2012-10-24T22:43:43.545Z,1351118623.545 [Supervisor](DEBUG): Initializing supervisor.
2012-10-24T22:43:43.547Z,1351118623.547 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-24T22:43:43.548Z,1351118623.548 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-24T22:43:43.549Z,1351118623.549 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-24T22:43:43.553Z,1351118623.553 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-24T22:43:43.564Z,1351118623.564 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-24T22:43:43.565Z,1351118623.565 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-24T22:43:43.566Z,1351118623.566 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-24T22:43:43.566Z,1351118623.566 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-24T22:43:43.569Z,1351118623.569 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-24T22:43:43.918Z,1351118623.918 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-24T22:43:43.920Z,1351118623.920 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-24T22:43:44.097Z,1351118624.097 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-24T22:43:44.098Z,1351118624.098 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-24T22:43:44.183Z,1351118624.183 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-24T22:43:44.185Z,1351118624.185 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-24T22:43:44.387Z,1351118624.387 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-24T22:43:44.388Z,1351118624.388 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-24T22:43:44.522Z,1351118624.523 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-24T22:43:44.525Z,1351118624.525 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-24T22:43:44.751Z,1351118624.751 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-24T22:43:44.752Z,1351118624.752 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-24T22:43:44.919Z,1351118624.919 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-24T22:43:44.922Z,1351118624.922 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-24T22:43:45.167Z,1351118625.167 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-24T22:43:45.169Z,1351118625.169 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-24T22:43:45.268Z,1351118625.268 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-24T22:43:45.269Z,1351118625.269 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-24T22:43:45.660Z,1351118625.660 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-24T22:43:45.661Z,1351118625.661 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-24T22:43:45.774Z,1351118625.774 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-24T22:43:45.775Z,1351118625.775 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-24T22:43:45.861Z,1351118625.861 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-24T22:43:45.865Z,1351118625.865 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-24T22:43:45.965Z,1351118625.965 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-24T22:43:46.093Z,1351118626.093 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-24T22:43:46.178Z,1351118626.178 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-24T22:43:46.279Z,1351118626.279 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-24T22:43:46.379Z,1351118626.379 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-24T22:43:46.495Z,1351118626.495 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-24T22:43:46.586Z,1351118626.586 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-24T22:43:46.672Z,1351118626.672 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-10-24T22:43:46.702Z,1351118626.702 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-24T22:43:46.872Z,1351118626.872 [InternalSim] Loaded
2012-10-24T22:43:46.872Z,1351118626.872 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-24T22:43:46.873Z,1351118626.873 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-24T22:43:46.874Z,1351118626.874 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-24T22:43:46.952Z,1351118626.953 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-24T22:43:46.966Z,1351118626.966 [SBIT] Loaded
2012-10-24T22:43:46.966Z,1351118626.966 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-24T22:43:46.967Z,1351118626.967 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-24T22:43:46.996Z,1351118626.996 [IBIT] Loaded
2012-10-24T22:43:46.996Z,1351118626.996 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-24T22:43:46.999Z,1351118626.999 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-24T22:43:47.117Z,1351118627.118 [CBIT] Loaded
2012-10-24T22:43:47.118Z,1351118627.118 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-24T22:43:47.118Z,1351118627.118 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-24T22:43:47.119Z,1351118627.119 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-24T22:43:47.357Z,1351118627.357 [BuoyancyServo] Loaded
2012-10-24T22:43:47.357Z,1351118627.357 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-24T22:43:47.366Z,1351118627.366 [ElevatorServo] Loaded
2012-10-24T22:43:47.367Z,1351118627.367 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-24T22:43:47.378Z,1351118627.378 [MassServo] Loaded
2012-10-24T22:43:47.379Z,1351118627.379 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-24T22:43:47.391Z,1351118627.391 [RudderServo] Loaded
2012-10-24T22:43:47.391Z,1351118627.391 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-24T22:43:47.402Z,1351118627.402 [ThrusterServo] Loaded
2012-10-24T22:43:47.403Z,1351118627.402 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-24T22:43:47.403Z,1351118627.403 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-24T22:43:47.404Z,1351118627.404 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-24T22:43:47.437Z,1351118627.437 [DepthRateCalculator] Loaded
2012-10-24T22:43:47.437Z,1351118627.437 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-24T22:43:51.211Z,1351118631.211 [HFRadarModelCalc] Loaded
