2012-10-25T23:53:15.125Z,1351209195.125 [Supervisor](DEBUG): Initializing supervisor.
2012-10-25T23:53:15.130Z,1351209195.130 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-25T23:53:15.131Z,1351209195.131 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-25T23:53:15.134Z,1351209195.134 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-25T23:53:15.138Z,1351209195.138 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-25T23:53:15.149Z,1351209195.149 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-25T23:53:15.150Z,1351209195.150 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-25T23:53:15.151Z,1351209195.151 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-25T23:53:15.152Z,1351209195.152 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-25T23:53:15.154Z,1351209195.155 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-25T23:53:15.463Z,1351209195.463 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-25T23:53:15.465Z,1351209195.465 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-25T23:53:15.662Z,1351209195.662 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-25T23:53:15.662Z,1351209195.662 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-25T23:53:15.758Z,1351209195.758 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-25T23:53:15.760Z,1351209195.760 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-25T23:53:15.983Z,1351209195.983 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-25T23:53:15.984Z,1351209195.984 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-25T23:53:16.135Z,1351209196.135 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-25T23:53:16.137Z,1351209196.137 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-25T23:53:16.386Z,1351209196.386 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-25T23:53:16.387Z,1351209196.387 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-25T23:53:16.571Z,1351209196.571 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-25T23:53:16.573Z,1351209196.573 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-25T23:53:16.844Z,1351209196.844 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-25T23:53:16.846Z,1351209196.846 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-25T23:53:16.959Z,1351209196.959 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-25T23:53:16.960Z,1351209196.960 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-25T23:53:17.396Z,1351209197.396 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-25T23:53:17.396Z,1351209197.396 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-25T23:53:17.515Z,1351209197.515 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-25T23:53:17.516Z,1351209197.516 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-25T23:53:17.611Z,1351209197.611 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-25T23:53:17.615Z,1351209197.615 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-25T23:53:17.726Z,1351209197.726 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-25T23:53:17.868Z,1351209197.868 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-25T23:53:17.962Z,1351209197.962 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-25T23:53:18.072Z,1351209198.072 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-25T23:53:18.183Z,1351209198.183 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-25T23:53:18.310Z,1351209198.310 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-25T23:53:18.414Z,1351209198.414 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-25T23:53:18.510Z,1351209198.510 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-10-25T23:53:18.606Z,1351209198.606 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-25T23:53:18.800Z,1351209198.800 [InternalSim] Loaded
2012-10-25T23:53:18.801Z,1351209198.801 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-25T23:53:18.802Z,1351209198.802 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-25T23:53:18.802Z,1351209198.802 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-25T23:53:19.122Z,1351209199.122 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-25T23:53:19.135Z,1351209199.135 [SBIT] Loaded
2012-10-25T23:53:19.135Z,1351209199.135 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-25T23:53:19.136Z,1351209199.136 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-25T23:53:19.168Z,1351209199.168 [IBIT] Loaded
2012-10-25T23:53:19.169Z,1351209199.168 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-25T23:53:19.172Z,1351209199.172 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-25T23:53:19.301Z,1351209199.300 [CBIT] Loaded
2012-10-25T23:53:19.301Z,1351209199.301 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-25T23:53:19.301Z,1351209199.301 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-25T23:53:19.302Z,1351209199.302 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-25T23:53:19.473Z,1351209199.473 [BuoyancyServo] Loaded
2012-10-25T23:53:19.473Z,1351209199.473 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-25T23:53:19.482Z,1351209199.482 [ElevatorServo] Loaded
2012-10-25T23:53:19.482Z,1351209199.483 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-25T23:53:19.494Z,1351209199.494 [MassServo] Loaded
2012-10-25T23:53:19.494Z,1351209199.494 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-25T23:53:19.510Z,1351209199.510 [RudderServo] Loaded
2012-10-25T23:53:19.511Z,1351209199.511 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-25T23:53:19.522Z,1351209199.522 [ThrusterServo] Loaded
2012-10-25T23:53:19.522Z,1351209199.522 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-25T23:53:19.523Z,1351209199.523 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-25T23:53:19.523Z,1351209199.523 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-25T23:53:19.559Z,1351209199.559 [DepthRateCalculator] Loaded
2012-10-25T23:53:19.560Z,1351209199.560 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-25T23:53:24.037Z,1351209204.037 [HFRadarModelCalc] Loaded
