2012-10-08T17:48:14.917Z,1349718494.917 [Supervisor](DEBUG): Initializing supervisor.
2012-10-08T17:48:14.921Z,1349718494.921 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-08T17:48:14.922Z,1349718494.922 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-08T17:48:14.926Z,1349718494.926 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-08T17:48:14.930Z,1349718494.930 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-08T17:48:14.941Z,1349718494.941 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-08T17:48:14.942Z,1349718494.942 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-08T17:48:14.943Z,1349718494.943 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-08T17:48:14.944Z,1349718494.944 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-08T17:48:14.947Z,1349718494.947 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-08T17:48:15.438Z,1349718495.438 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-08T17:48:15.441Z,1349718495.441 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-08T17:48:15.755Z,1349718495.755 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-08T17:48:15.755Z,1349718495.755 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-08T17:48:15.898Z,1349718495.898 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-08T17:48:15.900Z,1349718495.900 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-08T17:48:16.323Z,1349718496.323 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-08T17:48:16.323Z,1349718496.323 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-08T17:48:16.575Z,1349718496.575 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-08T17:48:16.591Z,1349718496.591 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-08T17:48:17.043Z,1349718497.043 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-08T17:48:17.044Z,1349718497.044 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-08T17:48:17.247Z,1349718497.247 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-08T17:48:17.249Z,1349718497.249 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-08T17:48:17.526Z,1349718497.526 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-08T17:48:17.529Z,1349718497.529 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-08T17:48:17.673Z,1349718497.673 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-08T17:48:17.673Z,1349718497.673 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-08T17:48:18.219Z,1349718498.219 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-08T17:48:18.220Z,1349718498.220 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-08T17:48:18.387Z,1349718498.387 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-08T17:48:18.388Z,1349718498.388 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-08T17:48:18.484Z,1349718498.484 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-08T17:48:18.488Z,1349718498.488 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-08T17:48:18.602Z,1349718498.602 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-08T17:48:18.754Z,1349718498.754 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-08T17:48:18.858Z,1349718498.858 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-08T17:48:18.972Z,1349718498.972 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-08T17:48:19.084Z,1349718499.084 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-08T17:48:19.220Z,1349718499.220 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-08T17:48:19.323Z,1349718499.323 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-08T17:48:19.424Z,1349718499.424 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-10-08T17:48:19.456Z,1349718499.456 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-08T17:48:19.655Z,1349718499.655 [InternalSim] Loaded
2012-10-08T17:48:19.655Z,1349718499.655 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-08T17:48:19.656Z,1349718499.656 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-08T17:48:19.656Z,1349718499.656 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-08T17:48:19.743Z,1349718499.743 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-08T17:48:19.761Z,1349718499.761 [SBIT] Loaded
2012-10-08T17:48:19.761Z,1349718499.761 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-08T17:48:19.762Z,1349718499.762 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-08T17:48:19.790Z,1349718499.790 [IBIT] Loaded
2012-10-08T17:48:19.790Z,1349718499.790 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-08T17:48:19.794Z,1349718499.794 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-08T17:48:19.934Z,1349718499.934 [CBIT] Loaded