2012-10-24T22:43:51.211Z,1351118631.211 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-24T22:43:51.227Z,1351118631.227 [NavChart] Loaded
2012-10-24T22:43:51.227Z,1351118631.227 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-24T22:43:51.233Z,1351118631.233 [PitchRateCalculator] Loaded
2012-10-24T22:43:51.233Z,1351118631.233 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-24T22:43:51.239Z,1351118631.239 [SpeedCalculator] Loaded
2012-10-24T22:43:51.239Z,1351118631.239 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-24T22:43:51.253Z,1351118631.253 [TempGradientCalculator] Loaded
2012-10-24T22:43:51.254Z,1351118631.254 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-24T22:43:51.259Z,1351118631.259 [YawRateCalculator] Loaded
2012-10-24T22:43:51.260Z,1351118631.260 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-24T22:43:51.279Z,1351118631.279 [Navigation] Loaded
2012-10-24T22:43:51.280Z,1351118631.280 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-24T22:43:51.280Z,1351118631.280 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-24T22:43:51.281Z,1351118631.281 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-24T22:43:51.533Z,1351118631.533 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-24T22:43:51.533Z,1351118631.533 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-24T22:43:51.571Z,1351118631.571 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-24T22:43:51.572Z,1351118631.572 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-24T22:43:51.629Z,1351118631.629 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-24T22:43:51.674Z,1351118631.674 [VerticalControl] Loaded
2012-10-24T22:43:51.675Z,1351118631.675 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-24T22:43:51.676Z,1351118631.676 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-24T22:43:51.697Z,1351118631.697 [HorizontalControl] Loaded
2012-10-24T22:43:51.697Z,1351118631.697 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-24T22:43:51.698Z,1351118631.698 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-24T22:43:51.700Z,1351118631.700 [SpeedControl] Loaded
2012-10-24T22:43:51.700Z,1351118631.700 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-24T22:43:51.701Z,1351118631.701 [LoopControl](DEBUG): Construct LoopControl.
2012-10-24T22:43:51.701Z,1351118631.701 [LoopControl] Loaded
2012-10-24T22:43:51.702Z,1351118631.702 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-24T22:43:51.702Z,1351118631.702 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-24T22:43:51.703Z,1351118631.703 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-24T22:43:51.711Z,1351118631.711 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-24T22:43:51.717Z,1351118631.717 [AsyncPiEstimator] Loaded
2012-10-24T22:43:51.717Z,1351118631.717 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-24T22:43:51.718Z,1351118631.718 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-24T22:43:51.719Z,1351118631.719 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-24T22:43:51.720Z,1351118631.720 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-24T22:43:51.884Z,1351118631.884 [AHRS_sp3003D] Loaded
2012-10-24T22:43:51.884Z,1351118631.884 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-24T22:43:52.137Z,1351118632.137 [Batt_Ocean_Server] Loaded
2012-10-24T22:43:52.137Z,1351118632.137 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-10-24T22:43:52.150Z,1351118632.150 [Depth_Keller] Loaded
2012-10-24T22:43:52.150Z,1351118632.150 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-24T22:43:52.155Z,1351118632.155 [DropWeight] Loaded
2012-10-24T22:43:52.156Z,1351118632.156 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-24T22:43:52.273Z,1351118632.273 [DVL_micro] Loaded
2012-10-24T22:43:52.273Z,1351118632.273 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-24T22:43:52.274Z,1351118632.274 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F24E0
2012-10-24T22:43:52.355Z,1351118632.355 [NAL9602] Loaded
2012-10-24T22:43:52.355Z,1351118632.355 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-24T22:43:52.405Z,1351118632.405 [Onboard] Loaded
2012-10-24T22:43:52.405Z,1351118632.405 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-24T22:43:52.412Z,1351118632.411 [Radio_Freewave] Loaded
2012-10-24T22:43:52.412Z,1351118632.412 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-24T22:43:52.412Z,1351118632.412 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-24T22:43:52.413Z,1351118632.413 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-24T22:43:52.513Z,1351118632.513 [CTD_NeilBrown] Loaded
2012-10-24T22:43:52.513Z,1351118632.513 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-24T22:43:52.514Z,1351118632.514 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074A4E0
2012-10-24T22:43:52.524Z,1351118632.524 [PAR_Licor] Loaded
2012-10-24T22:43:52.525Z,1351118632.524 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-24T22:43:52.542Z,1351118632.542 [Turbulence_NPS] Loaded
2012-10-24T22:43:52.542Z,1351118632.542 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-24T22:43:52.543Z,1351118632.543 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2012-10-24T22:43:52.572Z,1351118632.572 [WetLabsBB2FL] Loaded
2012-10-24T22:43:52.572Z,1351118632.572 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-24T22:43:52.574Z,1351118632.574 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2012-10-24T22:43:52.574Z,1351118632.574 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-24T22:43:52.576Z,1351118632.576 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-24T22:43:52.577Z,1351118632.577 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-24T22:43:52.587Z,1351118632.587 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-24T22:43:52.589Z,1351118632.589 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2012-10-24T22:43:52.593Z,1351118632.593 [Supervisor](DEBUG): Running supervisor.
