2012-10-08T20:37:36.848Z,1349728656.848 [Supervisor](DEBUG): Initializing supervisor.
2012-10-08T20:37:36.851Z,1349728656.851 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-08T20:37:36.851Z,1349728656.851 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-08T20:37:36.852Z,1349728656.852 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-08T20:37:36.856Z,1349728656.856 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-08T20:37:36.866Z,1349728656.866 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-08T20:37:36.867Z,1349728656.867 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-08T20:37:36.868Z,1349728656.868 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-08T20:37:36.869Z,1349728656.869 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-08T20:37:36.870Z,1349728656.870 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-08T20:37:37.161Z,1349728657.161 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-08T20:37:37.161Z,1349728657.161 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-08T20:37:37.340Z,1349728657.340 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-08T20:37:37.340Z,1349728657.341 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-08T20:37:37.425Z,1349728657.425 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-08T20:37:37.426Z,1349728657.425 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-08T20:37:37.623Z,1349728657.623 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-08T20:37:37.623Z,1349728657.623 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-08T20:37:37.753Z,1349728657.753 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-08T20:37:37.754Z,1349728657.754 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-08T20:37:37.976Z,1349728657.976 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-08T20:37:37.976Z,1349728657.977 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-08T20:37:38.142Z,1349728658.142 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-08T20:37:38.143Z,1349728658.143 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-08T20:37:38.383Z,1349728658.383 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-08T20:37:38.384Z,1349728658.384 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-08T20:37:38.481Z,1349728658.481 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-08T20:37:38.482Z,1349728658.482 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-08T20:37:38.868Z,1349728658.868 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-08T20:37:38.868Z,1349728658.868 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-08T20:37:38.981Z,1349728658.981 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-08T20:37:38.982Z,1349728658.982 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-08T20:37:39.067Z,1349728659.066 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-08T20:37:39.067Z,1349728659.067 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-08T20:37:39.168Z,1349728659.168 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-08T20:37:39.293Z,1349728659.293 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-08T20:37:39.378Z,1349728659.378 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-08T20:37:39.478Z,1349728659.478 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-08T20:37:39.576Z,1349728659.576 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-08T20:37:39.691Z,1349728659.691 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-08T20:37:39.781Z,1349728659.781 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-08T20:37:39.867Z,1349728659.867 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-10-08T20:37:39.896Z,1349728659.896 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-08T20:37:40.034Z,1349728660.034 [InternalSim] Loaded
2012-10-08T20:37:40.034Z,1349728660.034 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-08T20:37:40.035Z,1349728660.035 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-08T20:37:40.036Z,1349728660.036 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-08T20:37:40.092Z,1349728660.092 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-08T20:37:40.106Z,1349728660.106 [SBIT] Loaded
2012-10-08T20:37:40.106Z,1349728660.106 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-08T20:37:40.107Z,1349728660.107 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-08T20:37:40.134Z,1349728660.135 [IBIT] Loaded
2012-10-08T20:37:40.135Z,1349728660.135 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-08T20:37:40.138Z,1349728660.138 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-08T20:37:40.254Z,1349728660.254 [CBIT] Loaded
2012-10-08T20:37:40.254Z,1349728660.254 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-08T20:37:40.255Z,1349728660.255 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-08T20:37:40.255Z,1349728660.255 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-08T20:37:40.396Z,1349728660.396 [BuoyancyServo] Loaded
2012-10-08T20:37:40.397Z,1349728660.397 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-08T20:37:40.406Z,1349728660.406 [ElevatorServo] Loaded
2012-10-08T20:37:40.406Z,1349728660.406 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-08T20:37:40.418Z,1349728660.418 [MassServo] Loaded
2012-10-08T20:37:40.418Z,1349728660.418 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-08T20:37:40.430Z,1349728660.430 [RudderServo] Loaded
2012-10-08T20:37:40.430Z,1349728660.430 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-08T20:37:40.441Z,1349728660.441 [ThrusterServo] Loaded
2012-10-08T20:37:40.442Z,1349728660.442 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-08T20:37:40.442Z,1349728660.442 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-08T20:37:40.443Z,1349728660.443 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-08T20:37:40.460Z,1349728660.460 [DepthRateCalculator] Loaded
