2012-10-11T16:48:00.934Z,1349974080.934 [Supervisor](DEBUG): Initializing supervisor.
2012-10-11T16:48:00.939Z,1349974080.939 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-11T16:48:00.939Z,1349974080.939 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-11T16:48:00.942Z,1349974080.942 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-11T16:48:00.946Z,1349974080.946 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-11T16:48:00.958Z,1349974080.958 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-11T16:48:00.962Z,1349974080.962 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-11T16:48:00.963Z,1349974080.963 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-11T16:48:00.964Z,1349974080.964 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-11T16:48:00.967Z,1349974080.967 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-11T16:48:01.290Z,1349974081.290 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-11T16:48:01.292Z,1349974081.292 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-11T16:48:01.498Z,1349974081.498 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-11T16:48:01.499Z,1349974081.499 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-11T16:48:01.594Z,1349974081.594 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-11T16:48:01.596Z,1349974081.596 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-11T16:48:01.831Z,1349974081.832 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-11T16:48:01.832Z,1349974081.832 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-11T16:48:01.990Z,1349974081.990 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-11T16:48:01.992Z,1349974081.992 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-11T16:48:02.261Z,1349974082.261 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-11T16:48:02.262Z,1349974082.262 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-11T16:48:02.470Z,1349974082.470 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-11T16:48:02.474Z,1349974082.474 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-11T16:48:02.772Z,1349974082.772 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-11T16:48:02.774Z,1349974082.774 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-11T16:48:02.889Z,1349974082.889 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-11T16:48:02.889Z,1349974082.889 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-11T16:48:03.352Z,1349974083.352 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-11T16:48:03.353Z,1349974083.353 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-11T16:48:03.483Z,1349974083.483 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-11T16:48:03.484Z,1349974083.484 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-11T16:48:03.580Z,1349974083.579 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-11T16:48:03.583Z,1349974083.583 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-11T16:48:03.698Z,1349974083.698 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-11T16:48:03.849Z,1349974083.849 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-11T16:48:03.946Z,1349974083.946 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-11T16:48:04.062Z,1349974084.062 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-11T16:48:04.174Z,1349974084.174 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-11T16:48:04.312Z,1349974084.312 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-11T16:48:04.416Z,1349974084.416 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-11T16:48:04.514Z,1349974084.514 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-11T16:48:04.547Z,1349974084.547 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-11T16:48:04.748Z,1349974084.748 [InternalSim] Loaded
2012-10-11T16:48:04.748Z,1349974084.748 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-11T16:48:04.749Z,1349974084.749 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-11T16:48:04.750Z,1349974084.750 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-11T16:48:04.840Z,1349974084.839 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-11T16:48:04.854Z,1349974084.854 [SBIT] Loaded
2012-10-11T16:48:04.854Z,1349974084.854 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-11T16:48:04.855Z,1349974084.855 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-11T16:48:04.890Z,1349974084.890 [IBIT] Loaded
2012-10-11T16:48:04.891Z,1349974084.891 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-11T16:48:04.894Z,1349974084.894 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-11T16:48:05.034Z,1349974085.034 [CBIT] Loaded
2012-10-11T16:48:05.035Z,1349974085.035 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-11T16:48:05.035Z,1349974085.035 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-11T16:48:05.036Z,1349974085.036 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-11T16:48:05.209Z,1349974085.209 [BuoyancyServo] Loaded
2012-10-11T16:48:05.210Z,1349974085.210 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-11T16:48:05.220Z,1349974085.220 [ElevatorServo] Loaded
2012-10-11T16:48:05.220Z,1349974085.220 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-11T16:48:05.233Z,1349974085.233 [MassServo] Loaded
2012-10-11T16:48:05.233Z,1349974085.233 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-11T16:48:05.250Z,1349974085.250 [RudderServo] Loaded
2012-10-11T16:48:05.251Z,1349974085.251 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-11T16:48:05.263Z,1349974085.263 [ThrusterServo] Loaded
2012-10-11T16:48:05.263Z,1349974085.263 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-11T16:48:05.264Z,1349974085.264 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-11T16:48:05.264Z,1349974085.264 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-11T16:48:05.301Z,1349974085.302 [DepthRateCalculator] Loaded
2012-10-11T16:48:05.302Z,1349974085.302 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-11T16:48:10.392Z,1349974090.392 [HFRadarModelCalc] Loaded
