5
2012-10-03T17:15:04.211Z,1349284504.211 [AHRS_sp3003D](ERROR): Hardware Fault
2012-10-03T17:15:04.859Z,1349284504.859 [DVL_micro](DEBUG): cmdResponse: 
2012-10-03T17:15:04.859Z,1349284504.859 [DVL_micro](INFO): Output Modes: No Response
2012-10-03T17:15:04.859Z,1349284504.859 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-03T17:15:05.874Z,1349284505.875 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-03T17:15:05.911Z,1349284505.911 [WetLabsBB2FL](INFO): Powering down
2012-10-03T17:15:05.914Z,1349284505.914 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-03T17:15:06.291Z,1349284506.291 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-10-03T17:15:06.295Z,1349284506.295 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-03T17:15:06.438Z,1349284506.438 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-10-03T17:15:06.439Z,1349284506.439 [CBIT](CRITICAL): Hardware Fault in component: AHRS_sp3003D
2012-10-03T17:15:06.528Z,1349284506.528 [AHRS_sp3003D](INFO): Powering down
2012-10-03T17:15:06.639Z,1349284506.639 [CTD_NeilBrown](INFO): Powering down
2012-10-03T17:15:06.655Z,1349284506.655 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-03T17:15:06.863Z,1349284506.862 [DVL_micro](DEBUG): cmdResponse: 
2012-10-03T17:15:06.863Z,1349284506.863 [DVL_micro](INFO): uninitialize:Powering down
2012-10-03T17:15:06.876Z,1349284506.875 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-03T17:15:06.987Z,1349284506.987 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-03T17:15:06.996Z,1349284506.996 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-03T17:15:07.004Z,1349284507.003 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-03T17:15:07.279Z,1349284507.279 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-03T17:15:07.279Z,1349284507.279 [AHRS_sp3003D](INFO): Powering down
2012-10-03T17:15:07.280Z,1349284507.280 [NAL9602](INFO): Powering down
2012-10-03T17:15:07.299Z,1349284507.299 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-03T17:15:07.300Z,1349284507.300 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-03T17:15:07.309Z,1349284507.309 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-03T17:15:07.310Z,1349284507.310 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-03T17:15:07.310Z,1349284507.310 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-03T17:15:07.315Z,1349284507.315 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-03T17:15:07.315Z,1349284507.315 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-03T17:15:07.315Z,1349284507.315 [BuoyancyServo](INFO): Powering down
2012-10-03T17:15:07.319Z,1349284507.319 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-03T17:15:07.319Z,1349284507.319 [ElevatorServo](INFO): Powering down
2012-10-03T17:15:07.320Z,1349284507.320 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-03T17:15:07.320Z,1349284507.320 [MassServo](INFO): Powering down
2012-10-03T17:15:07.321Z,1349284507.321 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-03T17:15:07.321Z,1349284507.321 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-03T17:15:07.321Z,1349284507.321 [ThrusterServo](INFO): Powering down
2012-10-03T17:15:07.322Z,1349284507.322 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-03T17:15:07.327Z,1349284507.327 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-03T17:15:07.327Z,1349284507.327 [CBIT](DEBUG): Uninitialize CBIT Component.