2012-10-09T15:55:18.852Z,1349798118.852 [Supervisor](DEBUG): Initializing supervisor.
2012-10-09T15:55:18.854Z,1349798118.855 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-09T15:55:18.855Z,1349798118.855 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-09T15:55:18.856Z,1349798118.856 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-09T15:55:18.860Z,1349798118.860 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-09T15:55:18.871Z,1349798118.871 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-09T15:55:18.872Z,1349798118.872 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-09T15:55:18.873Z,1349798118.873 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-09T15:55:18.873Z,1349798118.873 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-09T15:55:18.874Z,1349798118.874 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-09T15:55:19.148Z,1349798119.148 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-09T15:55:19.148Z,1349798119.148 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-09T15:55:19.329Z,1349798119.329 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-09T15:55:19.330Z,1349798119.330 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-09T15:55:19.416Z,1349798119.416 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-09T15:55:19.416Z,1349798119.416 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-09T15:55:19.616Z,1349798119.616 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-09T15:55:19.617Z,1349798119.617 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-09T15:55:19.747Z,1349798119.747 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-09T15:55:19.748Z,1349798119.748 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-09T15:55:19.971Z,1349798119.971 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-09T15:55:19.971Z,1349798119.971 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-09T15:55:20.138Z,1349798120.138 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-09T15:55:20.139Z,1349798120.139 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-09T15:55:20.382Z,1349798120.382 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-09T15:55:20.382Z,1349798120.382 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-09T15:55:20.480Z,1349798120.480 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-09T15:55:20.481Z,1349798120.480 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-09T15:55:20.876Z,1349798120.876 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-09T15:55:20.876Z,1349798120.876 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-09T15:55:20.989Z,1349798120.989 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-09T15:55:20.990Z,1349798120.990 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-09T15:55:21.074Z,1349798121.074 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-09T15:55:21.075Z,1349798121.075 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-09T15:55:21.175Z,1349798121.175 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-09T15:55:21.305Z,1349798121.305 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-09T15:55:21.390Z,1349798121.390 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-09T15:55:21.488Z,1349798121.489 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-09T15:55:21.586Z,1349798121.586 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-09T15:55:21.702Z,1349798121.702 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-09T15:55:21.818Z,1349798121.818 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-09T15:55:21.949Z,1349798121.949 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-09T15:55:21.981Z,1349798121.981 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-09T15:55:22.298Z,1349798122.298 [InternalSim] Loaded
2012-10-09T15:55:22.298Z,1349798122.298 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-09T15:55:22.299Z,1349798122.299 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-09T15:55:22.300Z,1349798122.300 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-09T15:55:22.392Z,1349798122.392 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-09T15:55:22.414Z,1349798122.414 [SBIT] Loaded
2012-10-09T15:55:22.414Z,1349798122.414 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-09T15:55:22.415Z,1349798122.415 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-09T15:55:22.460Z,1349798122.460 [IBIT] Loaded
2012-10-09T15:55:22.461Z,1349798122.461 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-09T15:55:22.464Z,1349798122.464 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-09T15:55:22.703Z,1349798122.704 [CBIT] Loaded
2012-10-09T15:55:22.704Z,1349798122.704 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-09T15:55:22.704Z,1349798122.704 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-09T15:55:22.705Z,1349798122.705 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-09T15:55:22.925Z,1349798122.925 [BuoyancyServo] Loaded
2012-10-09T15:55:22.925Z,1349798122.925 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-09T15:55:22.934Z,1349798122.934 [ElevatorServo] Loaded
2012-10-09T15:55:22.935Z,1349798122.935 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-09T15:55:22.959Z,1349798122.959 [MassServo] Loaded
2012-10-09T15:55:22.959Z,1349798122.959 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-09T15:55:22.984Z,1349798122.984 [RudderServo] Loaded
2012-10-09T15:55:22.984Z,1349798122.984 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-09T15:55:23.008Z,1349798123.008 [ThrusterServo] Loaded
2012-10-09T15:55:23.008Z,1349798123.008 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-09T15:55:23.009Z,1349798123.009 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-09T15:55:23.009Z,1349798123.009 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-09T15:55:23.047Z,1349798123.046 [DepthRateCalculator] Loaded