2012-10-08T20:37:40.460Z,1349728660.460 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-08T20:37:44.356Z,1349728664.356 [HFRadarModelCalc] Loaded
2012-10-08T20:37:44.356Z,1349728664.356 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-08T20:37:44.372Z,1349728664.372 [NavChart] Loaded
2012-10-08T20:37:44.373Z,1349728664.372 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-08T20:37:44.378Z,1349728664.378 [PitchRateCalculator] Loaded
2012-10-08T20:37:44.379Z,1349728664.379 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-08T20:37:44.385Z,1349728664.385 [SpeedCalculator] Loaded
2012-10-08T20:37:44.385Z,1349728664.385 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-08T20:37:44.400Z,1349728664.400 [TempGradientCalculator] Loaded
2012-10-08T20:37:44.400Z,1349728664.400 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-08T20:37:44.406Z,1349728664.406 [YawRateCalculator] Loaded
2012-10-08T20:37:44.406Z,1349728664.406 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-08T20:37:44.425Z,1349728664.425 [Navigation] Loaded
2012-10-08T20:37:44.425Z,1349728664.425 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-08T20:37:44.426Z,1349728664.426 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-08T20:37:44.426Z,1349728664.426 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-08T20:37:44.647Z,1349728664.647 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-08T20:37:44.647Z,1349728664.647 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-08T20:37:44.670Z,1349728664.670 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-08T20:37:44.670Z,1349728664.670 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-08T20:37:44.711Z,1349728664.711 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-08T20:37:44.754Z,1349728664.754 [VerticalControl] Loaded
2012-10-08T20:37:44.755Z,1349728664.755 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-08T20:37:44.756Z,1349728664.756 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-08T20:37:44.776Z,1349728664.776 [HorizontalControl] Loaded
2012-10-08T20:37:44.776Z,1349728664.776 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-08T20:37:44.777Z,1349728664.777 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-08T20:37:44.779Z,1349728664.779 [SpeedControl] Loaded
2012-10-08T20:37:44.779Z,1349728664.779 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-08T20:37:44.780Z,1349728664.780 [LoopControl](DEBUG): Construct LoopControl.
2012-10-08T20:37:44.780Z,1349728664.780 [LoopControl] Loaded
2012-10-08T20:37:44.781Z,1349728664.781 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-08T20:37:44.781Z,1349728664.781 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-08T20:37:44.782Z,1349728664.782 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-08T20:37:44.787Z,1349728664.787 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-08T20:37:44.792Z,1349728664.792 [AsyncPiEstimator] Loaded
2012-10-08T20:37:44.792Z,1349728664.792 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-08T20:37:44.793Z,1349728664.793 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-08T20:37:44.794Z,1349728664.794 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-08T20:37:44.795Z,1349728664.795 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-08T20:37:44.919Z,1349728664.919 [AHRS_sp3003D] Loaded
2012-10-08T20:37:44.919Z,1349728664.920 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-08T20:37:44.933Z,1349728664.933 [Depth_Keller] Loaded
2012-10-08T20:37:44.933Z,1349728664.933 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-08T20:37:44.939Z,1349728664.939 [DropWeight] Loaded
2012-10-08T20:37:44.939Z,1349728664.939 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-08T20:37:45.055Z,1349728665.055 [DVL_micro] Loaded
2012-10-08T20:37:45.055Z,1349728665.055 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-08T20:37:45.056Z,1349728665.056 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-08T20:37:45.138Z,1349728665.138 [NAL9602] Loaded
2012-10-08T20:37:45.138Z,1349728665.138 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-08T20:37:45.188Z,1349728665.188 [Onboard] Loaded
2012-10-08T20:37:45.188Z,1349728665.188 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-08T20:37:45.195Z,1349728665.195 [Radio_Freewave] Loaded
2012-10-08T20:37:45.195Z,1349728665.195 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-08T20:37:45.196Z,1349728665.196 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-08T20:37:45.197Z,1349728665.197 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-08T20:37:45.267Z,1349728665.267 [CTD_NeilBrown] Loaded
2012-10-08T20:37:45.268Z,1349728665.268 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-08T20:37:45.269Z,1349728665.269 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-08T20:37:45.279Z,1349728665.279 [PAR_Licor] Loaded
2012-10-08T20:37:45.279Z,1349728665.279 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-08T20:37:45.296Z,1349728665.296 [Turbulence_NPS] Loaded
2012-10-08T20:37:45.296Z,1349728665.296 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-08T20:37:45.297Z,1349728665.297 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-08T20:37:45.326Z,1349728665.326 [WetLabsBB2FL] Loaded
2012-10-08T20:37:45.326Z,1349728665.326 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-08T20:37:45.327Z,1349728665.328 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-08T20:37:45.328Z,1349728665.328 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-08T20:37:45.331Z,1349728665.330 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-08T20:37:45.331Z,1349728665.331 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-08T20:37:45.338Z,1349728665.338 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-08T20:37:45.339Z,1349728665.339 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-08T20:37:45.343Z,1349728665.343 [Supervisor](DEBUG): Running supervisor.
