2012-10-03T23:11:35.856Z,1349305895.856 [Supervisor](DEBUG): Initializing supervisor.
2012-10-03T23:11:35.860Z,1349305895.860 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-03T23:11:35.861Z,1349305895.861 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-03T23:11:35.862Z,1349305895.862 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-03T23:11:35.865Z,1349305895.865 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-03T23:11:35.876Z,1349305895.875 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-03T23:11:35.877Z,1349305895.876 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-03T23:11:35.877Z,1349305895.877 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-03T23:11:35.878Z,1349305895.878 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-03T23:11:35.881Z,1349305895.881 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-03T23:11:36.151Z,1349305896.151 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-03T23:11:36.153Z,1349305896.153 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-03T23:11:36.333Z,1349305896.333 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-03T23:11:36.333Z,1349305896.333 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-03T23:11:36.419Z,1349305896.419 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-03T23:11:36.421Z,1349305896.421 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-03T23:11:36.615Z,1349305896.615 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-03T23:11:36.616Z,1349305896.616 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-03T23:11:36.747Z,1349305896.747 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-03T23:11:36.749Z,1349305896.750 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-03T23:11:36.973Z,1349305896.973 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-03T23:11:36.973Z,1349305896.973 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-03T23:11:37.140Z,1349305897.140 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-03T23:11:37.142Z,1349305897.142 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-03T23:11:37.384Z,1349305897.384 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-03T23:11:37.386Z,1349305897.386 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-03T23:11:37.485Z,1349305897.485 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-03T23:11:37.486Z,1349305897.486 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-03T23:11:37.871Z,1349305897.871 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-03T23:11:37.871Z,1349305897.871 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-03T23:11:37.985Z,1349305897.985 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-03T23:11:37.986Z,1349305897.986 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-03T23:11:38.072Z,1349305898.072 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-03T23:11:38.076Z,1349305898.076 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-03T23:11:38.177Z,1349305898.177 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-03T23:11:38.305Z,1349305898.305 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-03T23:11:38.391Z,1349305898.391 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-03T23:11:38.492Z,1349305898.492 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-03T23:11:38.593Z,1349305898.593 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-03T23:11:38.709Z,1349305898.709 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-03T23:11:38.799Z,1349305898.799 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-03T23:11:38.886Z,1349305898.886 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-10-03T23:11:38.916Z,1349305898.916 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-03T23:11:39.085Z,1349305899.085 [InternalSim] Loaded
2012-10-03T23:11:39.085Z,1349305899.085 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-03T23:11:39.086Z,1349305899.086 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-03T23:11:39.087Z,1349305899.087 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-03T23:11:39.165Z,1349305899.165 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-03T23:11:39.178Z,1349305899.178 [SBIT] Loaded
2012-10-03T23:11:39.178Z,1349305899.178 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-03T23:11:39.179Z,1349305899.179 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-03T23:11:39.206Z,1349305899.206 [IBIT] Loaded
2012-10-03T23:11:39.206Z,1349305899.206 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-03T23:11:39.210Z,1349305899.210 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-03T23:11:39.324Z,1349305899.324 [CBIT] Loaded
2012-10-03T23:11:39.324Z,1349305899.324 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-03T23:11:39.324Z,1349305899.324 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-03T23:11:39.325Z,1349305899.325 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-03T23:11:39.488Z,1349305899.488 [BuoyancyServo] Loaded
2012-10-03T23:11:39.488Z,1349305899.489 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-03T23:11:39.497Z,1349305899.497 [ElevatorServo] Loaded
2012-10-03T23:11:39.498Z,1349305899.498 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-03T23:11:39.509Z,1349305899.509 [MassServo] Loaded
2012-10-03T23:11:39.509Z,1349305899.509 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-03T23:11:39.520Z,1349305899.520 [RudderServo] Loaded
2012-10-03T23:11:39.521Z,1349305899.521 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-03T23:11:39.532Z,1349305899.532 [ThrusterServo] Loaded
2012-10-03T23:11:39.532Z,1349305899.532 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-03T23:11:39.533Z,1349305899.533 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-03T23:11:39.533Z,1349305899.533 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-03T23:11:39.571Z,1349305899.571 [DepthRateCalculator] Loaded
2012-10-03T23:11:39.572Z,1349305899.572 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-03T23:11:43.369Z,1349305903.369 [HFRadarModelCalc] Loaded
2012-10-03T23:11:43.369Z,1349305903.369 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-03T23:11:43.385Z,1349305903.385 [NavChart] Loaded
2012-10-03T23:11:43.385Z,1349305903.385 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-03T23:11:43.391Z,1349305903.391 [PitchRateCalculator] Loaded
2012-10-03T23:11:43.391Z,1349305903.391 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-03T23:11:43.397Z,1349305903.397 [SpeedCalculator] Loaded
2012-10-03T23:11:43.397Z,1349305903.397 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-03T23:11:43.411Z,1349305903.411 [TempGradientCalculator] Loaded
2012-10-03T23:11:43.412Z,1349305903.412 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-03T23:11:43.417Z,1349305903.417 [YawRateCalculator] Loaded
2012-10-03T23:11:43.417Z,1349305903.417 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-03T23:11:43.436Z,1349305903.436 [Navigation] Loaded
2012-10-03T23:11:43.436Z,1349305903.436 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-03T23:11:43.437Z,1349305903.437 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-03T23:11:43.437Z,1349305903.437 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-03T23:11:43.693Z,1349305903.693 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-03T23:11:43.694Z,1349305903.694 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-03T23:11:43.733Z,1349305903.733 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-03T23:11:43.734Z,1349305903.734 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-03T23:11:43.792Z,1349305903.792 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-03T23:11:43.834Z,1349305903.834 [VerticalControl] Loaded
2012-10-03T23:11:43.834Z,1349305903.834 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-03T23:11:43.835Z,1349305903.835 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-03T23:11:43.855Z,1349305903.855 [HorizontalControl] Loaded
2012-10-03T23:11:43.855Z,1349305903.855 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-03T23:11:43.856Z,1349305903.856 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-03T23:11:43.858Z,1349305903.858 [SpeedControl] Loaded
2012-10-03T23:11:43.858Z,1349305903.858 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-03T23:11:43.859Z,1349305903.859 [LoopControl](DEBUG): Construct LoopControl.