2012-10-25T23:53:24.037Z,1351209204.037 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-25T23:53:24.053Z,1351209204.053 [NavChart] Loaded
2012-10-25T23:53:24.053Z,1351209204.053 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-25T23:53:24.059Z,1351209204.059 [PitchRateCalculator] Loaded
2012-10-25T23:53:24.059Z,1351209204.059 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-25T23:53:24.069Z,1351209204.069 [SpeedCalculator] Loaded
2012-10-25T23:53:24.070Z,1351209204.070 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-25T23:53:24.084Z,1351209204.084 [TempGradientCalculator] Loaded
2012-10-25T23:53:24.084Z,1351209204.084 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-25T23:53:24.090Z,1351209204.090 [YawRateCalculator] Loaded
2012-10-25T23:53:24.090Z,1351209204.090 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-25T23:53:24.113Z,1351209204.114 [Navigation] Loaded
2012-10-25T23:53:24.114Z,1351209204.114 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-25T23:53:24.114Z,1351209204.114 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-25T23:53:24.115Z,1351209204.115 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-25T23:53:24.387Z,1351209204.387 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-25T23:53:24.387Z,1351209204.387 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-25T23:53:24.426Z,1351209204.426 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-25T23:53:24.430Z,1351209204.430 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-25T23:53:24.493Z,1351209204.493 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-25T23:53:24.545Z,1351209204.546 [VerticalControl] Loaded
2012-10-25T23:53:24.546Z,1351209204.546 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-25T23:53:24.547Z,1351209204.547 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-25T23:53:24.568Z,1351209204.568 [HorizontalControl] Loaded
2012-10-25T23:53:24.568Z,1351209204.568 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-25T23:53:24.569Z,1351209204.569 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-25T23:53:24.571Z,1351209204.571 [SpeedControl] Loaded
2012-10-25T23:53:24.571Z,1351209204.571 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-25T23:53:24.572Z,1351209204.572 [LoopControl](DEBUG): Construct LoopControl.
2012-10-25T23:53:24.572Z,1351209204.572 [LoopControl] Loaded
2012-10-25T23:53:24.573Z,1351209204.573 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-25T23:53:24.573Z,1351209204.573 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-25T23:53:24.574Z,1351209204.574 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-25T23:53:24.584Z,1351209204.583 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-25T23:53:24.589Z,1351209204.589 [AsyncPiEstimator] Loaded
2012-10-25T23:53:24.589Z,1351209204.589 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-25T23:53:24.594Z,1351209204.594 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-25T23:53:24.595Z,1351209204.595 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-25T23:53:24.596Z,1351209204.596 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-25T23:53:24.771Z,1351209204.771 [AHRS_sp3003D] Loaded
2012-10-25T23:53:24.771Z,1351209204.771 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-25T23:53:25.055Z,1351209205.055 [Batt_Ocean_Server] Loaded
2012-10-25T23:53:25.055Z,1351209205.055 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-10-25T23:53:25.068Z,1351209205.068 [Depth_Keller] Loaded
2012-10-25T23:53:25.068Z,1351209205.068 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-25T23:53:25.073Z,1351209205.073 [DropWeight] Loaded
2012-10-25T23:53:25.074Z,1351209205.074 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-25T23:53:25.203Z,1351209205.203 [DVL_micro] Loaded
2012-10-25T23:53:25.203Z,1351209205.203 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-25T23:53:25.206Z,1351209205.206 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-25T23:53:25.296Z,1351209205.296 [NAL9602] Loaded
2012-10-25T23:53:25.296Z,1351209205.296 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-25T23:53:25.349Z,1351209205.349 [Onboard] Loaded
2012-10-25T23:53:25.350Z,1351209205.349 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-25T23:53:25.356Z,1351209205.356 [Radio_Freewave] Loaded
2012-10-25T23:53:25.356Z,1351209205.356 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-25T23:53:25.357Z,1351209205.357 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-25T23:53:25.358Z,1351209205.358 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-25T23:53:25.465Z,1351209205.465 [CTD_NeilBrown] Loaded
2012-10-25T23:53:25.465Z,1351209205.465 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-25T23:53:25.470Z,1351209205.470 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-25T23:53:25.481Z,1351209205.480 [PAR_Licor] Loaded
2012-10-25T23:53:25.481Z,1351209205.481 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-25T23:53:25.501Z,1351209205.501 [Turbulence_NPS] Loaded
2012-10-25T23:53:25.501Z,1351209205.501 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-25T23:53:25.506Z,1351209205.506 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-25T23:53:25.539Z,1351209205.539 [WetLabsBB2FL] Loaded
2012-10-25T23:53:25.540Z,1351209205.540 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-25T23:53:25.542Z,1351209205.542 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-25T23:53:25.543Z,1351209205.543 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-25T23:53:25.545Z,1351209205.545 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-25T23:53:25.546Z,1351209205.546 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-25T23:53:25.556Z,1351209205.556 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-25T23:53:25.558Z,1351209205.559 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-25T23:53:25.563Z,1351209205.563 [Supervisor](DEBUG): Running supervisor.