2012-10-09T15:55:23.047Z,1349798123.047 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-09T15:55:29.463Z,1349798129.463 [HFRadarModelCalc] Loaded
2012-10-09T15:55:29.463Z,1349798129.463 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-09T15:55:29.480Z,1349798129.480 [NavChart] Loaded
2012-10-09T15:55:29.480Z,1349798129.480 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-09T15:55:29.486Z,1349798129.486 [PitchRateCalculator] Loaded
2012-10-09T15:55:29.486Z,1349798129.486 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-09T15:55:29.493Z,1349798129.493 [SpeedCalculator] Loaded
2012-10-09T15:55:29.493Z,1349798129.493 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-09T15:55:29.508Z,1349798129.508 [TempGradientCalculator] Loaded
2012-10-09T15:55:29.508Z,1349798129.508 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-09T15:55:29.514Z,1349798129.514 [YawRateCalculator] Loaded
2012-10-09T15:55:29.515Z,1349798129.514 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-09T15:55:29.534Z,1349798129.534 [Navigation] Loaded
2012-10-09T15:55:29.534Z,1349798129.534 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-09T15:55:29.535Z,1349798129.535 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-09T15:55:29.535Z,1349798129.535 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-09T15:55:29.768Z,1349798129.768 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-09T15:55:29.768Z,1349798129.768 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-09T15:55:29.792Z,1349798129.792 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-09T15:55:29.792Z,1349798129.792 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-09T15:55:29.836Z,1349798129.836 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-09T15:55:29.881Z,1349798129.881 [VerticalControl] Loaded
2012-10-09T15:55:29.882Z,1349798129.882 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-09T15:55:29.883Z,1349798129.883 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-09T15:55:29.903Z,1349798129.903 [HorizontalControl] Loaded
2012-10-09T15:55:29.903Z,1349798129.903 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-09T15:55:29.904Z,1349798129.904 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-09T15:55:29.906Z,1349798129.906 [SpeedControl] Loaded
2012-10-09T15:55:29.906Z,1349798129.906 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-09T15:55:29.907Z,1349798129.907 [LoopControl](DEBUG): Construct LoopControl.
2012-10-09T15:55:29.908Z,1349798129.908 [LoopControl] Loaded
2012-10-09T15:55:29.908Z,1349798129.908 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-09T15:55:29.908Z,1349798129.908 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-09T15:55:29.909Z,1349798129.909 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-09T15:55:29.914Z,1349798129.914 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-09T15:55:29.919Z,1349798129.919 [AsyncPiEstimator] Loaded
2012-10-09T15:55:29.920Z,1349798129.920 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-09T15:55:29.921Z,1349798129.921 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-09T15:55:29.922Z,1349798129.921 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-09T15:55:29.922Z,1349798129.922 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-09T15:55:30.055Z,1349798130.055 [AHRS_sp3003D] Loaded
2012-10-09T15:55:30.055Z,1349798130.055 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-09T15:55:30.069Z,1349798130.069 [Depth_Keller] Loaded
2012-10-09T15:55:30.069Z,1349798130.069 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-09T15:55:30.075Z,1349798130.075 [DropWeight] Loaded
2012-10-09T15:55:30.075Z,1349798130.075 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-09T15:55:30.196Z,1349798130.196 [DVL_micro] Loaded
2012-10-09T15:55:30.196Z,1349798130.196 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-09T15:55:30.198Z,1349798130.197 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-09T15:55:30.281Z,1349798130.281 [NAL9602] Loaded
2012-10-09T15:55:30.282Z,1349798130.282 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-09T15:55:30.334Z,1349798130.334 [Onboard] Loaded
2012-10-09T15:55:30.334Z,1349798130.334 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-09T15:55:30.341Z,1349798130.341 [Radio_Freewave] Loaded
2012-10-09T15:55:30.341Z,1349798130.341 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-09T15:55:30.342Z,1349798130.342 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-09T15:55:30.343Z,1349798130.343 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-09T15:55:30.416Z,1349798130.416 [CTD_NeilBrown] Loaded
2012-10-09T15:55:30.416Z,1349798130.416 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-09T15:55:30.417Z,1349798130.417 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-09T15:55:30.428Z,1349798130.428 [PAR_Licor] Loaded
2012-10-09T15:55:30.428Z,1349798130.428 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-09T15:55:30.445Z,1349798130.445 [Turbulence_NPS] Loaded
2012-10-09T15:55:30.445Z,1349798130.445 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-09T15:55:30.446Z,1349798130.446 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-09T15:55:30.477Z,1349798130.477 [WetLabsBB2FL] Loaded
2012-10-09T15:55:30.477Z,1349798130.477 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-09T15:55:30.480Z,1349798130.480 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-09T15:55:30.481Z,1349798130.481 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-09T15:55:30.483Z,1349798130.483 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-09T15:55:30.484Z,1349798130.484 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-09T15:55:30.491Z,1349798130.491 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-09T15:55:30.493Z,1349798130.493 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-09T15:55:30.497Z,1349798130.497 [Supervisor](DEBUG): Running supervisor.