2012-10-03T23:11:43.859Z,1349305903.859 [LoopControl] Loaded
2012-10-03T23:11:43.859Z,1349305903.859 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-03T23:11:43.860Z,1349305903.860 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-03T23:11:43.861Z,1349305903.861 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-03T23:11:43.868Z,1349305903.868 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-03T23:11:43.873Z,1349305903.873 [AsyncPiEstimator] Loaded
2012-10-03T23:11:43.873Z,1349305903.873 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-03T23:11:43.875Z,1349305903.875 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-03T23:11:43.875Z,1349305903.875 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-03T23:11:43.876Z,1349305903.876 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-03T23:11:44.038Z,1349305904.038 [AHRS_sp3003D] Loaded
2012-10-03T23:11:44.038Z,1349305904.038 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-03T23:11:44.052Z,1349305904.052 [Depth_Keller] Loaded
2012-10-03T23:11:44.052Z,1349305904.052 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-03T23:11:44.057Z,1349305904.057 [DropWeight] Loaded
2012-10-03T23:11:44.058Z,1349305904.058 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-03T23:11:44.170Z,1349305904.170 [DVL_micro] Loaded
2012-10-03T23:11:44.170Z,1349305904.170 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-03T23:11:44.171Z,1349305904.171 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-03T23:11:44.252Z,1349305904.251 [NAL9602] Loaded
2012-10-03T23:11:44.252Z,1349305904.252 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-03T23:11:44.301Z,1349305904.301 [Onboard] Loaded
2012-10-03T23:11:44.302Z,1349305904.302 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-03T23:11:44.308Z,1349305904.308 [Radio_Freewave] Loaded
2012-10-03T23:11:44.309Z,1349305904.309 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-03T23:11:44.310Z,1349305904.309 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-03T23:11:44.310Z,1349305904.310 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-03T23:11:44.403Z,1349305904.403 [CTD_NeilBrown] Loaded
2012-10-03T23:11:44.403Z,1349305904.403 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-03T23:11:44.404Z,1349305904.404 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-03T23:11:44.414Z,1349305904.414 [PAR_Licor] Loaded
2012-10-03T23:11:44.415Z,1349305904.415 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-03T23:11:44.431Z,1349305904.431 [Turbulence_NPS] Loaded
2012-10-03T23:11:44.431Z,1349305904.431 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-03T23:11:44.432Z,1349305904.432 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-03T23:11:44.461Z,1349305904.461 [WetLabsBB2FL] Loaded
2012-10-03T23:11:44.461Z,1349305904.461 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-03T23:11:44.462Z,1349305904.462 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-03T23:11:44.463Z,1349305904.463 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-03T23:11:44.465Z,1349305904.465 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-03T23:11:44.466Z,1349305904.466 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-03T23:11:44.475Z,1349305904.475 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-03T23:11:44.476Z,1349305904.476 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407D94E0
2012-10-03T23:11:44.481Z,1349305904.481 [Supervisor](DEBUG): Running supervisor.
2012-10-03T23:11:44.482Z,1349305904.482 [CommandLine](INFO): Thread ID is 746
2012-10-03T23:11:44.484Z,1349305904.484 [controlThread](INFO): Thread ID is 745
2012-10-03T23:11:44.484Z,1349305904.484 [controlThread](DEBUG): Initializing ControlThread
2012-10-03T23:11:44.485Z,1349305904.485 [CycleStarter](INFO): Thread ID is 744
2012-10-03T23:11:44.486Z,1349305904.486 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-03T23:11:44.585Z,1349305904.585 [AsyncPiEstimator](INFO): Thread ID is 807
2012-10-03T23:11:44.585Z,1349305904.585 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-03T23:11:44.647Z,1349305904.647 [DVL_micro](INFO): Thread ID is 808
2012-10-03T23:11:44.722Z,1349305904.722 [CTD_NeilBrown](INFO): Thread ID is 809
2012-10-03T23:11:44.722Z,1349305904.722 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-03T23:11:44.725Z,1349305904.725 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-03T23:11:44.746Z,1349305904.746 [DVL_micro](INFO): Initializing
2012-10-03T23:11:44.751Z,1349305904.751 [DVL_micro](INFO): start:Powering up
2012-10-03T23:11:44.752Z,1349305904.751 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T23:11:44.752Z,1349305904.752 [DVL_micro](INFO): Cycling power to configure device.