2012-10-08T20:37:45.344Z,1349728665.344 [CommandLine](INFO): Thread ID is 3621
2012-10-08T20:37:45.347Z,1349728665.347 [controlThread](INFO): Thread ID is 3620
2012-10-08T20:37:45.347Z,1349728665.347 [controlThread](DEBUG): Initializing ControlThread
2012-10-08T20:37:45.347Z,1349728665.347 [CycleStarter](INFO): Thread ID is 3619
2012-10-08T20:37:45.348Z,1349728665.348 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-08T20:37:45.383Z,1349728665.383 [AsyncPiEstimator](INFO): Thread ID is 3682
2012-10-08T20:37:45.383Z,1349728665.383 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-08T20:37:45.393Z,1349728665.393 [SBIT](INFO): Initialize SBIT Component.
2012-10-08T20:37:45.394Z,1349728665.394 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9936
2012-10-08T20:37:45.394Z,1349728665.394 [IBIT](INFO): Initialize IBIT Component.
2012-10-08T20:37:45.395Z,1349728665.395 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-08T20:37:45.396Z,1349728665.395 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-08T20:37:45.396Z,1349728665.396 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-08T20:37:45.397Z,1349728665.397 [DVL_micro](INFO): Thread ID is 3683
2012-10-08T20:37:45.406Z,1349728665.406 [DVL_micro](INFO): Initializing
2012-10-08T20:37:45.406Z,1349728665.406 [DVL_micro](INFO): start:Powering up
2012-10-08T20:37:45.407Z,1349728665.407 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-08T20:37:45.408Z,1349728665.408 [DVL_micro](INFO): Cycling power to configure device.
2012-10-08T20:37:45.415Z,1349728665.415 [CTD_NeilBrown](INFO): Thread ID is 3684
2012-10-08T20:37:45.416Z,1349728665.416 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-08T20:37:45.419Z,1349728665.419 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-08T20:37:45.425Z,1349728665.425 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-08T20:37:45.426Z,1349728665.426 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-08T20:37:45.426Z,1349728665.426 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-08T20:37:45.429Z,1349728665.429 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-08T20:37:45.430Z,1349728665.430 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-08T20:37:45.431Z,1349728665.431 [Turbulence_NPS](INFO): Thread ID is 3685
2012-10-08T20:37:45.432Z,1349728665.432 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-08T20:37:45.432Z,1349728665.432 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-08T20:37:45.444Z,1349728665.444 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-08T20:37:45.444Z,1349728665.444 [Navigation](DEBUG): Initializing Navigation.
2012-10-08T20:37:45.445Z,1349728665.445 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-08T20:37:45.451Z,1349728665.451 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-08T20:37:45.452Z,1349728665.452 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-08T20:37:45.453Z,1349728665.453 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-08T20:37:45.456Z,1349728665.455 [WetLabsBB2FL](INFO): Thread ID is 3686
2012-10-08T20:37:45.456Z,1349728665.456 [WetLabsBB2FL](INFO): Powering down
2012-10-08T20:37:45.486Z,1349728665.486 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-08T20:37:45.487Z,1349728665.487 [NavChartDb](INFO): Thread ID is 3687
2012-10-08T20:37:45.489Z,1349728665.489 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-08T20:37:45.490Z,1349728665.490 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-08T20:37:45.499Z,1349728665.499 [Turbulence_NPS](INFO): Pause powering down
2012-10-08T20:37:45.541Z,1349728665.541 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T20:37:45.552Z,1349728665.552 [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>


2012-10-08T20:37:45.552Z,1349728665.552 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-08T20:37:45.580Z,1349728665.580 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-08T20:37:45.582Z,1349728665.582 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-08T20:37:45.585Z,1349728665.585 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T20:37:45.593Z,1349728665.593 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-08T20:37:45.596Z,1349728665.596 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T20:37:45.603Z,1349728665.603 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-08T20:37:45.612Z,1349728665.612 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-08T20:37:45.615Z,1349728665.615 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-08T20:37:45.620Z,1349728665.620 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-08T20:37:45.624Z,1349728665.624 [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>


2012-10-08T20:37:45.628Z,1349728665.628 [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,
2012-10-08T20:37:45.649Z,1349728665.649 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-08T20:37:45.703Z,1349728665.703 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-08T20:37:45.703Z,1349728665.703 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-08T20:37:45.703Z,1349728665.703 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-08T20:37:46.359Z,1349728666.359 [Radio_Freewave](INFO): Powering up
2012-10-08T20:37:46.469Z,1349728666.469 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-08T20:37:46.471Z,1349728666.471 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-08T20:37:46.477Z,1349728666.477 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-08T20:37:46.478Z,1349728666.478 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-08T20:37:46.484Z,1349728666.484 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-08T20:37:46.487Z,1349728666.487 [MassServo](DEBUG): Initializing MassServo.