2012-10-08T17:48:19.934Z,1349718499.934 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-08T17:48:19.935Z,1349718499.935 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-08T17:48:19.935Z,1349718499.935 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-08T17:48:20.112Z,1349718500.112 [BuoyancyServo] Loaded
2012-10-08T17:48:20.113Z,1349718500.113 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-08T17:48:20.122Z,1349718500.122 [ElevatorServo] Loaded
2012-10-08T17:48:20.122Z,1349718500.122 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-08T17:48:20.134Z,1349718500.134 [MassServo] Loaded
2012-10-08T17:48:20.134Z,1349718500.134 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-08T17:48:20.150Z,1349718500.150 [RudderServo] Loaded
2012-10-08T17:48:20.150Z,1349718500.150 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-08T17:48:20.162Z,1349718500.162 [ThrusterServo] Loaded
2012-10-08T17:48:20.162Z,1349718500.162 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-08T17:48:20.162Z,1349718500.162 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-08T17:48:20.163Z,1349718500.163 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-08T17:48:20.198Z,1349718500.198 [DepthRateCalculator] Loaded
2012-10-08T17:48:20.199Z,1349718500.198 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-08T17:48:25.036Z,1349718505.036 [HFRadarModelCalc] Loaded
2012-10-08T17:48:25.036Z,1349718505.036 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-08T17:48:25.052Z,1349718505.052 [NavChart] Loaded
2012-10-08T17:48:25.052Z,1349718505.052 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-08T17:48:25.058Z,1349718505.058 [PitchRateCalculator] Loaded
2012-10-08T17:48:25.058Z,1349718505.058 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-08T17:48:25.069Z,1349718505.069 [SpeedCalculator] Loaded
2012-10-08T17:48:25.069Z,1349718505.069 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-08T17:48:25.084Z,1349718505.084 [TempGradientCalculator] Loaded
2012-10-08T17:48:25.084Z,1349718505.084 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-08T17:48:25.090Z,1349718505.090 [YawRateCalculator] Loaded
2012-10-08T17:48:25.090Z,1349718505.090 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-08T17:48:25.116Z,1349718505.116 [Navigation] Loaded
2012-10-08T17:48:25.116Z,1349718505.116 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-08T17:48:25.117Z,1349718505.117 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-08T17:48:25.117Z,1349718505.117 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-08T17:48:25.416Z,1349718505.416 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-08T17:48:25.416Z,1349718505.416 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-08T17:48:25.460Z,1349718505.460 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-08T17:48:25.461Z,1349718505.461 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-08T17:48:25.529Z,1349718505.529 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-08T17:48:25.579Z,1349718505.579 [VerticalControl] Loaded
2012-10-08T17:48:25.580Z,1349718505.580 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-08T17:48:25.581Z,1349718505.581 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-08T17:48:25.601Z,1349718505.601 [HorizontalControl] Loaded
2012-10-08T17:48:25.601Z,1349718505.601 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-08T17:48:25.602Z,1349718505.602 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-08T17:48:25.604Z,1349718505.604 [SpeedControl] Loaded
2012-10-08T17:48:25.604Z,1349718505.604 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-08T17:48:25.605Z,1349718505.605 [LoopControl](DEBUG): Construct LoopControl.
2012-10-08T17:48:25.606Z,1349718505.606 [LoopControl] Loaded
2012-10-08T17:48:25.606Z,1349718505.606 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-08T17:48:25.610Z,1349718505.611 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-08T17:48:25.611Z,1349718505.611 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-08T17:48:25.623Z,1349718505.623 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-08T17:48:25.628Z,1349718505.628 [AsyncPiEstimator] Loaded
2012-10-08T17:48:25.628Z,1349718505.628 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-08T17:48:25.630Z,1349718505.630 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-08T17:48:25.631Z,1349718505.631 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-08T17:48:25.632Z,1349718505.632 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-08T17:48:25.821Z,1349718505.821 [AHRS_sp3003D] Loaded