2012-10-25T23:53:25.564Z,1351209205.564 [CommandLine](INFO): Thread ID is 749
2012-10-25T23:53:25.567Z,1351209205.567 [controlThread](INFO): Thread ID is 748
2012-10-25T23:53:25.567Z,1351209205.567 [controlThread](DEBUG): Initializing ControlThread
2012-10-25T23:53:25.568Z,1351209205.568 [CycleStarter](INFO): Thread ID is 747
2012-10-25T23:53:25.568Z,1351209205.568 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-25T23:53:25.673Z,1351209205.673 [AsyncPiEstimator](INFO): Thread ID is 810
2012-10-25T23:53:25.673Z,1351209205.673 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-25T23:53:25.746Z,1351209205.746 [DVL_micro](INFO): Thread ID is 811
2012-10-25T23:53:25.826Z,1351209205.826 [CTD_NeilBrown](INFO): Thread ID is 812
2012-10-25T23:53:25.827Z,1351209205.827 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-25T23:53:25.831Z,1351209205.831 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-25T23:53:25.871Z,1351209205.871 [DVL_micro](INFO): Initializing
2012-10-25T23:53:25.871Z,1351209205.871 [DVL_micro](INFO): start:Powering up
2012-10-25T23:53:25.872Z,1351209205.872 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-25T23:53:25.873Z,1351209205.873 [DVL_micro](INFO): Cycling power to configure device.
2012-10-25T23:53:25.879Z,1351209205.879 [Turbulence_NPS](INFO): Thread ID is 813
2012-10-25T23:53:25.879Z,1351209205.879 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-25T23:53:25.880Z,1351209205.880 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-25T23:53:25.893Z,1351209205.893 [SBIT](INFO): Initialize SBIT Component.
2012-10-25T23:53:25.894Z,1351209205.894 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10014
2012-10-25T23:53:25.895Z,1351209205.895 [WetLabsBB2FL](INFO): Thread ID is 814
2012-10-25T23:53:25.899Z,1351209205.899 [WetLabsBB2FL](INFO): Powering down
2012-10-25T23:53:25.915Z,1351209205.915 [IBIT](INFO): Initialize IBIT Component.
2012-10-25T23:53:25.916Z,1351209205.916 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-25T23:53:25.916Z,1351209205.916 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-25T23:53:25.916Z,1351209205.916 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-25T23:53:25.923Z,1351209205.923 [NavChartDb](INFO): Thread ID is 815
2012-10-25T23:53:25.971Z,1351209205.971 [Turbulence_NPS](INFO): Pause powering down
2012-10-25T23:53:25.967Z,1351209205.967 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-25T23:53:25.987Z,1351209205.987 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-25T23:53:25.987Z,1351209205.987 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-25T23:53:25.988Z,1351209205.988 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-25T23:53:25.988Z,1351209205.988 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-25T23:53:25.989Z,1351209205.989 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-25T23:53:25.990Z,1351209205.990 [Navigation](DEBUG): Initializing Navigation.