2012-10-08T20:37:46.492Z,1349728666.492 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-08T20:37:46.493Z,1349728666.493 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-08T20:37:46.500Z,1349728666.500 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-08T20:37:46.503Z,1349728666.503 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-08T20:37:47.695Z,1349728667.695 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-08T20:37:47.695Z,1349728667.695 [DVL_micro](INFO): Querying output modes
2012-10-08T20:37:47.696Z,1349728667.695 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-08T20:37:47.699Z,1349728667.699 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-08T20:37:47.699Z,1349728667.699 [DVL_micro](INFO): NQ1 output enabled
2012-10-08T20:37:47.699Z,1349728667.699 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-08T20:37:47.703Z,1349728667.703 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-08T20:37:47.708Z,1349728667.708 [DVL_micro](INFO): pause:Powering down
2012-10-08T20:37:50.489Z,1349728670.489 [NAL9602](INFO): Powering up NAL9602
2012-10-08T20:37:55.506Z,1349728675.506 [CBIT](CRITICAL): Environmental Failure. Press:15.513202 PSI. Humidity:19%. Temp:23 C. ABORTING MISSION
2012-10-08T20:38:01.362Z,1349728681.362 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-08T20:38:01.364Z,1349728681.364 [CBIT](IMPORTANT): Beginning GF scan
2012-10-08T20:38:01.607Z,1349728681.607 [NAL9602](INFO): NAL9602 initialized
2012-10-08T20:38:30.383Z,1349728710.383 [CBIT](IMPORTANT): No ground fault detected
2012-10-08T20:38:44.702Z,1349728724.702 [CBIT](CRITICAL): Environmental Failure. Press:15.513202 PSI. Humidity:19%. Temp:22 C. ABORTING MISSION
2012-10-08T20:38:56.168Z,1349728736.168 [SBIT](IMPORTANT): SBIT PASSED
2012-10-08T20:38:56.561Z,1349728736.561 [MissionManager](IMPORTANT): Started mission Startup
2012-10-08T20:38:56.561Z,1349728736.561 [Startup] Running Loop=1
2012-10-08T20:38:56.561Z,1349728736.561 [Startup](INFO): Aggregate::initialize Startup
2012-10-08T20:38:56.561Z,1349728736.561 [Startup:A.GoToSurface] Running Loop=1
2012-10-08T20:38:56.561Z,1349728736.561 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-08T20:38:56.567Z,1349728736.567 [Startup:StartupSatComms] Running Loop=1
2012-10-08T20:38:56.567Z,1349728736.567 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-08T20:38:56.567Z,1349728736.567 [Startup:StartupSatComms:A] Running Loop=1
2012-10-08T20:38:56.952Z,1349728736.952 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-10-08T20:39:56.953Z,1349728796.953 [Startup:StartupSatComms:A](INFO): Timed out from 2012-10-08T20:38:56.6Z
2012-10-08T20:39:56.953Z,1349728796.953 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2012-10-08T20:39:56.953Z,1349728796.953 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2012-10-08T20:39:56.953Z,1349728796.954 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2012-10-08T20:39:56.953Z,1349728796.954 [Startup:StartupSatComms:A] Stopped
2012-10-08T20:39:56.954Z,1349728796.954 [Startup:StartupSatComms:B] Running Loop=1
2012-10-08T20:39:57.358Z,1349728797.358 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-10-08T20:40:25.288Z,1349728825.288 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:19%. Temp:23 C. ABORTING MISSION
2012-10-08T20:40:57.468Z,1349728857.468 [Startup:StartupSatComms:B](INFO): Timed out from 2012-10-08T20:39:56.0Z
2012-10-08T20:40:57.468Z,1349728857.468 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2012-10-08T20:40:57.468Z,1349728857.468 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2012-10-08T20:40:57.469Z,1349728857.469 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2012-10-08T20:40:57.469Z,1349728857.469 [Startup:StartupSatComms:B] Stopped
2012-10-08T20:40:57.469Z,1349728857.469 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-10-08T20:40:57.469Z,1349728857.469 [Startup:StartupSatComms] Stopped
2012-10-08T20:40:57.469Z,1349728857.469 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-10-08T20:40:57.470Z,1349728857.470 [Startup](INFO): Completed Startup
2012-10-08T20:40:57.470Z,1349728857.470 [Startup] Stopped
2012-10-08T20:40:57.470Z,1349728857.470 [Startup](INFO): Aggregate::uninitialize Startup
2012-10-08T20:40:57.470Z,1349728857.470 [Startup:A.GoToSurface] Stopped
2012-10-08T20:40:57.471Z,1349728857.471 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-08T20:40:57.705Z,1349728857.704 [MissionManager](IMPORTANT): Started mission Default
2012-10-08T20:40:57.705Z,1349728857.705 [Default] Running Loop=1
2012-10-08T20:40:57.705Z,1349728857.705 [Default](INFO): Aggregate::initialize Default
2012-10-08T20:40:57.705Z,1349728857.705 [Default:D.SetSpeed] Running Loop=1
2012-10-08T20:40:57.705Z,1349728857.705 [Default:D.SetSpeed](DEBUG): Initialize.