2012-10-08T17:48:25.821Z,1349718505.821 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-08T17:48:25.835Z,1349718505.835 [Depth_Keller] Loaded
2012-10-08T17:48:25.835Z,1349718505.835 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-08T17:48:25.841Z,1349718505.841 [DropWeight] Loaded
2012-10-08T17:48:25.841Z,1349718505.841 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-08T17:48:25.979Z,1349718505.980 [DVL_micro] Loaded
2012-10-08T17:48:25.980Z,1349718505.980 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-08T17:48:25.982Z,1349718505.982 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-08T17:48:26.078Z,1349718506.078 [NAL9602] Loaded
2012-10-08T17:48:26.079Z,1349718506.079 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-08T17:48:26.137Z,1349718506.137 [Onboard] Loaded
2012-10-08T17:48:26.138Z,1349718506.138 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-08T17:48:26.144Z,1349718506.144 [Radio_Freewave] Loaded
2012-10-08T17:48:26.145Z,1349718506.145 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-08T17:48:26.146Z,1349718506.145 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-08T17:48:26.146Z,1349718506.146 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-08T17:48:26.255Z,1349718506.255 [CTD_NeilBrown] Loaded
2012-10-08T17:48:26.255Z,1349718506.255 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-08T17:48:26.258Z,1349718506.258 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-08T17:48:26.269Z,1349718506.269 [PAR_Licor] Loaded
2012-10-08T17:48:26.269Z,1349718506.269 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-08T17:48:26.289Z,1349718506.289 [Turbulence_NPS] Loaded
2012-10-08T17:48:26.290Z,1349718506.290 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-08T17:48:26.294Z,1349718506.294 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-08T17:48:26.329Z,1349718506.329 [WetLabsBB2FL] Loaded
2012-10-08T17:48:26.329Z,1349718506.329 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-08T17:48:26.334Z,1349718506.334 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-08T17:48:26.335Z,1349718506.335 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-08T17:48:26.337Z,1349718506.337 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-08T17:48:26.338Z,1349718506.338 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-08T17:48:26.348Z,1349718506.348 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-08T17:48:26.351Z,1349718506.351 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-08T17:48:26.355Z,1349718506.355 [Supervisor](DEBUG): Running supervisor.
2012-10-08T17:48:26.356Z,1349718506.356 [CommandLine](INFO): Thread ID is 750
2012-10-08T17:48:26.359Z,1349718506.359 [controlThread](INFO): Thread ID is 749
2012-10-08T17:48:26.359Z,1349718506.359 [controlThread](DEBUG): Initializing ControlThread
2012-10-08T17:48:26.360Z,1349718506.360 [CycleStarter](INFO): Thread ID is 748
2012-10-08T17:48:26.360Z,1349718506.360 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-08T17:48:26.466Z,1349718506.466 [AsyncPiEstimator](INFO): Thread ID is 816
2012-10-08T17:48:26.466Z,1349718506.466 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-08T17:48:26.536Z,1349718506.536 [DVL_micro](INFO): Thread ID is 817
2012-10-08T17:48:26.625Z,1349718506.625 [CTD_NeilBrown](INFO): Thread ID is 818
2012-10-08T17:48:26.625Z,1349718506.625 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-08T17:48:26.635Z,1349718506.635 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-08T17:48:26.669Z,1349718506.669 [DVL_micro](INFO): Initializing
2012-10-08T17:48:26.670Z,1349718506.670 [DVL_micro](INFO): start:Powering up
2012-10-08T17:48:26.670Z,1349718506.671 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-08T17:48:26.671Z,1349718506.671 [DVL_micro](INFO): Cycling power to configure device.
2012-10-08T17:48:26.675Z,1349718506.675 [Turbulence_NPS](INFO): Thread ID is 819
2012-10-08T17:48:26.676Z,1349718506.676 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-08T17:48:26.677Z,1349718506.677 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-08T17:48:26.691Z,1349718506.691 [WetLabsBB2FL](INFO): Thread ID is 820
2012-10-08T17:48:26.692Z,1349718506.692 [WetLabsBB2FL](INFO): Powering down
2012-10-08T17:48:26.718Z,1349718506.718 [SBIT](INFO): Initialize SBIT Component.
2012-10-08T17:48:26.718Z,1349718506.718 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9936
2012-10-08T17:48:26.727Z,1349718506.727 [NavChartDb](INFO): Thread ID is 821
2012-10-08T17:48:26.732Z,1349718506.732 [IBIT](INFO): Initialize IBIT Component.
