2012-11-09T20:36:12.428Z,1352493372.428 [Supervisor](DEBUG): Initializing supervisor.
2012-11-09T20:36:12.451Z,1352493372.451 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-11-09T20:36:12.451Z,1352493372.451 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-11-09T20:36:12.463Z,1352493372.463 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-11-09T20:36:12.466Z,1352493372.466 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-11-09T20:36:12.501Z,1352493372.501 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-11-09T20:36:12.518Z,1352493372.519 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-11-09T20:36:12.520Z,1352493372.520 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-11-09T20:36:12.543Z,1352493372.543 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-11-09T20:36:12.543Z,1352493372.543 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-11-09T20:36:12.544Z,1352493372.544 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-11-09T20:36:13.346Z,1352493373.346 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-11-09T20:36:13.346Z,1352493373.346 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-11-09T20:36:13.720Z,1352493373.720 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-11-09T20:36:13.721Z,1352493373.721 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-11-09T20:36:13.871Z,1352493373.871 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-11-09T20:36:13.872Z,1352493373.872 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-11-09T20:36:14.287Z,1352493374.287 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-11-09T20:36:14.288Z,1352493374.288 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-11-09T20:36:14.547Z,1352493374.547 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-11-09T20:36:14.548Z,1352493374.547 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-11-09T20:36:15.057Z,1352493375.057 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-11-09T20:36:15.057Z,1352493375.057 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-11-09T20:36:15.433Z,1352493375.433 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-11-09T20:36:15.434Z,1352493375.434 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-11-09T20:36:16.996Z,1352493376.996 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-11-09T20:36:16.996Z,1352493376.996 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-11-09T20:36:17.187Z,1352493377.187 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-11-09T20:36:17.187Z,1352493377.187 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-11-09T20:36:18.125Z,1352493378.125 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-11-09T20:36:18.126Z,1352493378.126 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-11-09T20:36:18.350Z,1352493378.350 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-11-09T20:36:18.351Z,1352493378.351 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-11-09T20:36:18.519Z,1352493378.519 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-11-09T20:36:18.523Z,1352493378.523 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-11-09T20:36:18.715Z,1352493378.715 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-11-09T20:36:19.007Z,1352493379.007 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-11-09T20:36:19.178Z,1352493379.178 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-11-09T20:36:19.380Z,1352493379.379 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-11-09T20:36:19.553Z,1352493379.553 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-11-09T20:36:19.777Z,1352493379.777 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-11-09T20:36:19.938Z,1352493379.938 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-11-09T20:36:20.121Z,1352493380.121 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-11-09T20:36:20.167Z,1352493380.167 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-11-09T20:36:20.717Z,1352493380.717 [ExternalSim] Loaded
2012-11-09T20:36:20.717Z,1352493380.717 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2012-11-09T20:36:20.772Z,1352493380.772 [InternalSim] Loaded
2012-11-09T20:36:20.773Z,1352493380.773 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-11-09T20:36:20.773Z,1352493380.773 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-11-09T20:36:20.774Z,1352493380.774 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-11-09T20:36:21.474Z,1352493381.474 [SBIT](DEBUG): Construct Startup Built In Test.
2012-11-09T20:36:21.548Z,1352493381.548 [SBIT] Loaded
2012-11-09T20:36:21.548Z,1352493381.548 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-11-09T20:36:21.549Z,1352493381.549 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-11-09T20:36:21.605Z,1352493381.605 [IBIT] Loaded
2012-11-09T20:36:21.605Z,1352493381.605 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-11-09T20:36:21.620Z,1352493381.620 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-11-09T20:36:21.900Z,1352493381.899 [CBIT] Loaded