2012-10-08T20:40:57.705Z,1349728857.705 [Default:E.GoToSurface] Running Loop=1
2012-10-08T20:40:57.705Z,1349728857.705 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-08T20:40:57.705Z,1349728857.705 [Default:Iridium] Running Loop=1
2012-10-08T20:40:57.706Z,1349728857.706 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-10-08T20:40:57.706Z,1349728857.706 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-10-08T20:40:57.706Z,1349728857.706 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-10-08T20:40:57.706Z,1349728857.706 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-10-08T20:40:57.706Z,1349728857.706 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-08T20:40:57.707Z,1349728857.707 [Default:E.GoToSurface] Running Loop=1
2012-10-08T20:40:57.712Z,1349728857.712 [Default:D.SetSpeed] Running Loop=1
2012-10-08T20:40:57.717Z,1349728857.717 [Default:CallIridium] Running Loop=1
2012-10-08T20:40:57.718Z,1349728857.718 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-10-08T20:40:57.718Z,1349728857.718 [Default:CallIridium:A] Running Loop=1
2012-10-08T20:40:57.722Z,1349728857.722 [Default:CallIridium:A] Stopped
2012-10-08T20:40:57.723Z,1349728857.723 [Default:CallIridium:B] Running Loop=1
2012-10-08T20:40:57.723Z,1349728857.723 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-10-08T20:40:57.728Z,1349728857.728 [Default:Iridium:B.GoToSurface] Stopped
2012-10-08T20:40:57.728Z,1349728857.728 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-08T20:40:57.728Z,1349728857.728 [Default:Iridium:Read_Iridium] Running Loop=1
2012-10-08T20:40:57.728Z,1349728857.728 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-10-08T20:40:57.733Z,1349728857.733 [Default:GPS] Running Loop=1
2012-10-08T20:40:57.734Z,1349728857.734 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-10-08T20:40:57.734Z,1349728857.734 [Default:GPS:A.SetSpeed] Running Loop=1
2012-10-08T20:40:57.734Z,1349728857.734 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-10-08T20:40:57.734Z,1349728857.734 [Default:GPS:B.GoToSurface] Running Loop=1
2012-10-08T20:40:57.734Z,1349728857.734 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-08T20:40:57.740Z,1349728857.740 [Default:GPS:B.GoToSurface] Stopped
2012-10-08T20:40:57.740Z,1349728857.740 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-08T20:40:57.740Z,1349728857.740 [Default:GPS:Read_GPS] Running Loop=1
2012-10-08T20:40:57.740Z,1349728857.740 [Default:GPS:A.SetSpeed] Running Loop=1
2012-10-08T20:40:58.103Z,1349728858.103 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-10-08T20:40:58.106Z,1349728858.106 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-10-08T20:41:40.741Z,1349728900.741 [CBIT](CRITICAL): Environmental Failure. Press:15.513202 PSI. Humidity:20%. Temp:22 C. ABORTING MISSION
2012-10-08T20:44:00.446Z,1349729040.446 [CBIT](CRITICAL): Environmental Failure. Press:15.513202 PSI. Humidity:20%. Temp:22 C. ABORTING MISSION
2012-10-08T20:44:21.491Z,1349729061.491 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:20%. Temp:22 C. ABORTING MISSION
2012-10-08T20:46:37.978Z,1349729197.978 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:20%. Temp:23 C. ABORTING MISSION
2012-10-08T20:48:03.792Z,1349729283.792 [NAL9602](FAULT): GPS failed to acquire within timeout.