2012-10-09T15:55:30.498Z,1349798130.498 [CommandLine](INFO): Thread ID is 7158
2012-10-09T15:55:30.501Z,1349798130.501 [controlThread](INFO): Thread ID is 7157
2012-10-09T15:55:30.501Z,1349798130.501 [controlThread](DEBUG): Initializing ControlThread
2012-10-09T15:55:30.501Z,1349798130.501 [CycleStarter](INFO): Thread ID is 7156
2012-10-09T15:55:30.502Z,1349798130.502 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-09T15:55:30.535Z,1349798130.535 [AsyncPiEstimator](INFO): Thread ID is 7224
2012-10-09T15:55:30.535Z,1349798130.535 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-09T15:55:30.547Z,1349798130.547 [SBIT](INFO): Initialize SBIT Component.
2012-10-09T15:55:30.547Z,1349798130.547 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9939
2012-10-09T15:55:30.548Z,1349798130.548 [IBIT](INFO): Initialize IBIT Component.
2012-10-09T15:55:30.549Z,1349798130.549 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-09T15:55:30.549Z,1349798130.549 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-09T15:55:30.550Z,1349798130.550 [DVL_micro](INFO): Thread ID is 7225
2012-10-09T15:55:30.559Z,1349798130.559 [DVL_micro](INFO): Initializing
2012-10-09T15:55:30.559Z,1349798130.559 [DVL_micro](INFO): start:Powering up
2012-10-09T15:55:30.560Z,1349798130.560 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T15:55:30.561Z,1349798130.561 [DVL_micro](INFO): Cycling power to configure device.
2012-10-09T15:55:30.576Z,1349798130.576 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-09T15:55:30.576Z,1349798130.576 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-09T15:55:30.577Z,1349798130.577 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-09T15:55:30.577Z,1349798130.577 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-09T15:55:30.577Z,1349798130.577 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-09T15:55:30.581Z,1349798130.581 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-09T15:55:30.582Z,1349798130.582 [Navigation](DEBUG): Initializing Navigation.
2012-10-09T15:55:30.582Z,1349798130.582 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-09T15:55:30.584Z,1349798130.584 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-09T15:55:30.585Z,1349798130.585 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-09T15:55:30.585Z,1349798130.585 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-09T15:55:30.588Z,1349798130.588 [CTD_NeilBrown](INFO): Thread ID is 7226
2012-10-09T15:55:30.589Z,1349798130.589 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-09T15:55:30.592Z,1349798130.592 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-09T15:55:30.607Z,1349798130.607 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-09T15:55:30.611Z,1349798130.611 [Turbulence_NPS](INFO): Thread ID is 7227
2012-10-09T15:55:30.612Z,1349798130.612 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-09T15:55:30.613Z,1349798130.612 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-09T15:55:30.629Z,1349798130.629 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T15:55:30.632Z,1349798130.632 [WetLabsBB2FL](INFO): Thread ID is 7228
2012-10-09T15:55:30.632Z,1349798130.632 [WetLabsBB2FL](INFO): Powering down
2012-10-09T15:55:30.662Z,1349798130.662 [NavChartDb](INFO): Thread ID is 7229
2012-10-09T15:55:30.664Z,1349798130.664 [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>


2012-10-09T15:55:30.665Z,1349798130.665 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-09T15:55:30.694Z,1349798130.694 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-09T15:55:30.696Z,1349798130.696 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-09T15:55:30.700Z,1349798130.700 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T15:55:30.708Z,1349798130.708 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-09T15:55:30.711Z,1349798130.711 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T15:55:30.718Z,1349798130.718 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-09T15:55:30.728Z,1349798130.727 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-09T15:55:30.731Z,1349798130.731 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T15:55:30.736Z,1349798130.736 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-09T15:55:30.739Z,1349798130.740 [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>


2012-10-09T15:55:30.744Z,1349798130.744 [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,
2012-10-09T15:55:30.766Z,1349798130.766 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-09T15:55:30.819Z,1349798130.819 [Turbulence_NPS](INFO): Pause powering down
2012-10-09T15:55:30.851Z,1349798130.851 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-09T15:55:30.852Z,1349798130.852 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-09T15:55:30.852Z,1349798130.852 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-09T15:55:30.853Z,1349798130.853 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-09T15:55:30.853Z,1349798130.853 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-09T15:55:30.894Z,1349798130.894 [Radio_Freewave](INFO): Powering up
2012-10-09T15:55:30.998Z,1349798130.997 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-09T15:55:30.999Z,1349798130.999 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-09T15:55:31.005Z,1349798131.005 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-09T15:55:31.006Z,1349798131.006 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-09T15:55:31.012Z,1349798131.012 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-09T15:55:31.015Z,1349798131.015 [MassServo](DEBUG): Initializing MassServo.