2012-11-09T20:36:21.900Z,1352493381.900 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-11-09T20:36:21.900Z,1352493381.900 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-11-09T20:36:21.901Z,1352493381.901 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-11-09T20:36:22.044Z,1352493382.044 [BuoyancyServo] Loaded
2012-11-09T20:36:22.044Z,1352493382.044 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-11-09T20:36:22.076Z,1352493382.076 [ElevatorServo] Loaded
2012-11-09T20:36:22.077Z,1352493382.077 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-11-09T20:36:22.094Z,1352493382.094 [MassServo] Loaded
2012-11-09T20:36:22.094Z,1352493382.094 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-11-09T20:36:22.103Z,1352493382.103 [RudderServo] Loaded
2012-11-09T20:36:22.103Z,1352493382.103 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-11-09T20:36:22.112Z,1352493382.112 [ThrusterServo] Loaded
2012-11-09T20:36:22.112Z,1352493382.112 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-11-09T20:36:22.112Z,1352493382.112 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-11-09T20:36:22.113Z,1352493382.113 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-11-09T20:36:22.130Z,1352493382.130 [DepthRateCalculator] Loaded
2012-11-09T20:36:22.130Z,1352493382.130 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-11-09T20:36:32.640Z,1352493392.640 [HFRadarModelCalc] Loaded
2012-11-09T20:36:32.641Z,1352493392.641 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-11-09T20:36:32.677Z,1352493392.677 [NavChart] Loaded
2012-11-09T20:36:32.678Z,1352493392.678 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-11-09T20:36:32.693Z,1352493392.693 [PitchRateCalculator] Loaded
2012-11-09T20:36:32.693Z,1352493392.693 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-11-09T20:36:32.699Z,1352493392.699 [SpeedCalculator] Loaded
2012-11-09T20:36:32.700Z,1352493392.700 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-11-09T20:36:32.744Z,1352493392.744 [TempGradientCalculator] Loaded
2012-11-09T20:36:32.744Z,1352493392.744 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-11-09T20:36:32.750Z,1352493392.750 [YawRateCalculator] Loaded
2012-11-09T20:36:32.750Z,1352493392.750 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-11-09T20:36:32.849Z,1352493392.849 [Navigation] Loaded
2012-11-09T20:36:32.849Z,1352493392.849 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-11-09T20:36:32.850Z,1352493392.849 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-11-09T20:36:32.850Z,1352493392.850 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-11-09T20:36:33.388Z,1352493393.388 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-11-09T20:36:33.389Z,1352493393.388 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-11-09T20:36:33.453Z,1352493393.453 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-11-09T20:36:33.454Z,1352493393.454 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-11-09T20:36:33.557Z,1352493393.557 [VerticalControl](DEBUG): Construct VerticalControl.
2012-11-09T20:36:33.765Z,1352493393.764 [VerticalControl] Loaded
2012-11-09T20:36:33.765Z,1352493393.765 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-11-09T20:36:33.766Z,1352493393.766 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-11-09T20:36:33.898Z,1352493393.898 [HorizontalControl] Loaded
2012-11-09T20:36:33.898Z,1352493393.898 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-11-09T20:36:33.899Z,1352493393.899 [SpeedControl](DEBUG): Construct SpeedControl.
2012-11-09T20:36:33.901Z,1352493393.901 [SpeedControl] Loaded
2012-11-09T20:36:33.901Z,1352493393.901 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-11-09T20:36:33.902Z,1352493393.902 [LoopControl](DEBUG): Construct LoopControl.
2012-11-09T20:36:33.923Z,1352493393.923 [LoopControl] Loaded
2012-11-09T20:36:33.923Z,1352493393.923 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-11-09T20:36:33.924Z,1352493393.924 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-11-09T20:36:33.924Z,1352493393.924 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-11-09T20:36:33.947Z,1352493393.947 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-11-09T20:36:33.952Z,1352493393.953 [AsyncPiEstimator] Loaded
2012-11-09T20:36:33.953Z,1352493393.953 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-11-09T20:36:33.974Z,1352493393.974 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-11-09T20:36:33.981Z,1352493393.981 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-11-09T20:36:33.983Z,1352493393.983 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-11-09T20:36:34.289Z,1352493394.289 [AHRS_sp3003D] Loaded
2012-11-09T20:36:34.289Z,1352493394.289 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-11-09T20:36:35.016Z,1352493395.016 [Batt_Ocean_Server] Loaded
2012-11-09T20:36:35.017Z,1352493395.017 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-11-09T20:36:35.047Z,1352493395.046 [Depth_Keller] Loaded
2012-11-09T20:36:35.047Z,1352493395.047 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-11-09T20:36:35.049Z,1352493395.049 [DropWeight] Loaded
2012-11-09T20:36:35.049Z,1352493395.049 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-11-09T20:36:35.431Z,1352493395.431 [DVL_micro] Loaded