2012-10-11T16:48:10.392Z,1349974090.392 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-11T16:48:10.422Z,1349974090.422 [NavChart] Loaded
2012-10-11T16:48:10.422Z,1349974090.422 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-11T16:48:10.441Z,1349974090.441 [PitchRateCalculator] Loaded
2012-10-11T16:48:10.441Z,1349974090.441 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-11T16:48:10.448Z,1349974090.448 [SpeedCalculator] Loaded
2012-10-11T16:48:10.449Z,1349974090.449 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-11T16:48:10.486Z,1349974090.486 [TempGradientCalculator] Loaded
2012-10-11T16:48:10.486Z,1349974090.486 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-11T16:48:10.493Z,1349974090.493 [YawRateCalculator] Loaded
2012-10-11T16:48:10.493Z,1349974090.493 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-11T16:48:10.551Z,1349974090.551 [Navigation] Loaded
2012-10-11T16:48:10.551Z,1349974090.551 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-11T16:48:10.552Z,1349974090.552 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-11T16:48:10.552Z,1349974090.552 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-11T16:48:11.087Z,1349974091.087 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-11T16:48:11.088Z,1349974091.088 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-11T16:48:11.169Z,1349974091.169 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-11T16:48:11.169Z,1349974091.170 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-11T16:48:11.291Z,1349974091.291 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-11T16:48:11.394Z,1349974091.394 [VerticalControl] Loaded
2012-10-11T16:48:11.394Z,1349974091.394 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-11T16:48:11.395Z,1349974091.395 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-11T16:48:11.446Z,1349974091.446 [HorizontalControl] Loaded
2012-10-11T16:48:11.446Z,1349974091.446 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-11T16:48:11.447Z,1349974091.447 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-11T16:48:11.449Z,1349974091.449 [SpeedControl] Loaded
2012-10-11T16:48:11.449Z,1349974091.449 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-11T16:48:11.463Z,1349974091.463 [LoopControl](DEBUG): Construct LoopControl.
2012-10-11T16:48:11.463Z,1349974091.463 [LoopControl] Loaded
2012-10-11T16:48:11.463Z,1349974091.464 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-11T16:48:11.464Z,1349974091.464 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-11T16:48:11.465Z,1349974091.465 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-11T16:48:11.473Z,1349974091.473 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-11T16:48:11.478Z,1349974091.478 [AsyncPiEstimator] Loaded
2012-10-11T16:48:11.495Z,1349974091.495 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-11T16:48:11.507Z,1349974091.507 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-11T16:48:11.507Z,1349974091.507 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-11T16:48:11.508Z,1349974091.508 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-11T16:48:11.904Z,1349974091.904 [AHRS_sp3003D] Loaded
2012-10-11T16:48:11.904Z,1349974091.904 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-11T16:48:12.308Z,1349974092.309 [Batt_Ocean_Server] Loaded
2012-10-11T16:48:12.309Z,1349974092.309 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-10-11T16:48:12.327Z,1349974092.327 [Depth_Keller] Loaded
2012-10-11T16:48:12.327Z,1349974092.328 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-11T16:48:12.333Z,1349974092.333 [DropWeight] Loaded
2012-10-11T16:48:12.334Z,1349974092.334 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-11T16:48:12.557Z,1349974092.557 [DVL_micro] Loaded
2012-10-11T16:48:12.558Z,1349974092.557 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-11T16:48:12.563Z,1349974092.563 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-11T16:48:12.701Z,1349974092.701 [NAL9602] Loaded
2012-10-11T16:48:12.702Z,1349974092.702 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-11T16:48:12.784Z,1349974092.784 [Onboard] Loaded
2012-10-11T16:48:12.785Z,1349974092.785 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-11T16:48:12.793Z,1349974092.793 [Radio_Freewave] Loaded
2012-10-11T16:48:12.793Z,1349974092.793 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-11T16:48:12.794Z,1349974092.794 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-11T16:48:12.795Z,1349974092.795 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-11T16:48:12.920Z,1349974092.920 [CTD_NeilBrown] Loaded
2012-10-11T16:48:12.920Z,1349974092.920 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-11T16:48:12.936Z,1349974092.936 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-11T16:48:12.947Z,1349974092.947 [PAR_Licor] Loaded
2012-10-11T16:48:12.947Z,1349974092.947 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-11T16:48:12.965Z,1349974092.965 [Turbulence_NPS] Loaded
2012-10-11T16:48:12.966Z,1349974092.966 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-11T16:48:12.983Z,1349974092.983 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-11T16:48:13.014Z,1349974093.014 [WetLabsBB2FL] Loaded
2012-10-11T16:48:13.014Z,1349974093.014 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-11T16:48:13.031Z,1349974093.031 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-11T16:48:13.031Z,1349974093.031 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-11T16:48:13.034Z,1349974093.034 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-11T16:48:13.035Z,1349974093.035 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-11T16:48:13.049Z,1349974093.049 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-11T16:48:13.055Z,1349974093.055 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-11T16:48:13.060Z,1349974093.060 [Supervisor](DEBUG): Running supervisor.