2012-10-24T22:43:52.594Z,1351118632.594 [CommandLine](INFO): Thread ID is 3938
2012-10-24T22:43:52.596Z,1351118632.596 [controlThread](INFO): Thread ID is 3937
2012-10-24T22:43:52.597Z,1351118632.597 [controlThread](DEBUG): Initializing ControlThread
2012-10-24T22:43:52.597Z,1351118632.597 [CycleStarter](INFO): Thread ID is 3936
2012-10-24T22:43:52.598Z,1351118632.598 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-24T22:43:52.695Z,1351118632.695 [AsyncPiEstimator](INFO): Thread ID is 3999
2012-10-24T22:43:52.695Z,1351118632.695 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-24T22:43:52.705Z,1351118632.704 [DVL_micro](INFO): Thread ID is 4000
2012-10-24T22:43:52.816Z,1351118632.816 [CTD_NeilBrown](INFO): Thread ID is 4001
2012-10-24T22:43:52.817Z,1351118632.816 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-24T22:43:52.819Z,1351118632.819 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-24T22:43:52.840Z,1351118632.840 [Turbulence_NPS](INFO): Thread ID is 4002
2012-10-24T22:43:52.840Z,1351118632.840 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-24T22:43:52.841Z,1351118632.841 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-24T22:43:52.867Z,1351118632.867 [DVL_micro](INFO): Initializing
2012-10-24T22:43:52.867Z,1351118632.867 [DVL_micro](INFO): start:Powering up
2012-10-24T22:43:52.868Z,1351118632.868 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-24T22:43:52.868Z,1351118632.868 [DVL_micro](INFO): Cycling power to configure device.
2012-10-24T22:43:52.898Z,1351118632.898 [WetLabsBB2FL](INFO): Thread ID is 4003
2012-10-24T22:43:52.899Z,1351118632.899 [WetLabsBB2FL](INFO): Powering down
2012-10-24T22:43:52.911Z,1351118632.911 [Turbulence_NPS](INFO): Pause powering down
2012-10-24T22:43:52.935Z,1351118632.935 [SBIT](INFO): Initialize SBIT Component.
2012-10-24T22:43:52.935Z,1351118632.935 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9999
2012-10-24T22:43:52.936Z,1351118632.936 [IBIT](INFO): Initialize IBIT Component.
2012-10-24T22:43:52.937Z,1351118632.937 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-24T22:43:52.937Z,1351118632.937 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-24T22:43:52.937Z,1351118632.937 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2012-10-24T22:43:52.943Z,1351118632.943 [NavChartDb](INFO): Thread ID is 4004
2012-10-24T22:43:52.961Z,1351118632.961 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-24T22:43:52.962Z,1351118632.962 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-24T22:43:52.964Z,1351118632.964 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-24T22:43:52.965Z,1351118632.965 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-24T22:43:52.965Z,1351118632.965 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-24T22:43:52.965Z,1351118632.965 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-24T22:43:52.966Z,1351118632.966 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-24T22:43:52.967Z,1351118632.967 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-24T22:43:52.967Z,1351118632.967 [Navigation](DEBUG): Initializing Navigation.