2012-10-08T17:48:26.735Z,1349718506.735 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-08T17:48:26.735Z,1349718506.735 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-08T17:48:26.735Z,1349718506.736 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-08T17:48:26.796Z,1349718506.796 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-08T17:48:26.796Z,1349718506.796 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-08T17:48:26.797Z,1349718506.797 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-08T17:48:26.797Z,1349718506.797 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-08T17:48:26.797Z,1349718506.797 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-08T17:48:26.799Z,1349718506.799 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-08T17:48:26.799Z,1349718506.799 [Navigation](DEBUG): Initializing Navigation.
2012-10-08T17:48:26.800Z,1349718506.800 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-08T17:48:26.802Z,1349718506.802 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-08T17:48:26.805Z,1349718506.805 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-08T17:48:26.805Z,1349718506.805 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-08T17:48:26.823Z,1349718506.823 [Turbulence_NPS](INFO): Pause powering down
2012-10-08T17:48:26.836Z,1349718506.836 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-08T17:48:26.734Z,1349718506.734 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-08T17:48:26.837Z,1349718506.837 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-08T17:48:26.837Z,1349718506.837 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-08T17:48:26.838Z,1349718506.838 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-08T17:48:26.838Z,1349718506.838 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-08T17:48:26.873Z,1349718506.873 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T17:48:26.888Z,1349718506.888 [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>


2012-10-08T17:48:26.889Z,1349718506.889 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-08T17:48:26.990Z,1349718506.990 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-08T17:48:26.992Z,1349718506.992 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-08T17:48:26.995Z,1349718506.995 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T17:48:27.003Z,1349718507.003 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-08T17:48:27.006Z,1349718507.006 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T17:48:27.012Z,1349718507.012 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-08T17:48:27.021Z,1349718507.020 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-08T17:48:27.023Z,1349718507.023 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T17:48:27.028Z,1349718507.028 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-08T17:48:27.032Z,1349718507.032 [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>


2012-10-08T17:48:27.036Z,1349718507.036 [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,
2012-10-08T17:48:27.056Z,1349718507.056 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-08T17:48:27.273Z,1349718507.273 [Radio_Freewave](INFO): Powering up
2012-10-08T17:48:27.431Z,1349718507.431 [PAR_Licor](INFO): A/D timeout, 2 tries over 144 ms

2012-10-08T17:48:27.431Z,1349718507.431 [PAR_Licor] Data Fault, FailCount= 1
2012-10-08T17:48:27.431Z,1349718507.431 [PAR_Licor](ERROR): Data Fault
2012-10-08T17:48:27.520Z,1349718507.520 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:48:27.523Z,1349718507.523 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-08T17:48:27.529Z,1349718507.529 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:48:27.531Z,1349718507.531 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-08T17:48:27.537Z,1349718507.537 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:48:27.539Z,1349718507.539 [MassServo](DEBUG): Initializing MassServo.