2012-11-09T20:36:35.431Z,1352493395.431 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-11-09T20:36:35.451Z,1352493395.451 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-11-09T20:36:35.617Z,1352493395.617 [NAL9602] Loaded
2012-11-09T20:36:35.617Z,1352493395.617 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-11-09T20:36:35.757Z,1352493395.757 [Onboard] Loaded
2012-11-09T20:36:35.757Z,1352493395.757 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-11-09T20:36:35.776Z,1352493395.776 [Radio_Freewave] Loaded
2012-11-09T20:36:35.776Z,1352493395.776 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-11-09T20:36:35.777Z,1352493395.777 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-11-09T20:36:35.777Z,1352493395.777 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-11-09T20:36:35.962Z,1352493395.962 [CTD_NeilBrown] Loaded
2012-11-09T20:36:35.962Z,1352493395.962 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-11-09T20:36:35.979Z,1352493395.978 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-11-09T20:36:36.015Z,1352493396.016 [PAR_Licor] Loaded
2012-11-09T20:36:36.016Z,1352493396.016 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-11-09T20:36:36.146Z,1352493396.146 [Turbulence_NPS] Loaded
2012-11-09T20:36:36.146Z,1352493396.146 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-11-09T20:36:36.162Z,1352493396.162 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-11-09T20:36:36.221Z,1352493396.221 [WetLabsBB2FL] Loaded
2012-11-09T20:36:36.221Z,1352493396.221 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-11-09T20:36:36.261Z,1352493396.261 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-11-09T20:36:36.262Z,1352493396.262 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-11-09T20:36:36.273Z,1352493396.273 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-11-09T20:36:36.274Z,1352493396.274 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-11-09T20:36:36.293Z,1352493396.293 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-11-09T20:36:36.315Z,1352493396.315 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-11-09T20:36:36.319Z,1352493396.319 [Supervisor](DEBUG): Running supervisor.
2012-11-09T20:36:36.320Z,1352493396.320 [CommandLine](INFO): Thread ID is 856
2012-11-09T20:36:36.339Z,1352493396.339 [controlThread](INFO): Thread ID is 855
2012-11-09T20:36:36.339Z,1352493396.339 [controlThread](DEBUG): Initializing ControlThread
2012-11-09T20:36:36.340Z,1352493396.340 [CycleStarter](INFO): Thread ID is 854
2012-11-09T20:36:36.340Z,1352493396.340 [ExternalSim](INFO): ExternalSim initializing...
2012-11-09T20:36:36.387Z,1352493396.387 [logger](INFO): Thread ID is 857
2012-11-09T20:36:36.435Z,1352493396.435 [AsyncPiEstimator](INFO): Thread ID is 919
2012-11-09T20:36:36.435Z,1352493396.435 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-11-09T20:36:36.463Z,1352493396.463 [DVL_micro](INFO): Thread ID is 920
2012-11-09T20:36:36.473Z,1352493396.473 [DVL_micro](INFO): Initializing
2012-11-09T20:36:36.473Z,1352493396.473 [DVL_micro](INFO): start:Powering up
2012-11-09T20:36:36.474Z,1352493396.474 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-11-09T20:36:36.475Z,1352493396.475 [DVL_micro](INFO): Cycling power to configure device.
2012-11-09T20:36:36.515Z,1352493396.515 [CTD_NeilBrown](INFO): Thread ID is 921
2012-11-09T20:36:36.516Z,1352493396.516 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-11-09T20:36:36.526Z,1352493396.526 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-11-09T20:36:36.535Z,1352493396.536 [ExternalSim](DEBUG): beaconLat = 36.81340
2012-11-09T20:36:36.536Z,1352493396.536 [ExternalSim](DEBUG): beaconLon = -121.82240
2012-11-09T20:36:36.536Z,1352493396.536 [ExternalSim](DEBUG): beaconDepth = 25.00
2012-11-09T20:36:36.547Z,1352493396.547 [ExternalSim](DEBUG): Simulator initialized
2012-11-09T20:36:36.555Z,1352493396.556 [Turbulence_NPS](INFO): Thread ID is 922
2012-11-09T20:36:36.556Z,1352493396.556 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-11-09T20:36:36.557Z,1352493396.557 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-11-09T20:36:36.566Z,1352493396.566 [InternalSim](DEBUG):  InternalSim initializing...
2012-11-09T20:36:36.567Z,1352493396.568 [WetLabsBB2FL](INFO): Thread ID is 923
2012-11-09T20:36:36.568Z,1352493396.568 [WetLabsBB2FL](INFO): Powering down
2012-11-09T20:36:36.608Z,1352493396.608 [NavChartDb](INFO): Thread ID is 924
2012-11-09T20:36:36.615Z,1352493396.615 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-11-09T20:36:36.619Z,1352493396.619 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-11-09T20:36:36.620Z,1352493396.620 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-11-09T20:36:36.620Z,1352493396.620 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-11-09T20:36:36.620Z,1352493396.620 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-11-09T20:36:36.627Z,1352493396.627 [Turbulence_NPS](INFO): Pause powering down
2012-11-09T20:36:36.785Z,1352493396.785 [SBIT](INFO): Initialize SBIT Component.