2012-10-03T23:11:44.772Z,1349305904.772 [Turbulence_NPS](INFO): Thread ID is 810
2012-10-03T23:11:44.772Z,1349305904.772 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-03T23:11:44.773Z,1349305904.773 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-03T23:11:44.786Z,1349305904.786 [SBIT](INFO): Initialize SBIT Component.
2012-10-03T23:11:44.786Z,1349305904.786 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9922
2012-10-03T23:11:44.791Z,1349305904.791 [IBIT](INFO): Initialize IBIT Component.
2012-10-03T23:11:44.792Z,1349305904.792 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-03T23:11:44.792Z,1349305904.792 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-03T23:11:44.793Z,1349305904.793 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2012-10-03T23:11:44.794Z,1349305904.794 [WetLabsBB2FL](INFO): Thread ID is 811
2012-10-03T23:11:44.794Z,1349305904.794 [WetLabsBB2FL](INFO): Powering down
2012-10-03T23:11:44.820Z,1349305904.820 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-03T23:11:44.821Z,1349305904.821 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-03T23:11:44.821Z,1349305904.821 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-03T23:11:44.821Z,1349305904.821 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-03T23:11:44.822Z,1349305904.822 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-03T23:11:44.824Z,1349305904.824 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-03T23:11:44.824Z,1349305904.824 [Navigation](DEBUG): Initializing Navigation.
2012-10-03T23:11:44.824Z,1349305904.824 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-03T23:11:44.828Z,1349305904.828 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-03T23:11:44.828Z,1349305904.829 [NavChartDb](INFO): Thread ID is 812
2012-10-03T23:11:44.835Z,1349305904.835 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-03T23:11:44.836Z,1349305904.836 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-03T23:11:44.837Z,1349305904.837 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-03T23:11:44.838Z,1349305904.838 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-03T23:11:44.848Z,1349305904.848 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-03T23:11:44.849Z,1349305904.849 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-03T23:11:44.849Z,1349305904.849 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-03T23:11:44.849Z,1349305904.849 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-03T23:11:44.880Z,1349305904.880 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-03T23:11:44.899Z,1349305904.899 [Turbulence_NPS](INFO): Pause powering down
2012-10-03T23:11:44.920Z,1349305904.920 [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>


2012-10-03T23:11:44.920Z,1349305904.920 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-03T23:11:44.957Z,1349305904.957 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-03T23:11:44.959Z,1349305904.959 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-03T23:11:44.962Z,1349305904.962 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-03T23:11:44.970Z,1349305904.970 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-03T23:11:44.973Z,1349305904.973 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-03T23:11:44.980Z,1349305904.980 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-03T23:11:44.989Z,1349305904.989 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-03T23:11:44.992Z,1349305904.992 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-03T23:11:44.997Z,1349305904.997 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-03T23:11:45.001Z,1349305905.000 [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>


2012-10-03T23:11:45.005Z,1349305905.005 [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,
2012-10-03T23:11:45.025Z,1349305905.026 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-03T23:11:45.535Z,1349305905.535 [Radio_Freewave](INFO): Powering up
2012-10-03T23:11:45.645Z,1349305905.645 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-03T23:11:45.647Z,1349305905.647 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-03T23:11:45.653Z,1349305905.653 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-03T23:11:45.654Z,1349305905.654 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-03T23:11:45.660Z,1349305905.660 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-03T23:11:45.663Z,1349305905.663 [MassServo](DEBUG): Initializing MassServo.
2012-10-03T23:11:45.669Z,1349305905.669 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-03T23:11:45.674Z,1349305905.674 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-03T23:11:45.675Z,1349305905.675 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-03T23:11:46.991Z,1349305906.991 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T23:11:46.991Z,1349305906.991 [DVL_micro](INFO): Querying output modes
2012-10-03T23:11:46.992Z,1349305906.991 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-03T23:11:46.995Z,1349305906.995 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-03T23:11:46.995Z,1349305906.995 [DVL_micro](INFO): NQ1 output enabled
2012-10-03T23:11:46.995Z,1349305906.995 [DVL_micro](INFO): RSSI output enabled
2012-10-03T23:11:46.995Z,1349305906.995 [DVL_micro](INFO): ADCP output enabled
2012-10-03T23:11:46.996Z,1349305906.996 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-03T23:11:47.003Z,1349305907.003 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-03T23:11:47.008Z,1349305907.008 [DVL_micro](INFO): pause:Powering down
2012-10-03T23:11:50.033Z,1349305910.033 [NAL9602](INFO): Powering up NAL9602