2012-10-09T16:22:05.767Z,1349799725.767 [Supervisor](DEBUG): Initializing supervisor.
2012-10-09T16:22:05.783Z,1349799725.783 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-09T16:22:05.784Z,1349799725.784 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-09T16:22:05.788Z,1349799725.788 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-09T16:22:05.791Z,1349799725.792 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-09T16:22:05.815Z,1349799725.815 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-09T16:22:05.817Z,1349799725.816 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-09T16:22:05.818Z,1349799725.818 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-09T16:22:05.818Z,1349799725.818 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-09T16:22:05.835Z,1349799725.835 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-09T16:22:08.893Z,1349799728.893 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-09T16:22:08.897Z,1349799728.897 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-09T16:22:09.220Z,1349799729.220 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-09T16:22:09.221Z,1349799729.220 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-09T16:22:09.329Z,1349799729.329 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-09T16:22:09.331Z,1349799729.331 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-09T16:22:09.733Z,1349799729.733 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-09T16:22:09.734Z,1349799729.734 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-09T16:22:09.983Z,1349799729.983 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-09T16:22:09.991Z,1349799729.991 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-09T16:22:10.458Z,1349799730.458 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-09T16:22:10.458Z,1349799730.458 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-09T16:22:10.784Z,1349799730.783 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-09T16:22:10.791Z,1349799730.791 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-09T16:22:11.142Z,1349799731.142 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-09T16:22:11.144Z,1349799731.144 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-09T16:22:11.255Z,1349799731.255 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-09T16:22:11.255Z,1349799731.256 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-09T16:22:11.696Z,1349799731.695 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-09T16:22:11.696Z,1349799731.696 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-09T16:22:11.823Z,1349799731.823 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-09T16:22:11.824Z,1349799731.824 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-09T16:22:11.921Z,1349799731.921 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-09T16:22:11.924Z,1349799731.924 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-09T16:22:12.038Z,1349799732.038 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-09T16:22:12.256Z,1349799732.256 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-09T16:22:12.395Z,1349799732.395 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-09T16:22:12.622Z,1349799732.622 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-09T16:22:12.786Z,1349799732.786 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-09T16:22:13.035Z,1349799733.035 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-09T16:22:15.887Z,1349799735.888 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-09T16:22:15.988Z,1349799735.988 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-09T16:22:16.030Z,1349799736.030 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-09T16:22:16.229Z,1349799736.229 [InternalSim] Loaded
2012-10-09T16:22:16.230Z,1349799736.230 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-09T16:22:16.230Z,1349799736.230 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-09T16:22:16.231Z,1349799736.231 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-09T16:22:16.320Z,1349799736.320 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-09T16:22:16.333Z,1349799736.333 [SBIT] Loaded
2012-10-09T16:22:16.334Z,1349799736.334 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-09T16:22:16.335Z,1349799736.335 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-09T16:22:16.371Z,1349799736.371 [IBIT] Loaded
2012-10-09T16:22:16.371Z,1349799736.371 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-09T16:22:16.375Z,1349799736.375 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-09T16:22:16.505Z,1349799736.505 [CBIT] Loaded
2012-10-09T16:22:16.505Z,1349799736.505 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-09T16:22:16.506Z,1349799736.506 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-09T16:22:16.507Z,1349799736.507 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-09T16:22:16.688Z,1349799736.688 [BuoyancyServo] Loaded
2012-10-09T16:22:16.688Z,1349799736.688 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-09T16:22:16.698Z,1349799736.698 [ElevatorServo] Loaded
2012-10-09T16:22:16.698Z,1349799736.698 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-09T16:22:16.710Z,1349799736.710 [MassServo] Loaded
2012-10-09T16:22:16.710Z,1349799736.710 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-09T16:22:16.726Z,1349799736.726 [RudderServo] Loaded
2012-10-09T16:22:16.726Z,1349799736.726 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-09T16:22:16.742Z,1349799736.741 [ThrusterServo] Loaded
2012-10-09T16:22:16.742Z,1349799736.742 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-09T16:22:16.742Z,1349799736.742 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-09T16:22:16.743Z,1349799736.743 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-09T16:22:16.780Z,1349799736.780 [DepthRateCalculator] Loaded