2012-10-08T20:48:03.792Z,1349729283.792 [NAL9602] Data Fault, FailCount= 1
2012-10-08T20:48:03.792Z,1349729283.792 [NAL9602](ERROR): Data Fault
2012-10-08T20:48:03.815Z,1349729283.815 [CBIT](ERROR): Data Fault in component: NAL9602
2012-10-08T20:48:04.186Z,1349729284.186 [NAL9602](INFO): Powering down
2012-10-08T20:48:04.210Z,1349729284.210 [CBIT](INFO): Clearing failed state for component NAL9602
2012-10-08T20:48:04.211Z,1349729284.211 [NAL9602] No Fault, FailCount= 1
2012-10-08T20:48:09.392Z,1349729289.392 [NAL9602](INFO): Powering up NAL9602
2012-10-08T20:48:20.215Z,1349729300.215 [NAL9602](INFO): NAL9602 initialized
2012-10-08T20:48:33.642Z,1349729313.642 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:21%. Temp:23 C. ABORTING MISSION
2012-10-08T20:50:13.590Z,1349729413.590 [CBIT](CRITICAL): Environmental Failure. Press:15.513202 PSI. Humidity:21%. Temp:23 C. ABORTING MISSION
2012-10-08T20:50:34.798Z,1349729434.798 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:21%. Temp:22 C. ABORTING MISSION
2012-10-08T20:51:34.413Z,1349729494.413 [CBIT](CRITICAL): Environmental Failure. Press:15.513202 PSI. Humidity:21%. Temp:23 C. ABORTING MISSION
2012-10-08T20:51:54.751Z,1349729514.750 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:21%. Temp:23 C. ABORTING MISSION
2012-10-08T20:52:40.446Z,1349729560.446 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:21%. Temp:22 C. ABORTING MISSION
2012-10-08T20:53:38.143Z,1349729618.143 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:21%. Temp:22 C. ABORTING MISSION
2012-10-08T20:56:13.396Z,1349729773.397 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:21%. Temp:23 C. ABORTING MISSION
2012-10-08T20:56:47.282Z,1349729807.282 [CBIT](CRITICAL): Environmental Failure. Press:15.513202 PSI. Humidity:21%. Temp:22 C. ABORTING MISSION
2012-10-08T20:58:06.576Z,1349729886.576 [CBIT](CRITICAL): Environmental Failure. Press:15.513202 PSI. Humidity:21%. Temp:23 C. ABORTING MISSION
2012-10-08T20:58:22.583Z,1349729902.583 [NAL9602](FAULT): GPS failed to acquire within timeout.
2012-10-08T20:58:22.583Z,1349729902.583 [NAL9602] Data Fault, FailCount= 2
2012-10-08T20:58:22.583Z,1349729902.583 [NAL9602](ERROR): Data Fault
2012-10-08T20:58:22.607Z,1349729902.607 [CBIT](ERROR): Data Fault in component: NAL9602
2012-10-08T20:58:22.608Z,1349729902.608 [CBIT](CRITICAL): Data Fault in component: NAL9602
2012-10-08T20:58:23.012Z,1349729903.012 [NAL9602](INFO): Powering down
2012-10-08T20:58:45.408Z,1349729925.408 [CBIT](CRITICAL): Environmental Failure. Press:13.920176 PSI. Humidity:22%. Temp:22 C. ABORTING MISSION
2012-10-08T20:59:01.415Z,1349729941.415 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:21%. Temp:23 C. ABORTING MISSION
2012-10-08T20:59:21.408Z,1349729961.408 [CBIT](CRITICAL): Environmental Failure. Press:13.920176 PSI. Humidity:21%. Temp:23 C. ABORTING MISSION
2012-10-08T20:59:59.805Z,1349729999.805 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:21%. Temp:22 C. ABORTING MISSION
2012-10-08T21:00:17.012Z,1349730017.012 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:21%. Temp:23 C. ABORTING MISSION
2012-10-08T21:00:22.606Z,1349730022.606 [CBIT](INFO): Clearing failed count for component NAL9602
2012-10-08T21:00:22.606Z,1349730022.606 [NAL9602] No Fault, FailCount= 2
2012-10-08T21:00:22.984Z,1349730022.984 [NAL9602](INFO): Powering up NAL9602
2012-10-08T21:00:33.815Z,1349730033.815 [NAL9602](INFO): NAL9602 initialized
2012-10-08T21:01:11.896Z,1349730071.896 [CBIT](CRITICAL): Environmental Failure. Press:15.513202 PSI. Humidity:21%. Temp:22 C. ABORTING MISSION
2012-10-08T21:01:36.238Z,1349730096.238 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:21%. Temp:23 C. ABORTING MISSION
2012-10-08T21:02:20.522Z,1349730140.522 [CBIT](CRITICAL): Environmental Failure. Press:16.044213 PSI. Humidity:21%. Temp:22 C. ABORTING MISSION
2012-10-08T21:02:42.596Z,1349730162.596 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:22%. Temp:22 C. ABORTING MISSION
2012-10-08T21:03:10.161Z,1349730190.161 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:22%. Temp:23 C. ABORTING MISSION
2012-10-08T21:03:47.903Z,1349730227.903 [CommandLine](IMPORTANT): got command configSet CBIT.pressureThreshold 0.050000 pound_per_square_inch persist
2012-10-08T21:08:57.483Z,1349730537.483 [CommandLine](IMPORTANT): got command ibit
2012-10-08T21:08:57.875Z,1349730537.875 [IBIT](IMPORTANT): Beginning Initiated BIT
2012-10-08T21:08:57.875Z,1349730537.875 [IBIT](IMPORTANT): Beginning control surface checks.