2012-10-08T17:48:27.545Z,1349718507.545 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:48:27.546Z,1349718507.546 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-08T17:48:27.552Z,1349718507.552 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:48:27.555Z,1349718507.555 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-08T17:48:27.573Z,1349718507.573 [CBIT](ERROR): Data Fault in component: PAR_Licor
2012-10-08T17:48:27.573Z,1349718507.573 [CBIT](INFO): Clearing failed state for component PAR_Licor
2012-10-08T17:48:27.573Z,1349718507.573 [PAR_Licor] No Fault, FailCount= 1
2012-10-08T17:48:28.739Z,1349718508.739 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-08T17:48:28.739Z,1349718508.739 [DVL_micro](INFO): Querying output modes
2012-10-08T17:48:28.739Z,1349718508.740 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-08T17:48:28.743Z,1349718508.743 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-08T17:48:28.743Z,1349718508.743 [DVL_micro](INFO): NQ1 output enabled
2012-10-08T17:48:28.743Z,1349718508.743 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-08T17:48:28.747Z,1349718508.747 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-08T17:48:28.752Z,1349718508.751 [DVL_micro](INFO): pause:Powering down
2012-10-08T17:48:31.229Z,1349718511.229 [NAL9602](INFO): Powering up NAL9602
2012-10-08T17:48:31.407Z,1349718511.407 [BuoyancyServo](FAULT): Buoyancy initialization uart error:serial timeout
2012-10-08T17:48:31.407Z,1349718511.407 [BuoyancyServo] Communications Fault, FailCount= 1
2012-10-08T17:48:31.407Z,1349718511.407 [BuoyancyServo](ERROR): Communications Fault
2012-10-08T17:48:31.481Z,1349718511.481 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2012-10-08T17:48:31.896Z,1349718511.895 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-08T17:48:31.896Z,1349718511.896 [BuoyancyServo](INFO): Powering down
2012-10-08T17:48:32.013Z,1349718512.013 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2012-10-08T17:48:32.013Z,1349718512.013 [BuoyancyServo] No Fault, FailCount= 1
2012-10-08T17:48:33.148Z,1349718513.148 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-08T17:48:33.375Z,1349718513.375 [BuoyancyServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-08T17:48:33.375Z,1349718513.375 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-08T17:48:39.231Z,1349718519.231 [CommandLine](IMPORTANT): got command show stack
2012-10-08T17:48:39.231Z,1349718519.231 [CommandLine](INFO): Behavior Stack:

2012-10-08T17:48:39.231Z,1349718519.231 [MissionManager](INFO): Mission loaded, but not running.
2012-10-08T17:48:42.351Z,1349718522.351 [NAL9602](INFO): NAL9602 initialized
2012-10-08T17:48:43.009Z,1349718523.009 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-08T17:48:43.012Z,1349718523.012 [CBIT](IMPORTANT): Beginning GF scan
2012-10-08T17:48:57.249Z,1349718537.249 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.901049
2012-10-08T17:49:12.063Z,1349718552.063 [CBIT](IMPORTANT): No ground fault detected
2012-10-08T17:49:38.961Z,1349718578.961 [SBIT](FAULT): Mass: EXPECTED:0.000000 ACTUAL:-0.000052
2012-10-08T17:49:38.961Z,1349718578.961 [SBIT](FAULT): Control surface position failure.
2012-10-08T17:49:39.368Z,1349718579.368 [SBIT](CRITICAL): SBIT FAILED
2012-10-08T17:49:39.696Z,1349718579.696 [MissionManager](IMPORTANT): Started mission Startup
2012-10-08T17:49:39.696Z,1349718579.696 [Startup] Running Loop=1
2012-10-08T17:49:39.697Z,1349718579.697 [Startup](INFO): Aggregate::initialize Startup
2012-10-08T17:49:39.697Z,1349718579.697 [Startup:A.GoToSurface] Running Loop=1
2012-10-08T17:49:39.697Z,1349718579.697 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-08T17:49:39.703Z,1349718579.703 [Startup:StartupSatComms] Running Loop=1
2012-10-08T17:49:39.703Z,1349718579.703 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-08T17:49:39.703Z,1349718579.703 [Startup:StartupSatComms:A] Running Loop=1
2012-10-08T17:49:40.099Z,1349718580.099 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-10-08T17:49:54.991Z,1349718594.991 [CommandLine](IMPORTANT): got command failComponent
2012-10-08T17:49:54.991Z,1349718594.991 [CommandLine](IMPORTANT): Failed components:
2012-10-08T17:49:54.991Z,1349718594.991 [CommandLine](IMPORTANT): No failed Components.