2012-10-25T23:53:25.990Z,1351209205.990 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-25T23:53:25.992Z,1351209205.992 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-25T23:53:25.993Z,1351209205.993 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-25T23:53:25.993Z,1351209205.993 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-25T23:53:26.002Z,1351209206.002 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-25T23:53:26.003Z,1351209206.003 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-25T23:53:26.004Z,1351209206.003 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-25T23:53:26.004Z,1351209206.004 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-25T23:53:26.004Z,1351209206.004 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-25T23:53:27.696Z,1351209207.695 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-10-25T23:53:27.743Z,1351209207.743 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-25T23:53:27.859Z,1351209207.859 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-25T23:53:27.869Z,1351209207.869 [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>


2012-10-25T23:53:27.870Z,1351209207.870 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-25T23:53:27.939Z,1351209207.939 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-25T23:53:27.939Z,1351209207.939 [DVL_micro](INFO): Querying output modes
2012-10-25T23:53:27.939Z,1351209207.939 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-25T23:53:27.943Z,1351209207.943 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-25T23:53:27.943Z,1351209207.943 [DVL_micro](INFO): NQ1 output enabled
2012-10-25T23:53:27.943Z,1351209207.943 [DVL_micro](INFO): RSSI output enabled
2012-10-25T23:53:27.943Z,1351209207.943 [DVL_micro](INFO): ADCP output enabled
2012-10-25T23:53:27.943Z,1351209207.943 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-25T23:53:27.951Z,1351209207.951 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-25T23:53:27.956Z,1351209207.956 [DVL_micro](INFO): pause:Powering down
2012-10-25T23:53:27.989Z,1351209207.989 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-25T23:53:27.991Z,1351209207.991 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-25T23:53:27.994Z,1351209207.994 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-25T23:53:28.002Z,1351209208.002 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-25T23:53:28.005Z,1351209208.005 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-25T23:53:28.019Z,1351209208.019 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-25T23:53:28.027Z,1351209208.027 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-25T23:53:28.030Z,1351209208.030 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-25T23:53:28.035Z,1351209208.035 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-25T23:53:28.039Z,1351209208.039 [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>


2012-10-25T23:53:28.043Z,1351209208.043 [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,
2012-10-25T23:53:28.067Z,1351209208.067 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-25T23:53:28.263Z,1351209208.263 [Depth_Keller](INFO): A/D timeout, 2 tries over 176 ms

2012-10-25T23:53:28.263Z,1351209208.263 [Depth_Keller] Data Fault, FailCount= 1
2012-10-25T23:53:28.263Z,1351209208.263 [Depth_Keller](ERROR): Data Fault
2012-10-25T23:53:28.290Z,1351209208.290 [Radio_Freewave](INFO): Powering up
2012-10-25T23:53:28.516Z,1351209208.516 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-25T23:53:28.519Z,1351209208.519 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-25T23:53:28.525Z,1351209208.525 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-25T23:53:28.526Z,1351209208.526 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-25T23:53:28.532Z,1351209208.532 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-25T23:53:28.535Z,1351209208.535 [MassServo](DEBUG): Initializing MassServo.
2012-10-25T23:53:28.540Z,1351209208.540 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-25T23:53:28.541Z,1351209208.542 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-25T23:53:28.548Z,1351209208.547 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-25T23:53:28.551Z,1351209208.551 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-25T23:53:28.568Z,1351209208.568 [CBIT](ERROR): Data Fault in component: Depth_Keller
2012-10-25T23:53:28.568Z,1351209208.568 [CBIT](INFO): Clearing failed state for component Depth_Keller
2012-10-25T23:53:28.568Z,1351209208.568 [Depth_Keller] No Fault, FailCount= 1
2012-10-25T23:53:31.204Z,1351209211.204 [NAL9602](INFO): Powering up NAL9602
2012-10-25T23:53:42.860Z,1351209222.860 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-25T23:53:42.863Z,1351209222.863 [CBIT](IMPORTANT): Beginning GF scan
2012-10-25T23:53:43.083Z,1351209223.083 [NAL9602](INFO): NAL9602 initialized
2012-10-25T23:53:59.913Z,1351209239.913 [NAL9602](IMPORTANT): GPS fix at: 1351209181.00
2012-10-25T23:54:08.863Z,1351209248.863 [NAL9602](INFO): Powering down