2012-10-09T16:22:16.780Z,1349799736.780 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-09T16:22:21.582Z,1349799741.582 [HFRadarModelCalc] Loaded
2012-10-09T16:22:21.586Z,1349799741.586 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-09T16:22:21.603Z,1349799741.602 [NavChart] Loaded
2012-10-09T16:22:21.603Z,1349799741.603 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-09T16:22:21.611Z,1349799741.611 [PitchRateCalculator] Loaded
2012-10-09T16:22:21.612Z,1349799741.612 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-09T16:22:21.618Z,1349799741.618 [SpeedCalculator] Loaded
2012-10-09T16:22:21.618Z,1349799741.618 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-09T16:22:21.637Z,1349799741.637 [TempGradientCalculator] Loaded
2012-10-09T16:22:21.637Z,1349799741.637 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-09T16:22:21.643Z,1349799741.643 [YawRateCalculator] Loaded
2012-10-09T16:22:21.643Z,1349799741.644 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-09T16:22:21.663Z,1349799741.663 [Navigation] Loaded
2012-10-09T16:22:21.663Z,1349799741.663 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-09T16:22:21.663Z,1349799741.663 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-09T16:22:21.664Z,1349799741.664 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-09T16:22:21.976Z,1349799741.976 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-09T16:22:21.976Z,1349799741.976 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-09T16:22:22.021Z,1349799742.020 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-09T16:22:22.021Z,1349799742.021 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-09T16:22:22.082Z,1349799742.082 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-09T16:22:22.125Z,1349799742.125 [VerticalControl] Loaded
2012-10-09T16:22:22.126Z,1349799742.126 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-09T16:22:22.127Z,1349799742.127 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-09T16:22:22.147Z,1349799742.147 [HorizontalControl] Loaded
2012-10-09T16:22:22.147Z,1349799742.147 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-09T16:22:22.148Z,1349799742.148 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-09T16:22:22.149Z,1349799742.149 [SpeedControl] Loaded
2012-10-09T16:22:22.150Z,1349799742.150 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-09T16:22:22.151Z,1349799742.151 [LoopControl](DEBUG): Construct LoopControl.
2012-10-09T16:22:22.151Z,1349799742.151 [LoopControl] Loaded
2012-10-09T16:22:22.151Z,1349799742.151 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-09T16:22:22.152Z,1349799742.152 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-09T16:22:22.153Z,1349799742.152 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-09T16:22:22.160Z,1349799742.160 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-09T16:22:22.165Z,1349799742.165 [AsyncPiEstimator] Loaded
2012-10-09T16:22:22.166Z,1349799742.165 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-09T16:22:22.167Z,1349799742.167 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-09T16:22:22.167Z,1349799742.167 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-09T16:22:22.168Z,1349799742.168 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-09T16:22:22.338Z,1349799742.338 [AHRS_sp3003D] Loaded
2012-10-09T16:22:22.338Z,1349799742.338 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-09T16:22:22.352Z,1349799742.352 [Depth_Keller] Loaded
2012-10-09T16:22:22.352Z,1349799742.352 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-09T16:22:22.358Z,1349799742.358 [DropWeight] Loaded
2012-10-09T16:22:22.358Z,1349799742.358 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-09T16:22:22.476Z,1349799742.476 [DVL_micro] Loaded
2012-10-09T16:22:22.477Z,1349799742.477 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-09T16:22:22.478Z,1349799742.478 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-09T16:22:22.561Z,1349799742.561 [NAL9602] Loaded
2012-10-09T16:22:22.562Z,1349799742.562 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-09T16:22:22.614Z,1349799742.614 [Onboard] Loaded
2012-10-09T16:22:22.614Z,1349799742.614 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-09T16:22:22.621Z,1349799742.621 [Radio_Freewave] Loaded
2012-10-09T16:22:22.622Z,1349799742.622 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-09T16:22:22.622Z,1349799742.622 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-09T16:22:22.623Z,1349799742.623 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-09T16:22:22.718Z,1349799742.718 [CTD_NeilBrown] Loaded
2012-10-09T16:22:22.719Z,1349799742.719 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-09T16:22:22.720Z,1349799742.720 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-09T16:22:22.730Z,1349799742.730 [PAR_Licor] Loaded
2012-10-09T16:22:22.730Z,1349799742.730 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-09T16:22:22.746Z,1349799742.746 [Turbulence_NPS] Loaded
2012-10-09T16:22:22.747Z,1349799742.747 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-09T16:22:22.748Z,1349799742.748 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-09T16:22:22.778Z,1349799742.778 [WetLabsBB2FL] Loaded
2012-10-09T16:22:22.778Z,1349799742.778 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-09T16:22:22.779Z,1349799742.779 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-09T16:22:22.780Z,1349799742.780 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-09T16:22:22.782Z,1349799742.782 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-09T16:22:22.783Z,1349799742.783 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-09T16:22:22.792Z,1349799742.792 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-09T16:22:22.794Z,1349799742.794 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-09T16:22:22.798Z,1349799742.798 [Supervisor](DEBUG): Running supervisor.