2012-10-09T15:55:31.020Z,1349798131.020 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-09T15:55:31.022Z,1349798131.022 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-09T15:55:31.027Z,1349798131.027 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-09T15:55:31.031Z,1349798131.031 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-09T15:55:32.627Z,1349798132.627 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T15:55:32.627Z,1349798132.627 [DVL_micro](INFO): Querying output modes
2012-10-09T15:55:32.628Z,1349798132.628 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-09T15:55:32.631Z,1349798132.631 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-09T15:55:32.631Z,1349798132.631 [DVL_micro](INFO): NQ1 output enabled
2012-10-09T15:55:32.631Z,1349798132.631 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-09T15:55:32.639Z,1349798132.639 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-09T15:55:32.644Z,1349798132.644 [DVL_micro](INFO): pause:Powering down
2012-10-09T15:55:36.117Z,1349798136.117 [NAL9602](INFO): Powering up NAL9602
2012-10-09T15:55:46.230Z,1349798146.230 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-09T15:55:46.232Z,1349798146.232 [CBIT](IMPORTANT): Beginning GF scan
2012-10-09T15:55:46.599Z,1349798146.599 [NAL9602](INFO): NAL9602 initialized
2012-10-09T15:56:16.708Z,1349798176.708 [CBIT](IMPORTANT): No ground fault detected
2012-10-09T15:56:42.467Z,1349798202.467 [SBIT](IMPORTANT): SBIT PASSED
2012-10-09T15:56:42.681Z,1349798202.681 [MissionManager](IMPORTANT): Started mission Startup
2012-10-09T15:56:42.681Z,1349798202.681 [Startup] Running Loop=1
2012-10-09T15:56:42.681Z,1349798202.681 [Startup](INFO): Aggregate::initialize Startup
2012-10-09T15:56:42.681Z,1349798202.681 [Startup:A.GoToSurface] Running Loop=1
2012-10-09T15:56:42.681Z,1349798202.681 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-09T15:56:42.687Z,1349798202.687 [Startup:StartupSatComms] Running Loop=1
2012-10-09T15:56:42.688Z,1349798202.688 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-09T15:56:42.688Z,1349798202.688 [Startup:StartupSatComms:A] Running Loop=1
2012-10-09T15:56:43.066Z,1349798203.066 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-10-09T15:57:43.068Z,1349798263.068 [Startup:StartupSatComms:A](INFO): Timed out from 2012-10-09T15:56:42.7Z
2012-10-09T15:57:43.068Z,1349798263.069 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2012-10-09T15:57:43.069Z,1349798263.069 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2012-10-09T15:57:43.069Z,1349798263.069 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2012-10-09T15:57:43.069Z,1349798263.069 [Startup:StartupSatComms:A] Stopped
2012-10-09T15:57:43.069Z,1349798263.069 [Startup:StartupSatComms:B] Running Loop=1
2012-10-09T15:57:43.468Z,1349798263.468 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-10-09T15:58:43.156Z,1349798323.156 [Startup:StartupSatComms:B](INFO): Timed out from 2012-10-09T15:57:43.1Z
2012-10-09T15:58:43.156Z,1349798323.157 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2012-10-09T15:58:43.157Z,1349798323.157 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2012-10-09T15:58:43.157Z,1349798323.157 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2012-10-09T15:58:43.157Z,1349798323.157 [Startup:StartupSatComms:B] Stopped
2012-10-09T15:58:43.157Z,1349798323.157 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-10-09T15:58:43.157Z,1349798323.157 [Startup:StartupSatComms] Stopped
2012-10-09T15:58:43.157Z,1349798323.157 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-10-09T15:58:43.159Z,1349798323.158 [Startup](INFO): Completed Startup
2012-10-09T15:58:43.159Z,1349798323.159 [Startup] Stopped
2012-10-09T15:58:43.159Z,1349798323.159 [Startup](INFO): Aggregate::uninitialize Startup
2012-10-09T15:58:43.159Z,1349798323.159 [Startup:A.GoToSurface] Stopped
2012-10-09T15:58:43.159Z,1349798323.159 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-09T15:58:43.392Z,1349798323.392 [MissionManager](IMPORTANT): Started mission Default
2012-10-09T15:58:43.392Z,1349798323.392 [Default] Running Loop=1
2012-10-09T15:58:43.392Z,1349798323.392 [Default](INFO): Aggregate::initialize Default
2012-10-09T15:58:43.392Z,1349798323.392 [Default:D.SetSpeed] Running Loop=1
2012-10-09T15:58:43.392Z,1349798323.392 [Default:D.SetSpeed](DEBUG): Initialize.