2012-10-25T23:54:11.335Z,1351209251.335 [CBIT](IMPORTANT): No ground fault detected
2012-10-25T23:54:39.185Z,1351209279.185 [SBIT](IMPORTANT): SBIT PASSED
2012-10-25T23:54:39.861Z,1351209279.861 [MissionManager](IMPORTANT): Started mission Startup
2012-10-25T23:54:39.861Z,1351209279.861 [Startup] Running Loop=1
2012-10-25T23:54:39.861Z,1351209279.861 [Startup](INFO): Aggregate::initialize Startup
2012-10-25T23:54:39.861Z,1351209279.861 [Startup:A.GoToSurface] Running Loop=1
2012-10-25T23:54:39.861Z,1351209279.861 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-25T23:54:39.871Z,1351209279.871 [Startup:StartupSatComms] Running Loop=1
2012-10-25T23:54:39.871Z,1351209279.871 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-25T23:54:39.871Z,1351209279.871 [Startup:StartupSatComms:A] Running Loop=1
2012-10-25T23:54:40.109Z,1351209280.109 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-10-25T23:54:40.502Z,1351209280.502 [NAL9602](INFO): Powering up
2012-10-25T23:54:52.007Z,1351209292.007 [NAL9602](INFO): NAL9602 initialized
2012-10-25T23:55:00.427Z,1351209300.427 [NAL9602](IMPORTANT): GPS fix at: 1351209181.00
2012-10-25T23:55:00.454Z,1351209300.454 [Startup:StartupSatComms:A] Stopped
2012-10-25T23:55:00.454Z,1351209300.454 [Startup:StartupSatComms:B] Running Loop=1
2012-10-25T23:55:00.797Z,1351209300.797 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-10-25T23:55:16.879Z,1351209316.879 [CommandLine](IMPORTANT): got command quit
2012-10-25T23:55:18.070Z,1351209318.070 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-25T23:55:18.070Z,1351209318.070 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-25T23:55:18.450Z,1351209318.450 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-25T23:55:18.471Z,1351209318.471 [WetLabsBB2FL](INFO): Powering down
2012-10-25T23:55:18.502Z,1351209318.502 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-25T23:55:18.875Z,1351209318.875 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-10-25T23:55:18.882Z,1351209318.882 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-25T23:55:18.891Z,1351209318.891 [CTD_NeilBrown](INFO): Powering down
2012-10-25T23:55:18.902Z,1351209318.902 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-25T23:55:18.943Z,1351209318.943 [DVL_micro](INFO): uninitialize:Powering down
2012-10-25T23:55:18.963Z,1351209318.963 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-25T23:55:19.011Z,1351209319.011 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-25T23:55:19.023Z,1351209319.023 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-25T23:55:19.025Z,1351209319.025 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-25T23:55:19.123Z,1351209319.123 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-25T23:55:19.123Z,1351209319.123 [AHRS_sp3003D](INFO): Powering down
2012-10-25T23:55:19.211Z,1351209319.211 [NAL9602](INFO): Powering down
2012-10-25T23:55:19.213Z,1351209319.213 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-25T23:55:19.214Z,1351209319.214 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-25T23:55:19.218Z,1351209319.218 [Startup] Stopped
2012-10-25T23:55:19.218Z,1351209319.218 [Startup](INFO): Aggregate::uninitialize Startup
2012-10-25T23:55:19.218Z,1351209319.218 [Startup:A.GoToSurface] Stopped
2012-10-25T23:55:19.218Z,1351209319.218 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-10-25T23:55:19.218Z,1351209319.218 [Startup:StartupSatComms] Stopped
2012-10-25T23:55:19.219Z,1351209319.218 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-10-25T23:55:19.219Z,1351209319.219 [Startup:StartupSatComms:B] Stopped
2012-10-25T23:55:19.220Z,1351209319.220 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-25T23:55:19.220Z,1351209319.220 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-25T23:55:19.220Z,1351209319.220 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-25T23:55:19.221Z,1351209319.221 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-25T23:55:19.221Z,1351209319.221 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-25T23:55:19.221Z,1351209319.221 [BuoyancyServo](INFO): Powering down
2012-10-25T23:55:19.227Z,1351209319.227 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-25T23:55:19.227Z,1351209319.227 [ElevatorServo](INFO): Powering down
2012-10-25T23:55:19.228Z,1351209319.227 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-25T23:55:19.228Z,1351209319.228 [MassServo](INFO): Powering down
2012-10-25T23:55:19.228Z,1351209319.228 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-25T23:55:19.228Z,1351209319.228 [RudderServo](INFO): Powering down
2012-10-25T23:55:19.229Z,1351209319.229 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-25T23:55:19.229Z,1351209319.229 [ThrusterServo](INFO): Powering down
2012-10-25T23:55:19.230Z,1351209319.230 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-25T23:55:19.231Z,1351209319.231 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-25T23:55:19.231Z,1351209319.231 [CBIT](DEBUG): Uninitialize CBIT Component.