2012-10-11T16:48:13.061Z,1349974093.061 [CommandLine](INFO): Thread ID is 754
2012-10-11T16:48:13.063Z,1349974093.063 [controlThread](INFO): Thread ID is 753
2012-10-11T16:48:13.063Z,1349974093.063 [controlThread](DEBUG): Initializing ControlThread
2012-10-11T16:48:13.064Z,1349974093.064 [CycleStarter](INFO): Thread ID is 752
2012-10-11T16:48:13.064Z,1349974093.064 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-11T16:48:13.291Z,1349974093.291 [AsyncPiEstimator](INFO): Thread ID is 818
2012-10-11T16:48:13.291Z,1349974093.291 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-11T16:48:13.412Z,1349974093.412 [DVL_micro](INFO): Thread ID is 821
2012-10-11T16:48:13.512Z,1349974093.512 [CTD_NeilBrown](INFO): Thread ID is 822
2012-10-11T16:48:13.512Z,1349974093.513 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-11T16:48:13.515Z,1349974093.515 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-11T16:48:13.556Z,1349974093.556 [Turbulence_NPS](INFO): Thread ID is 823
2012-10-11T16:48:13.557Z,1349974093.556 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-11T16:48:13.557Z,1349974093.557 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-11T16:48:13.563Z,1349974093.563 [DVL_micro](INFO): Initializing
2012-10-11T16:48:13.564Z,1349974093.564 [DVL_micro](INFO): start:Powering up
2012-10-11T16:48:13.564Z,1349974093.564 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-11T16:48:13.565Z,1349974093.565 [DVL_micro](INFO): Cycling power to configure device.
2012-10-11T16:48:13.571Z,1349974093.571 [WetLabsBB2FL](INFO): Thread ID is 824
2012-10-11T16:48:13.572Z,1349974093.572 [WetLabsBB2FL](INFO): Powering down
2012-10-11T16:48:13.590Z,1349974093.590 [SBIT](INFO): Initialize SBIT Component.
2012-10-11T16:48:13.590Z,1349974093.590 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9967
2012-10-11T16:48:13.603Z,1349974093.603 [IBIT](INFO): Initialize IBIT Component.
2012-10-11T16:48:13.604Z,1349974093.604 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-11T16:48:13.604Z,1349974093.604 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-11T16:48:13.605Z,1349974093.605 [NavChartDb](INFO): Thread ID is 825
2012-10-11T16:48:13.640Z,1349974093.639 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-11T16:48:13.640Z,1349974093.640 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-11T16:48:13.641Z,1349974093.641 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-11T16:48:13.641Z,1349974093.641 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-11T16:48:13.641Z,1349974093.641 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-11T16:48:13.643Z,1349974093.643 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-11T16:48:13.643Z,1349974093.643 [Navigation](DEBUG): Initializing Navigation.
2012-10-11T16:48:13.643Z,1349974093.643 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-11T16:48:13.645Z,1349974093.645 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-11T16:48:13.646Z,1349974093.646 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-11T16:48:13.646Z,1349974093.646 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-11T16:48:13.678Z,1349974093.678 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-11T16:48:13.687Z,1349974093.687 [Turbulence_NPS](INFO): Pause powering down
2012-10-11T16:48:13.727Z,1349974093.727 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2012-10-11T16:48:13.729Z,1349974093.729 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2012-10-11T16:48:13.771Z,1349974093.771 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2012-10-11T16:48:13.772Z,1349974093.772 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2012-10-11T16:48:13.813Z,1349974093.813 [NavChartDb](INFO): Setup scan of Resources/US5CA50M.000
2012-10-11T16:48:15.083Z,1349974095.083 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2012-10-11T16:48:15.083Z,1349974095.083 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2012-10-11T16:48:15.083Z,1349974095.083 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2012-10-11T16:48:15.083Z,1349974095.083 [Batt_Ocean_Server](ERROR): Communications Fault
2012-10-11T16:48:15.207Z,1349974095.207 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-11T16:48:15.291Z,1349974095.291 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-11T16:48:15.308Z,1349974095.308 [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>


2012-10-11T16:48:15.309Z,1349974095.309 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-11T16:48:15.382Z,1349974095.382 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-11T16:48:15.384Z,1349974095.384 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-11T16:48:15.391Z,1349974095.391 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-11T16:48:15.399Z,1349974095.399 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-11T16:48:15.402Z,1349974095.402 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-11T16:48:15.409Z,1349974095.409 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-11T16:48:15.421Z,1349974095.421 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-11T16:48:15.424Z,1349974095.424 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-11T16:48:15.429Z,1349974095.429 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-11T16:48:15.433Z,1349974095.433 [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>