2012-10-09T15:58:43.392Z,1349798323.392 [Default:E.GoToSurface] Running Loop=1
2012-10-09T15:58:43.392Z,1349798323.392 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-09T15:58:43.393Z,1349798323.393 [Default:Iridium] Running Loop=1
2012-10-09T15:58:43.393Z,1349798323.393 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-10-09T15:58:43.393Z,1349798323.393 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-10-09T15:58:43.393Z,1349798323.393 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-10-09T15:58:43.393Z,1349798323.393 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-10-09T15:58:43.393Z,1349798323.393 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-09T15:58:43.394Z,1349798323.394 [Default:E.GoToSurface] Running Loop=1
2012-10-09T15:58:43.399Z,1349798323.399 [Default:D.SetSpeed] Running Loop=1
2012-10-09T15:58:43.404Z,1349798323.404 [Default:CallIridium] Running Loop=1
2012-10-09T15:58:43.404Z,1349798323.404 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-10-09T15:58:43.405Z,1349798323.405 [Default:CallIridium:A] Running Loop=1
2012-10-09T15:58:43.407Z,1349798323.407 [Default:CallIridium:A] Stopped
2012-10-09T15:58:43.407Z,1349798323.407 [Default:CallIridium:B] Running Loop=1
2012-10-09T15:58:43.407Z,1349798323.407 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-10-09T15:58:43.412Z,1349798323.412 [Default:Iridium:B.GoToSurface] Stopped
2012-10-09T15:58:43.412Z,1349798323.412 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-09T15:58:43.412Z,1349798323.412 [Default:Iridium:Read_Iridium] Running Loop=1
2012-10-09T15:58:43.412Z,1349798323.412 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-10-09T15:58:43.417Z,1349798323.417 [Default:GPS] Running Loop=1
2012-10-09T15:58:43.418Z,1349798323.418 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-10-09T15:58:43.418Z,1349798323.418 [Default:GPS:A.SetSpeed] Running Loop=1
2012-10-09T15:58:43.418Z,1349798323.418 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-10-09T15:58:43.418Z,1349798323.418 [Default:GPS:B.GoToSurface] Running Loop=1
2012-10-09T15:58:43.418Z,1349798323.418 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-09T15:58:43.424Z,1349798323.424 [Default:GPS:B.GoToSurface] Stopped
2012-10-09T15:58:43.424Z,1349798323.424 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-09T15:58:43.424Z,1349798323.424 [Default:GPS:Read_GPS] Running Loop=1
2012-10-09T15:58:43.424Z,1349798323.424 [Default:GPS:A.SetSpeed] Running Loop=1
2012-10-09T15:58:43.795Z,1349798323.795 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-10-09T15:58:43.797Z,1349798323.797 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-10-09T16:00:02.499Z,1349798402.499 [CommandLine](IMPORTANT): got command show variable dropweight
2012-10-09T16:00:02.509Z,1349798402.509 [CommandLine](INFO): Config/Sensor.DropWeight_enable (bool)
2012-10-09T16:00:02.509Z,1349798402.509 [CommandLine](INFO): Config/Sensor.DropWeight_useHardware (bool)
2012-10-09T16:00:02.527Z,1349798402.527 [CommandLine](INFO): DropWeight.dropWeightState (bool)
2012-10-09T16:00:02.532Z,1349798402.532 [CommandLine](INFO): DropWeight.durationOfLastRun (second)
2012-10-09T16:00:20.267Z,1349798420.267 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:00:20.268Z,1349798420.268 [CommandLine](IMPORTANT): DropWeight.dropWeightState 1.000000 bool
2012-10-09T16:00:30.886Z,1349798430.886 [CBIT](FAULT): Humidity exceeds 50% of running average: Humidity:22 %. Average:14.110000