2012-10-08T17:49:57.095Z,1349718597.095 [CommandLine](IMPORTANT): got command show stack
2012-10-08T17:49:57.095Z,1349718597.095 [CommandLine](INFO): Behavior Stack:

2012-10-08T17:49:57.095Z,1349718597.095 [Startup](INFO): Priority 0: Startup:A.GoToSurface
2012-10-08T17:49:57.095Z,1349718597.095 [Startup:StartupSatComms](INFO): Priority 1: Startup:StartupSatComms:A
2012-10-08T17:50:03.875Z,1349718603.875 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2012-10-08T17:50:03.876Z,1349718603.875 [CommandLine](IMPORTANT): platform_mass_position -0.005231 centimeter
2012-10-08T17:50:05.759Z,1349718605.759 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2012-10-08T17:50:05.760Z,1349718605.760 [CommandLine](IMPORTANT): platform_mass_position -0.005231 centimeter
2012-10-08T17:50:07.939Z,1349718607.939 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2012-10-08T17:50:07.939Z,1349718607.939 [CommandLine](IMPORTANT): platform_mass_position -0.005231 centimeter
2012-10-08T17:50:10.775Z,1349718610.775 [CommandLine](IMPORTANT): got command restart application
2012-10-08T17:50:11.826Z,1349718611.826 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-08T17:50:11.826Z,1349718611.826 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-08T17:50:12.022Z,1349718612.022 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-08T17:50:12.107Z,1349718612.107 [WetLabsBB2FL](INFO): Powering down
2012-10-08T17:50:12.123Z,1349718612.122 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-08T17:50:12.131Z,1349718612.131 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-10-08T17:50:12.142Z,1349718612.142 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-08T17:50:12.435Z,1349718612.435 [CTD_NeilBrown](INFO): Powering down
2012-10-08T17:50:12.442Z,1349718612.442 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-08T17:50:12.823Z,1349718612.823 [DVL_micro](INFO): uninitialize:Powering down
2012-10-08T17:50:12.843Z,1349718612.843 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-08T17:50:13.135Z,1349718613.135 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-08T17:50:13.143Z,1349718613.143 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-08T17:50:13.145Z,1349718613.145 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-08T17:50:13.195Z,1349718613.195 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-08T17:50:13.195Z,1349718613.195 [AHRS_sp3003D](INFO): Powering down
2012-10-08T17:50:13.283Z,1349718613.283 [NAL9602](INFO): Powering down
2012-10-08T17:50:13.285Z,1349718613.285 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-08T17:50:13.285Z,1349718613.286 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-08T17:50:13.290Z,1349718613.290 [Startup] Stopped
2012-10-08T17:50:13.290Z,1349718613.290 [Startup](INFO): Aggregate::uninitialize Startup
2012-10-08T17:50:13.290Z,1349718613.290 [Startup:A.GoToSurface] Stopped
2012-10-08T17:50:13.290Z,1349718613.290 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-08T17:50:13.290Z,1349718613.290 [Startup:StartupSatComms] Stopped
2012-10-08T17:50:13.290Z,1349718613.290 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-10-08T17:50:13.290Z,1349718613.290 [Startup:StartupSatComms:A] Stopped
2012-10-08T17:50:13.292Z,1349718613.292 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-08T17:50:13.292Z,1349718613.292 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-08T17:50:13.292Z,1349718613.292 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-08T17:50:13.293Z,1349718613.293 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-08T17:50:13.293Z,1349718613.293 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-08T17:50:13.293Z,1349718613.293 [BuoyancyServo](INFO): Powering down
2012-10-08T17:50:13.299Z,1349718613.299 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-08T17:50:13.299Z,1349718613.299 [ElevatorServo](INFO): Powering down
2012-10-08T17:50:13.299Z,1349718613.299 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-08T17:50:13.300Z,1349718613.300 [MassServo](INFO): Powering down
2012-10-08T17:50:13.300Z,1349718613.300 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-08T17:50:13.301Z,1349718613.300 [RudderServo](INFO): Powering down
2012-10-08T17:50:13.301Z,1349718613.301 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-08T17:50:13.301Z,1349718613.301 [ThrusterServo](INFO): Powering down
2012-10-08T17:50:13.302Z,1349718613.302 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-08T17:50:13.303Z,1349718613.303 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-08T17:50:13.303Z,1349718613.303 [CBIT](DEBUG): Uninitialize CBIT Component.