2012-10-09T16:22:22.799Z,1349799742.799 [CommandLine](INFO): Thread ID is 755
2012-10-09T16:22:22.802Z,1349799742.802 [controlThread](INFO): Thread ID is 754
2012-10-09T16:22:22.802Z,1349799742.802 [controlThread](DEBUG): Initializing ControlThread
2012-10-09T16:22:22.802Z,1349799742.802 [CycleStarter](INFO): Thread ID is 753
2012-10-09T16:22:22.803Z,1349799742.803 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-09T16:22:22.902Z,1349799742.902 [AsyncPiEstimator](INFO): Thread ID is 832
2012-10-09T16:22:22.902Z,1349799742.902 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-09T16:22:22.964Z,1349799742.964 [DVL_micro](INFO): Thread ID is 833
2012-10-09T16:22:23.042Z,1349799743.042 [CTD_NeilBrown](INFO): Thread ID is 834
2012-10-09T16:22:23.042Z,1349799743.042 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-09T16:22:23.045Z,1349799743.045 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-09T16:22:23.066Z,1349799743.066 [DVL_micro](INFO): Initializing
2012-10-09T16:22:23.066Z,1349799743.066 [DVL_micro](INFO): start:Powering up
2012-10-09T16:22:23.071Z,1349799743.071 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T16:22:23.072Z,1349799743.072 [DVL_micro](INFO): Cycling power to configure device.
2012-10-09T16:22:23.087Z,1349799743.088 [Turbulence_NPS](INFO): Thread ID is 835
2012-10-09T16:22:23.088Z,1349799743.088 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-09T16:22:23.089Z,1349799743.089 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-09T16:22:23.102Z,1349799743.102 [SBIT](INFO): Initialize SBIT Component.
2012-10-09T16:22:23.102Z,1349799743.102 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9939
2012-10-09T16:22:23.107Z,1349799743.107 [IBIT](INFO): Initialize IBIT Component.
2012-10-09T16:22:23.108Z,1349799743.108 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-09T16:22:23.108Z,1349799743.108 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-09T16:22:23.109Z,1349799743.109 [WetLabsBB2FL](INFO): Thread ID is 836
2012-10-09T16:22:23.110Z,1349799743.110 [WetLabsBB2FL](INFO): Powering down
2012-10-09T16:22:23.144Z,1349799743.144 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-09T16:22:23.145Z,1349799743.145 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-09T16:22:23.145Z,1349799743.145 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-09T16:22:23.145Z,1349799743.145 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-09T16:22:23.146Z,1349799743.146 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-09T16:22:23.152Z,1349799743.152 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-09T16:22:23.152Z,1349799743.152 [Navigation](DEBUG): Initializing Navigation.
2012-10-09T16:22:23.153Z,1349799743.152 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-09T16:22:23.154Z,1349799743.155 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-09T16:22:23.155Z,1349799743.155 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-09T16:22:23.156Z,1349799743.156 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-09T16:22:23.167Z,1349799743.167 [NavChartDb](INFO): Thread ID is 837
2012-10-09T16:22:23.173Z,1349799743.173 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-09T16:22:23.173Z,1349799743.173 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-09T16:22:23.174Z,1349799743.174 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-09T16:22:23.174Z,1349799743.174 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-09T16:22:23.177Z,1349799743.177 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-09T16:22:23.186Z,1349799743.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-09T16:22:23.204Z,1349799743.204 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T16:22:23.211Z,1349799743.211 [Turbulence_NPS](INFO): Pause powering down
2012-10-09T16:22:23.222Z,1349799743.222 [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>


2012-10-09T16:22:23.227Z,1349799743.227 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-09T16:22:23.273Z,1349799743.273 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-09T16:22:23.276Z,1349799743.276 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-09T16:22:23.279Z,1349799743.279 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T16:22:23.291Z,1349799743.291 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-09T16:22:23.295Z,1349799743.295 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T16:22:23.301Z,1349799743.301 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-09T16:22:23.310Z,1349799743.310 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-09T16:22:23.313Z,1349799743.313 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-09T16:22:23.318Z,1349799743.318 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-09T16:22:23.325Z,1349799743.325 [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>


2012-10-09T16:22:23.330Z,1349799743.330 [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,
2012-10-09T16:22:23.357Z,1349799743.357 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-09T16:22:24.520Z,1349799744.520 [Radio_Freewave](INFO): Powering up
2012-10-09T16:22:24.640Z,1349799744.640 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-09T16:22:24.643Z,1349799744.643 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-09T16:22:24.649Z,1349799744.649 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-09T16:22:24.650Z,1349799744.650 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-09T16:22:24.656Z,1349799744.657 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-09T16:22:24.659Z,1349799744.659 [MassServo](DEBUG): Initializing MassServo.