2012-10-09T16:02:40.223Z,1349798560.223 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:02:40.223Z,1349798560.223 [CommandLine](IMPORTANT): DropWeight.dropWeightState 1.000000 bool
2012-10-09T16:03:05.740Z,1349798585.740 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2012-10-09T16:03:05.740Z,1349798585.740 [DropWeight] Hardware Fault, FailCount= 1
2012-10-09T16:03:05.740Z,1349798585.740 [DropWeight](ERROR): Hardware Fault
2012-10-09T16:03:05.768Z,1349798585.768 [CBIT](ERROR): Hardware Fault in component: DropWeight
2012-10-09T16:03:05.768Z,1349798585.769 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2012-10-09T16:03:23.987Z,1349798603.987 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:03:23.987Z,1349798603.987 [CommandLine](IMPORTANT): DropWeight.dropWeightState 0.000000 bool
2012-10-09T16:03:51.707Z,1349798631.707 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:03:51.707Z,1349798631.707 [CommandLine](IMPORTANT): DropWeight.dropWeightState 0.000000 bool
2012-10-09T16:03:55.099Z,1349798635.099 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:03:55.099Z,1349798635.099 [CommandLine](IMPORTANT): DropWeight.dropWeightState 0.000000 bool
2012-10-09T16:03:56.943Z,1349798636.943 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:03:56.943Z,1349798636.943 [CommandLine](IMPORTANT): DropWeight.dropWeightState 0.000000 bool
2012-10-09T16:03:59.047Z,1349798639.047 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:03:59.047Z,1349798639.047 [CommandLine](IMPORTANT): DropWeight.dropWeightState 0.000000 bool
2012-10-09T16:04:01.147Z,1349798641.147 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:04:01.147Z,1349798641.148 [CommandLine](IMPORTANT): DropWeight.dropWeightState 0.000000 bool
2012-10-09T16:04:03.291Z,1349798643.291 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:04:03.291Z,1349798643.291 [CommandLine](IMPORTANT): DropWeight.dropWeightState 0.000000 bool
2012-10-09T16:04:05.255Z,1349798645.255 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:04:05.255Z,1349798645.255 [CommandLine](IMPORTANT): DropWeight.dropWeightState 0.000000 bool
2012-10-09T16:04:07.135Z,1349798647.135 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:04:07.135Z,1349798647.135 [CommandLine](IMPORTANT): DropWeight.dropWeightState 0.000000 bool
2012-10-09T16:04:20.523Z,1349798660.523 [CommandLine](IMPORTANT): got command report mod DropWeight.dropWeightState
2012-10-09T16:04:21.339Z,1349798661.339 [Reporter](INFO): DropWeight.dropWeightState no_value
2012-10-09T16:05:40.611Z,1349798740.611 [CommandLine](IMPORTANT): got command report periodic 1.000000 DropWeight.dropWeightState
2012-10-09T16:05:40.785Z,1349798740.785 [Reporter](INFO): DropWeight.dropWeightState no_value
2012-10-09T16:05:41.899Z,1349798741.899 [Reporter](INFO): DropWeight.dropWeightState no_value
2012-10-09T16:05:43.098Z,1349798743.098 [Reporter](INFO): DropWeight.dropWeightState no_value
2012-10-09T16:05:44.296Z,1349798744.296 [Reporter](INFO): DropWeight.dropWeightState no_value
2012-10-09T16:05:45.503Z,1349798745.503 [Reporter](INFO): DropWeight.dropWeightState no_value
2012-10-09T16:05:46.619Z,1349798746.619 [Reporter](INFO): DropWeight.dropWeightState no_value
2012-10-09T16:05:47.823Z,1349798747.823 [Reporter](INFO): DropWeight.dropWeightState no_value
2012-10-09T16:05:49.026Z,1349798749.026 [Reporter](INFO): DropWeight.dropWeightState no_value
2012-10-09T16:05:50.407Z,1349798750.407 [CommandLine](IMPORTANT): got command report clear
2012-10-09T16:05:51.702Z,1349798751.702 [NAL9602](FAULT): GPS failed to acquire within timeout.