2012-10-08T21:08:57.877Z,1349730537.877 [CBIT](IMPORTANT): Beginning GF scan
2012-10-08T21:08:58.657Z,1349730538.657 [Radio_Freewave](INFO): Powering down
2012-10-08T21:08:59.563Z,1349730539.563 [Radio_Freewave](INFO): Powering up
2012-10-08T21:09:24.743Z,1349730564.743 [CBIT](IMPORTANT): No ground fault detected
2012-10-08T21:10:36.174Z,1349730636.174 [NAL9602](FAULT): GPS failed to acquire within timeout.
2012-10-08T21:10:36.175Z,1349730636.174 [NAL9602] Data Fault, FailCount= 1
2012-10-08T21:10:36.175Z,1349730636.174 [NAL9602](ERROR): Data Fault
2012-10-08T21:10:36.196Z,1349730636.196 [CBIT](ERROR): Data Fault in component: NAL9602
2012-10-08T21:10:36.576Z,1349730636.576 [NAL9602](INFO): Powering down
2012-10-08T21:10:36.598Z,1349730636.598 [CBIT](INFO): Clearing failed state for component NAL9602
2012-10-08T21:10:36.598Z,1349730636.598 [NAL9602] No Fault, FailCount= 1
2012-10-08T21:10:41.777Z,1349730641.777 [NAL9602](INFO): Powering up NAL9602
2012-10-08T21:10:49.392Z,1349730649.392 [IBIT](FAULT): Error acquiring IBIT communications status. Timeout expired.
2012-10-08T21:10:49.796Z,1349730649.796 [IBIT](IMPORTANT): batteryCapacityThreshold: 5.000000 Ah
2012-10-08T21:10:49.796Z,1349730649.796 [IBIT](IMPORTANT): batteryVoltageThreshold: 13.500000 V
2012-10-08T21:10:49.797Z,1349730649.797 [IBIT](FAULT): Battery Data not active
2012-10-08T21:10:50.193Z,1349730650.193 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 %
2012-10-08T21:10:50.194Z,1349730650.194 [IBIT](IMPORTANT): bitPressureThreshold: 0.050000 psi
2012-10-08T21:10:50.194Z,1349730650.194 [IBIT](IMPORTANT): Pressure:15.513203 PSI
2012-10-08T21:10:50.195Z,1349730650.195 [IBIT](IMPORTANT): Humidity:21.741493 %
2012-10-08T21:10:50.596Z,1349730650.596 [IBIT](IMPORTANT): surfaceThreshold: 0.500000 m
2012-10-08T21:10:50.596Z,1349730650.596 [IBIT](IMPORTANT): buoyancyDefault: 945.000000 cc
2012-10-08T21:10:50.597Z,1349730650.597 [IBIT](IMPORTANT): stopDepth: 125.000000 m
2012-10-08T21:10:50.597Z,1349730650.597 [IBIT](IMPORTANT): abortDepth: 150.000000 m
2012-10-08T21:10:50.597Z,1349730650.597 [IBIT](IMPORTANT): IBIT FAILED
2012-10-08T21:10:52.599Z,1349730652.599 [NAL9602](INFO): NAL9602 initialized
2012-10-08T21:20:53.856Z,1349731253.856 [NAL9602](FAULT): GPS failed to acquire within timeout.