2012-10-09T16:22:24.664Z,1349799744.664 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-09T16:22:24.665Z,1349799744.665 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-09T16:22:24.674Z,1349799744.674 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-09T16:22:24.679Z,1349799744.679 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-09T16:22:25.467Z,1349799745.467 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-09T16:22:25.467Z,1349799745.467 [DVL_micro](INFO): Querying output modes
2012-10-09T16:22:25.467Z,1349799745.467 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-09T16:22:25.471Z,1349799745.471 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-09T16:22:25.471Z,1349799745.471 [DVL_micro](INFO): NQ1 output enabled
2012-10-09T16:22:25.471Z,1349799745.471 [DVL_micro](INFO): RSSI output enabled
2012-10-09T16:22:25.471Z,1349799745.471 [DVL_micro](INFO): ADCP output enabled
2012-10-09T16:22:25.471Z,1349799745.471 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-09T16:22:25.479Z,1349799745.479 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-09T16:22:25.483Z,1349799745.483 [DVL_micro](INFO): pause:Powering down
2012-10-09T16:22:28.897Z,1349799748.897 [NAL9602](INFO): Powering up NAL9602
2012-10-09T16:22:35.867Z,1349799755.867 [CommandLine](IMPORTANT): got command quit
2012-10-09T16:22:41.550Z,1349799761.550 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-09T16:22:41.550Z,1349799761.550 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-09T16:22:41.642Z,1349799761.642 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-09T16:22:41.787Z,1349799761.787 [NAL9602](INFO): NAL9602 initialized
2012-10-09T16:22:41.840Z,1349799761.841 [WetLabsBB2FL](INFO): Powering down
2012-10-09T16:22:41.842Z,1349799761.842 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-09T16:22:41.968Z,1349799761.968 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-09T16:22:41.970Z,1349799761.970 [CBIT](IMPORTANT): Beginning GF scan
2012-10-09T16:22:42.223Z,1349799762.223 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-10-09T16:22:42.242Z,1349799762.242 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-09T16:22:42.419Z,1349799762.419 [CTD_NeilBrown](INFO): Powering down
2012-10-09T16:22:42.422Z,1349799762.422 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-09T16:22:42.739Z,1349799762.739 [DVL_micro](INFO): uninitialize:Powering down
2012-10-09T16:22:42.743Z,1349799762.743 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-09T16:22:42.907Z,1349799762.907 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-09T16:22:42.915Z,1349799762.915 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-09T16:22:42.920Z,1349799762.920 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-09T16:22:43.144Z,1349799763.144 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-09T16:22:43.145Z,1349799763.145 [AHRS_sp3003D](INFO): Powering down
2012-10-09T16:22:43.231Z,1349799763.231 [NAL9602](INFO): Powering down
2012-10-09T16:22:43.242Z,1349799763.242 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-09T16:22:43.242Z,1349799763.242 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-09T16:22:43.248Z,1349799763.248 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-09T16:22:43.248Z,1349799763.248 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-09T16:22:43.248Z,1349799763.248 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-09T16:22:43.249Z,1349799763.249 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-09T16:22:43.249Z,1349799763.249 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-09T16:22:43.249Z,1349799763.249 [BuoyancyServo](INFO): Powering down
2012-10-09T16:22:43.255Z,1349799763.254 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-09T16:22:43.255Z,1349799763.255 [ElevatorServo](INFO): Powering down
2012-10-09T16:22:43.265Z,1349799763.265 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-09T16:22:43.265Z,1349799763.265 [MassServo](INFO): Powering down
2012-10-09T16:22:43.266Z,1349799763.266 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-09T16:22:43.266Z,1349799763.266 [RudderServo](INFO): Powering down
2012-10-09T16:22:43.276Z,1349799763.276 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-09T16:22:43.276Z,1349799763.276 [ThrusterServo](INFO): Powering down
2012-10-09T16:22:43.277Z,1349799763.277 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-09T16:22:43.278Z,1349799763.277 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-09T16:22:43.278Z,1349799763.278 [CBIT](DEBUG): Uninitialize CBIT Component.