2012-10-09T16:05:51.702Z,1349798751.702 [NAL9602] Data Fault, FailCount= 1
2012-10-09T16:05:51.702Z,1349798751.702 [NAL9602](ERROR): Data Fault
2012-10-09T16:05:51.725Z,1349798751.726 [CBIT](ERROR): Data Fault in component: NAL9602
2012-10-09T16:05:52.104Z,1349798752.104 [NAL9602](INFO): Powering down
2012-10-09T16:05:52.128Z,1349798752.128 [CBIT](INFO): Clearing failed state for component NAL9602
2012-10-09T16:05:52.128Z,1349798752.128 [NAL9602] No Fault, FailCount= 1
2012-10-09T16:05:57.011Z,1349798757.011 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:05:57.011Z,1349798757.011 [CommandLine](IMPORTANT): DropWeight.dropWeightState 0.000000 bool
2012-10-09T16:05:57.305Z,1349798757.305 [NAL9602](INFO): Powering up NAL9602
2012-10-09T16:06:08.127Z,1349798768.127 [NAL9602](INFO): NAL9602 initialized
2012-10-09T16:06:14.939Z,1349798774.939 [CommandLine](IMPORTANT): got command ibit
2012-10-09T16:06:15.239Z,1349798775.239 [IBIT](IMPORTANT): Beginning Initiated BIT
2012-10-09T16:06:15.239Z,1349798775.239 [IBIT](IMPORTANT): Beginning control surface checks.

2012-10-09T16:06:15.241Z,1349798775.240 [CBIT](IMPORTANT): Beginning GF scan
2012-10-09T16:06:16.524Z,1349798776.524 [Radio_Freewave](INFO): Powering down
2012-10-09T16:06:16.736Z,1349798776.736 [Radio_Freewave](INFO): Powering up
2012-10-09T16:06:41.434Z,1349798801.434 [CBIT](IMPORTANT): No ground fault detected
2012-10-09T16:08:05.790Z,1349798885.790 [IBIT](FAULT): Error acquiring IBIT communications status. Timeout expired.
2012-10-09T16:08:05.792Z,1349798885.792 [CBIT](INFO): Clearing failed count for component DropWeight
2012-10-09T16:08:05.792Z,1349798885.792 [DropWeight] No Fault, FailCount= 1
2012-10-09T16:08:06.192Z,1349798886.192 [IBIT](IMPORTANT): batteryCapacityThreshold: 5.000000 Ah
2012-10-09T16:08:06.192Z,1349798886.192 [IBIT](IMPORTANT): batteryVoltageThreshold: 13.500000 V
2012-10-09T16:08:06.193Z,1349798886.193 [IBIT](FAULT): Battery Data not active
2012-10-09T16:08:06.592Z,1349798886.592 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 %
2012-10-09T16:08:06.592Z,1349798886.592 [IBIT](IMPORTANT): bitPressureThreshold: 0.100000 psi
2012-10-09T16:08:06.592Z,1349798886.592 [IBIT](IMPORTANT): Pressure:18.168247 PSI
2012-10-09T16:08:06.593Z,1349798886.593 [IBIT](IMPORTANT): Humidity:18.771555 %
2012-10-09T16:08:06.990Z,1349798886.990 [IBIT](IMPORTANT): surfaceThreshold: 0.500000 m
2012-10-09T16:08:06.990Z,1349798886.990 [IBIT](IMPORTANT): buoyancyDefault: 945.000000 cc
2012-10-09T16:08:06.990Z,1349798886.990 [IBIT](IMPORTANT): stopDepth: 125.000000 m
2012-10-09T16:08:06.991Z,1349798886.991 [IBIT](IMPORTANT): abortDepth: 150.000000 m
2012-10-09T16:08:06.991Z,1349798886.991 [IBIT](IMPORTANT): IBIT FAILED
2012-10-09T16:08:34.599Z,1349798914.599 [CommandLine](IMPORTANT): got command get DropWeight.dropWeightState
2012-10-09T16:08:34.599Z,1349798914.599 [CommandLine](IMPORTANT): DropWeight.dropWeightState 1.000000 bool
2012-10-09T16:12:10.919Z,1349799130.919 [CommandLine](IMPORTANT): got command report
2012-10-09T16:12:23.651Z,1349799143.651 [CommandLine](IMPORTANT): got command show stack
2012-10-09T16:12:23.652Z,1349799143.652 [CommandLine](INFO): Behavior Stack:

2012-10-09T16:12:23.652Z,1349799143.652 [Default:GPS](INFO): Priority 0: Default:GPS:A.SetSpeed
2012-10-09T16:12:23.652Z,1349799143.652 [Default:GPS](INFO): Priority 1: Default:GPS:Read_GPS
2012-10-09T16:12:23.652Z,1349799143.652 [Default:Iridium](INFO): Priority 2: Default:Iridium:A.SetSpeed
2012-10-09T16:12:23.653Z,1349799143.653 [Default:Iridium](INFO): Priority 3: Default:Iridium:Read_Iridium
2012-10-09T16:12:23.653Z,1349799143.653 [Default](INFO): Priority 4: Default:D.SetSpeed
2012-10-09T16:12:23.653Z,1349799143.653 [Default](INFO): Priority 5: Default:E.GoToSurface
2012-10-09T16:12:26.467Z,1349799146.467 [CommandLine](IMPORTANT): got command restart application
2012-10-09T16:12:27.670Z,1349799147.670 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-09T16:12:27.670Z,1349799147.671 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-09T16:12:28.058Z,1349799148.058 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-09T16:12:28.179Z,1349799148.179 [WetLabsBB2FL](INFO): Powering down