2012-10-11T16:48:15.437Z,1349974095.437 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,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,
2012-10-11T16:48:15.457Z,1349974095.457 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-11T16:48:15.610Z,1349974095.610 [Radio_Freewave](INFO): Powering up
2012-10-11T16:48:15.631Z,1349974095.631 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-11T16:48:15.631Z,1349974095.631 [DVL_micro](INFO): Querying output modes
2012-10-11T16:48:15.632Z,1349974095.632 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-11T16:48:15.635Z,1349974095.635 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-11T16:48:15.635Z,1349974095.635 [DVL_micro](INFO): NQ1 output enabled
2012-10-11T16:48:15.635Z,1349974095.635 [DVL_micro](INFO): RSSI output enabled
2012-10-11T16:48:15.635Z,1349974095.635 [DVL_micro](INFO): ADCP output enabled
2012-10-11T16:48:15.635Z,1349974095.635 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-11T16:48:15.651Z,1349974095.651 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-11T16:48:15.655Z,1349974095.655 [DVL_micro](INFO): pause:Powering down
2012-10-11T16:48:15.738Z,1349974095.738 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-11T16:48:15.743Z,1349974095.743 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-11T16:48:15.749Z,1349974095.749 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-11T16:48:15.750Z,1349974095.750 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-11T16:48:15.757Z,1349974095.757 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-11T16:48:15.759Z,1349974095.759 [MassServo](DEBUG): Initializing MassServo.
2012-10-11T16:48:15.765Z,1349974095.765 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-11T16:48:15.766Z,1349974095.766 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-11T16:48:15.772Z,1349974095.772 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-11T16:48:15.775Z,1349974095.775 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-11T16:48:15.792Z,1349974095.792 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2012-10-11T16:48:15.792Z,1349974095.792 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2012-10-11T16:48:15.792Z,1349974095.792 [Batt_Ocean_Server] No Fault, FailCount= 1
2012-10-11T16:48:20.168Z,1349974100.168 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2012-10-11T16:48:20.168Z,1349974100.168 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2012-10-11T16:48:20.168Z,1349974100.168 [Batt_Ocean_Server] Communications Fault, FailCount= 2
2012-10-11T16:48:20.168Z,1349974100.168 [Batt_Ocean_Server](ERROR): Communications Fault
2012-10-11T16:48:20.173Z,1349974100.173 [NAL9602](INFO): Powering up NAL9602
2012-10-11T16:48:20.751Z,1349974100.750 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2012-10-11T16:48:20.751Z,1349974100.751 [RudderServo](FAULT): Rudder failed to initialize
2012-10-11T16:48:20.751Z,1349974100.751 [RudderServo] Communications Fault, FailCount= 1
2012-10-11T16:48:20.751Z,1349974100.751 [RudderServo](ERROR): Communications Fault
2012-10-11T16:48:20.808Z,1349974100.809 [CBIT](ERROR): Communications Fault in component: RudderServo
2012-10-11T16:48:20.809Z,1349974100.809 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2012-10-11T16:48:21.355Z,1349974101.355 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-11T16:48:21.355Z,1349974101.355 [RudderServo](INFO): Powering down
2012-10-11T16:48:21.379Z,1349974101.379 [CBIT](INFO): Clearing failed state for component RudderServo
2012-10-11T16:48:21.379Z,1349974101.379 [RudderServo] No Fault, FailCount= 1
2012-10-11T16:48:21.379Z,1349974101.379 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2012-10-11T16:48:21.379Z,1349974101.379 [Batt_Ocean_Server] No Fault, FailCount= 2
2012-10-11T16:48:23.355Z,1349974103.355 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-10-11T16:48:25.310Z,1349974105.310 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-11T16:48:25.431Z,1349974105.431 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-11T16:48:25.431Z,1349974105.431 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-11T16:48:30.124Z,1349974110.124 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-11T16:48:30.127Z,1349974110.127 [CBIT](IMPORTANT): Beginning GF scan
2012-10-11T16:48:31.899Z,1349974111.899 [NAL9602](INFO): NAL9602 initialized
2012-10-11T16:48:42.978Z,1349974122.978 [NavChartDb](INFO): Done scanning features of Resources/US5CA50M.000
2012-10-11T16:48:44.085Z,1349974124.085 [SBIT](FAULT): Mass: EXPECTED:0.004000 ACTUAL:0.002869
2012-10-11T16:48:58.927Z,1349974138.927 [CBIT](IMPORTANT): No ground fault detected