2012-11-09T20:36:36.785Z,1352493396.785 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10047
2012-11-09T20:36:36.786Z,1352493396.786 [IBIT](INFO): Initialize IBIT Component.
2012-11-09T20:36:36.811Z,1352493396.811 [CBIT](DEBUG): Initialize CBIT Component.
2012-11-09T20:36:36.811Z,1352493396.811 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-11-09T20:36:36.836Z,1352493396.836 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-11-09T20:36:36.836Z,1352493396.836 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-11-09T20:36:36.837Z,1352493396.837 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-11-09T20:36:36.837Z,1352493396.837 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-11-09T20:36:36.837Z,1352493396.838 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-11-09T20:36:36.839Z,1352493396.839 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-11-09T20:36:36.840Z,1352493396.840 [Navigation](DEBUG): Initializing Navigation.
2012-11-09T20:36:36.840Z,1352493396.840 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-11-09T20:36:36.842Z,1352493396.842 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-11-09T20:36:36.857Z,1352493396.857 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-11-09T20:36:36.857Z,1352493396.857 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-11-09T20:36:38.472Z,1352493398.471 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-11-09T20:36:38.503Z,1352493398.503 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-11-09T20:36:38.531Z,1352493398.531 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-11-09T20:36:38.531Z,1352493398.532 [DVL_micro](INFO): Querying output modes
2012-11-09T20:36:38.532Z,1352493398.532 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-11-09T20:36:38.539Z,1352493398.539 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-11-09T20:36:38.539Z,1352493398.539 [DVL_micro](INFO): NQ1 output enabled
2012-11-09T20:36:38.539Z,1352493398.539 [DVL_micro](INFO): RSSI output enabled
2012-11-09T20:36:38.539Z,1352493398.539 [DVL_micro](INFO): ADCP output enabled
2012-11-09T20:36:38.539Z,1352493398.539 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-11-09T20:36:38.547Z,1352493398.547 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-11-09T20:36:38.552Z,1352493398.552 [DVL_micro](INFO): pause:Powering down
2012-11-09T20:36:38.560Z,1352493398.560 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-09T20:36:38.587Z,1352493398.587 [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>


2012-11-09T20:36:38.588Z,1352493398.588 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-11-09T20:36:38.743Z,1352493398.743 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-11-09T20:36:38.745Z,1352493398.745 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-11-09T20:36:38.748Z,1352493398.748 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-09T20:36:38.788Z,1352493398.788 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-11-09T20:36:38.831Z,1352493398.831 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-09T20:36:38.837Z,1352493398.837 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-11-09T20:36:38.871Z,1352493398.871 [Default:D.SetSpeed](DEBUG): Construct.
2012-11-09T20:36:38.874Z,1352493398.874 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-09T20:36:38.911Z,1352493398.911 [Default:F.Wait](DEBUG): Construct Wait.
2012-11-09T20:36:38.942Z,1352493398.942 [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>


2012-11-09T20:36:38.951Z,1352493398.951 [controlThread](DEBUG): Component order: CycleStarter,ExternalSim,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,
2012-11-09T20:36:39.081Z,1352493399.081 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:36:39.356Z,1352493399.355 [Radio_Freewave](INFO): Powering up
2012-11-09T20:36:39.739Z,1352493399.739 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-11-09T20:36:39.747Z,1352493399.747 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-11-09T20:36:39.753Z,1352493399.753 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-11-09T20:36:39.787Z,1352493399.787 [MassServo](DEBUG): Initializing EZServoServo.
2012-11-09T20:36:39.811Z,1352493399.811 [MassServo](DEBUG): Initializing MassServo.
2012-11-09T20:36:39.821Z,1352493399.821 [RudderServo](DEBUG): Initializing RudderServo.