2012-10-08T21:20:53.856Z,1349731253.856 [NAL9602] Data Fault, FailCount= 2
2012-10-08T21:20:53.856Z,1349731253.856 [NAL9602](ERROR): Data Fault
2012-10-08T21:20:53.879Z,1349731253.879 [CBIT](ERROR): Data Fault in component: NAL9602
2012-10-08T21:20:53.879Z,1349731253.879 [CBIT](CRITICAL): Data Fault in component: NAL9602
2012-10-08T21:20:54.250Z,1349731254.250 [NAL9602](INFO): Powering down
2012-10-08T21:21:59.671Z,1349731319.671 [CommandLine](IMPORTANT): got command quit
2012-10-08T21:22:00.766Z,1349731320.766 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-08T21:22:00.766Z,1349731320.766 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-08T21:22:01.134Z,1349731321.134 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-08T21:22:01.204Z,1349731321.204 [WetLabsBB2FL](INFO): Powering down
2012-10-08T21:22:01.214Z,1349731321.214 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-08T21:22:01.607Z,1349731321.607 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-10-08T21:22:01.609Z,1349731321.609 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-08T21:22:02.012Z,1349731322.011 [CTD_NeilBrown](INFO): Powering down
2012-10-08T21:22:02.023Z,1349731322.023 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-08T21:22:02.415Z,1349731322.415 [DVL_micro](INFO): uninitialize:Powering down
2012-10-08T21:22:02.419Z,1349731322.420 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-08T21:22:02.715Z,1349731322.715 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-08T21:22:02.727Z,1349731322.727 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-08T21:22:02.729Z,1349731322.729 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-08T21:22:02.836Z,1349731322.836 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-08T21:22:02.837Z,1349731322.837 [AHRS_sp3003D](INFO): Powering down
2012-10-08T21:22:02.923Z,1349731322.923 [NAL9602](INFO): Powering down
2012-10-08T21:22:02.925Z,1349731322.925 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-08T21:22:02.925Z,1349731322.925 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-08T21:22:02.927Z,1349731322.927 [Default] Stopped
2012-10-08T21:22:02.927Z,1349731322.927 [Default](INFO): Aggregate::uninitialize Default
2012-10-08T21:22:02.927Z,1349731322.927 [Default:GPS] Stopped
2012-10-08T21:22:02.927Z,1349731322.927 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-10-08T21:22:02.927Z,1349731322.927 [Default:GPS:A.SetSpeed] Stopped
2012-10-08T21:22:02.927Z,1349731322.927 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-10-08T21:22:02.927Z,1349731322.927 [Default:GPS:Read_GPS] Stopped
2012-10-08T21:22:02.927Z,1349731322.927 [Default:Iridium] Stopped
2012-10-08T21:22:02.928Z,1349731322.928 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-10-08T21:22:02.928Z,1349731322.928 [Default:Iridium:A.SetSpeed] Stopped
2012-10-08T21:22:02.928Z,1349731322.928 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-10-08T21:22:02.928Z,1349731322.928 [Default:Iridium:Read_Iridium] Stopped
2012-10-08T21:22:02.928Z,1349731322.928 [Default:CallIridium] Stopped
2012-10-08T21:22:02.928Z,1349731322.928 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-10-08T21:22:02.928Z,1349731322.928 [Default:CallIridium:B] Stopped
2012-10-08T21:22:02.928Z,1349731322.928 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-10-08T21:22:02.928Z,1349731322.928 [Default:D.SetSpeed] Stopped
2012-10-08T21:22:02.928Z,1349731322.928 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-10-08T21:22:02.928Z,1349731322.928 [Default:E.GoToSurface] Stopped
2012-10-08T21:22:02.928Z,1349731322.928 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-08T21:22:02.933Z,1349731322.933 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-08T21:22:02.933Z,1349731322.933 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-08T21:22:02.933Z,1349731322.933 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-08T21:22:02.934Z,1349731322.934 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-08T21:22:02.934Z,1349731322.934 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-08T21:22:02.934Z,1349731322.934 [BuoyancyServo](INFO): Powering down
2012-10-08T21:22:02.939Z,1349731322.939 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-08T21:22:02.939Z,1349731322.939 [ElevatorServo](INFO): Powering down
2012-10-08T21:22:02.940Z,1349731322.940 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-08T21:22:02.940Z,1349731322.940 [MassServo](INFO): Powering down
2012-10-08T21:22:02.941Z,1349731322.941 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-08T21:22:02.941Z,1349731322.941 [RudderServo](INFO): Powering down
2012-10-08T21:22:02.941Z,1349731322.941 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-08T21:22:02.942Z,1349731322.941 [ThrusterServo](INFO): Powering down
2012-10-08T21:22:02.942Z,1349731322.942 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-08T21:22:02.943Z,1349731322.943 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-08T21:22:02.943Z,1349731322.943 [CBIT](DEBUG): Uninitialize CBIT Component.