2012-10-09T16:12:28.181Z,1349799148.181 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-09T16:12:28.251Z,1349799148.251 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-10-09T16:12:28.259Z,1349799148.259 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-09T16:12:28.571Z,1349799148.571 [CTD_NeilBrown](INFO): Powering down
2012-10-09T16:12:28.579Z,1349799148.579 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-09T16:12:28.583Z,1349799148.583 [DVL_micro](INFO): uninitialize:Powering down
2012-10-09T16:12:28.600Z,1349799148.600 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-09T16:12:28.651Z,1349799148.651 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-09T16:12:28.659Z,1349799148.659 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-09T16:12:28.661Z,1349799148.661 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-09T16:12:28.776Z,1349799148.776 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-09T16:12:28.777Z,1349799148.777 [AHRS_sp3003D](INFO): Powering down
2012-10-09T16:12:28.863Z,1349799148.863 [NAL9602](INFO): Powering down
2012-10-09T16:12:28.865Z,1349799148.865 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-09T16:12:28.866Z,1349799148.866 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-09T16:12:28.867Z,1349799148.867 [Default] Stopped
2012-10-09T16:12:28.867Z,1349799148.867 [Default](INFO): Aggregate::uninitialize Default
2012-10-09T16:12:28.867Z,1349799148.867 [Default:GPS] Stopped
2012-10-09T16:12:28.867Z,1349799148.867 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-10-09T16:12:28.867Z,1349799148.867 [Default:GPS:A.SetSpeed] Stopped
2012-10-09T16:12:28.867Z,1349799148.867 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-10-09T16:12:28.867Z,1349799148.867 [Default:GPS:Read_GPS] Stopped
2012-10-09T16:12:28.868Z,1349799148.868 [Default:Iridium] Stopped
2012-10-09T16:12:28.868Z,1349799148.868 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-10-09T16:12:28.868Z,1349799148.868 [Default:Iridium:A.SetSpeed] Stopped
2012-10-09T16:12:28.868Z,1349799148.868 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-10-09T16:12:28.868Z,1349799148.868 [Default:Iridium:Read_Iridium] Stopped
2012-10-09T16:12:28.868Z,1349799148.868 [Default:CallIridium] Stopped
2012-10-09T16:12:28.868Z,1349799148.868 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-10-09T16:12:28.868Z,1349799148.868 [Default:CallIridium:B] Stopped
2012-10-09T16:12:28.868Z,1349799148.868 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-10-09T16:12:28.868Z,1349799148.868 [Default:D.SetSpeed] Stopped
2012-10-09T16:12:28.868Z,1349799148.868 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-10-09T16:12:28.868Z,1349799148.868 [Default:E.GoToSurface] Stopped
2012-10-09T16:12:28.868Z,1349799148.868 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-09T16:12:28.873Z,1349799148.873 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-09T16:12:28.873Z,1349799148.873 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-09T16:12:28.873Z,1349799148.874 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-09T16:12:28.874Z,1349799148.874 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-09T16:12:28.874Z,1349799148.874 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-09T16:12:28.874Z,1349799148.874 [BuoyancyServo](INFO): Powering down
2012-10-09T16:12:28.879Z,1349799148.879 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-09T16:12:28.879Z,1349799148.879 [ElevatorServo](INFO): Powering down
2012-10-09T16:12:28.880Z,1349799148.880 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-09T16:12:28.880Z,1349799148.880 [MassServo](INFO): Powering down
2012-10-09T16:12:28.881Z,1349799148.881 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-09T16:12:28.881Z,1349799148.881 [RudderServo](INFO): Powering down
2012-10-09T16:12:28.882Z,1349799148.882 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-09T16:12:28.882Z,1349799148.882 [ThrusterServo](INFO): Powering down
2012-10-09T16:12:28.882Z,1349799148.882 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-09T16:12:28.883Z,1349799148.883 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-09T16:12:28.883Z,1349799148.883 [CBIT](DEBUG): Uninitialize CBIT Component.