2012-11-09T20:36:39.842Z,1352493399.842 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-09T20:36:39.851Z,1352493399.851 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-09T20:36:40.394Z,1352493400.395 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:36:40.395Z,1352493400.395 [AHRS_sp3003D](ERROR): SP3003D failed to initialize -- using Simulator
2012-11-09T20:36:40.663Z,1352493400.663 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:36:42.206Z,1352493402.207 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:36:43.362Z,1352493403.362 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:36:43.927Z,1352493403.927 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:36:45.138Z,1352493405.138 [NAL9602](IMPORTANT): GPS fix at: 1352493405.13
2012-11-09T20:36:45.494Z,1352493405.494 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:36:46.623Z,1352493406.622 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:36:46.839Z,1352493406.839 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:36:48.365Z,1352493408.365 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:36:49.578Z,1352493409.579 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:36:49.758Z,1352493409.758 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:36:50.988Z,1352493410.988 [NAL9602](INFO): Powering down
2012-11-09T20:36:51.375Z,1352493411.375 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:36:52.507Z,1352493412.507 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:36:52.645Z,1352493412.645 [SBIT](IMPORTANT): Beginning Startup BIT
2012-11-09T20:36:52.668Z,1352493412.668 [CBIT](IMPORTANT): Beginning GF scan
2012-11-09T20:36:52.734Z,1352493412.734 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:36:54.347Z,1352493414.347 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:36:55.527Z,1352493415.527 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:36:55.854Z,1352493415.855 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:36:57.387Z,1352493417.387 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:36:58.522Z,1352493418.523 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:36:58.727Z,1352493418.727 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:37:00.320Z,1352493420.320 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:37:01.464Z,1352493421.464 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:37:01.668Z,1352493421.668 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:37:03.250Z,1352493423.250 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:37:04.387Z,1352493424.386 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:37:04.723Z,1352493424.723 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:37:06.286Z,1352493426.286 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:37:07.206Z,1352493427.207 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:37:07.207Z,1352493427.207 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xB4FDBF
2012-11-09T20:37:07.510Z,1352493427.510 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:37:09.058Z,1352493429.058 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:37:10.290Z,1352493430.290 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:37:10.551Z,1352493430.551 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:37:12.119Z,1352493432.119 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:37:13.235Z,1352493433.235 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:37:13.453Z,1352493433.453 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:37:14.990Z,1352493434.990 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-09T20:37:15.091Z,1352493435.091 [CommandLine](IMPORTANT): got command quit
2012-11-09T20:37:16.105Z,1352493436.105 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-11-09T20:37:16.105Z,1352493436.105 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-11-09T20:37:16.118Z,1352493436.118 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-11-09T20:37:16.259Z,1352493436.259 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:37:16.282Z,1352493436.282 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-11-09T20:37:16.655Z,1352493436.655 [WetLabsBB2FL](INFO): Powering down
2012-11-09T20:37:16.667Z,1352493436.667 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-11-09T20:37:16.711Z,1352493436.711 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-11-09T20:37:16.727Z,1352493436.727 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-11-09T20:37:17.128Z,1352493437.128 [CTD_NeilBrown](INFO): Powering down
2012-11-09T20:37:17.150Z,1352493437.150 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-11-09T20:37:17.407Z,1352493437.407 [DVL_micro](INFO): uninitialize:Powering down
2012-11-09T20:37:17.415Z,1352493437.415 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-11-09T20:37:17.439Z,1352493437.439 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-11-09T20:37:17.462Z,1352493437.462 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-11-09T20:37:17.507Z,1352493437.507 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-11-09T20:37:17.509Z,1352493437.509 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-11-09T20:37:17.520Z,1352493437.520 [controlThread](DEBUG): Uninitializing ControlThread
2012-11-09T20:37:17.521Z,1352493437.521 [AHRS_sp3003D](INFO): Powering down
2012-11-09T20:37:17.522Z,1352493437.522 [NAL9602](INFO): Powering down
2012-11-09T20:37:17.524Z,1352493437.523 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-11-09T20:37:17.524Z,1352493437.524 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-11-09T20:37:17.529Z,1352493437.529 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-11-09T20:37:17.529Z,1352493437.529 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-11-09T20:37:17.530Z,1352493437.530 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-11-09T20:37:17.530Z,1352493437.530 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-11-09T20:37:17.530Z,1352493437.530 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-11-09T20:37:17.531Z,1352493437.531 [BuoyancyServo](INFO): Powering down
2012-11-09T20:37:17.535Z,1352493437.535 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-11-09T20:37:17.535Z,1352493437.535 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-11-09T20:37:17.535Z,1352493437.535 [MassServo](INFO): Powering down
2012-11-09T20:37:17.536Z,1352493437.536 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-11-09T20:37:17.536Z,1352493437.536 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-11-09T20:37:17.536Z,1352493437.536 [ThrusterServo](INFO): Powering down
2012-11-09T20:37:17.537Z,1352493437.537 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-11-09T20:37:17.537Z,1352493437.537 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-11-09T20:37:17.538Z,1352493437.538 [CBIT](DEBUG): Uninitialize CBIT Component.