2012-10-24T22:43:52.968Z,1351118632.968 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-24T22:43:52.969Z,1351118632.969 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-24T22:43:52.970Z,1351118632.970 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-24T22:43:52.971Z,1351118632.971 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-24T22:43:52.973Z,1351118632.973 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-24T22:43:52.973Z,1351118632.973 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-24T22:43:52.973Z,1351118632.973 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-24T22:43:54.535Z,1351118634.535 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2012-10-24T22:43:54.535Z,1351118634.535 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2012-10-24T22:43:54.535Z,1351118634.535 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2012-10-24T22:43:54.535Z,1351118634.535 [Batt_Ocean_Server](ERROR): Communications Fault
2012-10-24T22:43:54.555Z,1351118634.555 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-24T22:43:54.588Z,1351118634.588 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-24T22:43:54.599Z,1351118634.599 [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>


2012-10-24T22:43:54.599Z,1351118634.599 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-24T22:43:54.632Z,1351118634.632 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-24T22:43:54.634Z,1351118634.634 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-24T22:43:54.637Z,1351118634.637 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-24T22:43:54.649Z,1351118634.649 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-24T22:43:54.652Z,1351118634.652 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-24T22:43:54.659Z,1351118634.659 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-24T22:43:54.668Z,1351118634.668 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-24T22:43:54.671Z,1351118634.671 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-24T22:43:54.676Z,1351118634.676 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-24T22:43:54.679Z,1351118634.679 [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>


2012-10-24T22:43:54.684Z,1351118634.684 [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,
2012-10-24T22:43:54.707Z,1351118634.707 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-24T22:43:55.023Z,1351118635.023 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-24T22:43:55.023Z,1351118635.023 [DVL_micro](INFO): Querying output modes
2012-10-24T22:43:55.023Z,1351118635.023 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-24T22:43:55.098Z,1351118635.099 [DVL_micro](DEBUG): cmdResponse: 01
2012-10-24T22:43:55.099Z,1351118635.099 [DVL_micro](INFO): NQ1 output enabled
2012-10-24T22:43:55.099Z,1351118635.099 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-24T22:43:55.103Z,1351118635.103 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-24T22:43:55.108Z,1351118635.108 [DVL_micro](INFO): pause:Powering down
2012-10-24T22:43:55.115Z,1351118635.115 [Radio_Freewave](INFO): Powering up
2012-10-24T22:43:55.267Z,1351118635.267 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-24T22:43:55.271Z,1351118635.271 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-24T22:43:55.277Z,1351118635.277 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-24T22:43:55.279Z,1351118635.279 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-24T22:43:55.284Z,1351118635.284 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-24T22:43:55.287Z,1351118635.287 [MassServo](DEBUG): Initializing MassServo.
2012-10-24T22:43:55.292Z,1351118635.292 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-24T22:43:55.293Z,1351118635.293 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-24T22:43:55.299Z,1351118635.299 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-24T22:43:55.303Z,1351118635.303 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-24T22:43:55.320Z,1351118635.320 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2012-10-24T22:43:55.320Z,1351118635.320 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2012-10-24T22:43:55.320Z,1351118635.320 [Batt_Ocean_Server] No Fault, FailCount= 1
2012-10-24T22:43:58.855Z,1351118638.855 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-10-24T22:43:58.865Z,1351118638.865 [NAL9602](INFO): Powering up NAL9602
2012-10-24T22:44:08.924Z,1351118648.924 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-24T22:44:08.927Z,1351118648.927 [CBIT](IMPORTANT): Beginning GF scan
2012-10-24T22:44:09.611Z,1351118649.611 [NAL9602](INFO): NAL9602 initialized
2012-10-24T22:44:13.221Z,1351118653.220 [NAL9602](IMPORTANT): GPS fix at: 1351118828.00
2012-10-24T22:44:19.171Z,1351118659.171 [CommandLine](IMPORTANT): got command restart system
2012-10-24T22:44:21.970Z,1351118661.970 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-24T22:44:21.970Z,1351118661.970 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-24T22:44:22.121Z,1351118662.121 [SBIT](FAULT): Mass: EXPECTED:0.004000 ACTUAL:0.003331
2012-10-24T22:44:23.646Z,1351118663.646 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-24T22:44:23.682Z,1351118663.682 [NAL9602](INFO): Powering down
2012-10-24T22:44:23.755Z,1351118663.755 [WetLabsBB2FL](INFO): Powering down
2012-10-24T22:44:23.766Z,1351118663.766 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-24T22:44:24.079Z,1351118664.079 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-10-24T22:44:24.090Z,1351118664.091 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-24T22:44:24.183Z,1351118664.183 [CTD_NeilBrown](INFO): Powering down
2012-10-24T22:44:24.190Z,1351118664.190 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-24T22:44:24.507Z,1351118664.507 [DVL_micro](INFO): uninitialize:Powering down
2012-10-24T22:44:24.511Z,1351118664.511 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-24T22:44:24.699Z,1351118664.699 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-24T22:44:24.711Z,1351118664.711 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-24T22:44:24.722Z,1351118664.722 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler