2012-11-15T19:25:35.043Z,1353007535.043 [Supervisor](DEBUG): Initializing supervisor.
2012-11-15T19:25:35.045Z,1353007535.045 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-11-15T19:25:35.046Z,1353007535.046 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-11-15T19:25:35.047Z,1353007535.047 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-11-15T19:25:35.051Z,1353007535.051 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-11-15T19:25:35.061Z,1353007535.061 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-11-15T19:25:35.062Z,1353007535.062 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-11-15T19:25:35.063Z,1353007535.063 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-11-15T19:25:35.064Z,1353007535.064 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-11-15T19:25:35.064Z,1353007535.064 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-11-15T19:25:35.065Z,1353007535.065 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-11-15T19:25:35.353Z,1353007535.353 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-11-15T19:25:35.354Z,1353007535.353 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-11-15T19:25:35.538Z,1353007535.538 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-11-15T19:25:35.538Z,1353007535.538 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-11-15T19:25:35.622Z,1353007535.622 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-11-15T19:25:35.623Z,1353007535.623 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-11-15T19:25:35.816Z,1353007535.816 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-11-15T19:25:35.817Z,1353007535.817 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-11-15T19:25:35.949Z,1353007535.949 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-11-15T19:25:35.949Z,1353007535.949 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-11-15T19:25:36.178Z,1353007536.178 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-11-15T19:25:36.178Z,1353007536.178 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-11-15T19:25:36.346Z,1353007536.346 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-11-15T19:25:36.347Z,1353007536.346 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-11-15T19:25:36.599Z,1353007536.599 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-11-15T19:25:36.599Z,1353007536.599 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-11-15T19:25:36.696Z,1353007536.696 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-11-15T19:25:36.697Z,1353007536.697 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-11-15T19:25:37.092Z,1353007537.092 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-11-15T19:25:37.092Z,1353007537.092 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-11-15T19:25:37.205Z,1353007537.205 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-11-15T19:25:37.205Z,1353007537.205 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-11-15T19:25:37.290Z,1353007537.290 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-11-15T19:25:37.291Z,1353007537.291 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-11-15T19:25:37.391Z,1353007537.391 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-11-15T19:25:37.518Z,1353007537.519 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-11-15T19:25:37.603Z,1353007537.603 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-11-15T19:25:37.703Z,1353007537.703 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-11-15T19:25:37.802Z,1353007537.802 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-11-15T19:25:37.919Z,1353007537.919 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-11-15T19:25:38.010Z,1353007538.010 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-11-15T19:25:38.095Z,1353007538.095 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-11-15T19:25:38.123Z,1353007538.123 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-11-15T19:25:38.270Z,1353007538.270 [InternalSim] Loaded
2012-11-15T19:25:38.270Z,1353007538.270 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-11-15T19:25:38.271Z,1353007538.271 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-11-15T19:25:38.271Z,1353007538.272 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-11-15T19:25:38.327Z,1353007538.327 [SBIT](DEBUG): Construct Startup Built In Test.
2012-11-15T19:25:38.354Z,1353007538.354 [SBIT] Loaded
2012-11-15T19:25:38.354Z,1353007538.354 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-11-15T19:25:38.355Z,1353007538.355 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-11-15T19:25:38.382Z,1353007538.382 [IBIT] Loaded
2012-11-15T19:25:38.383Z,1353007538.383 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-11-15T19:25:38.386Z,1353007538.386 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-11-15T19:25:38.501Z,1353007538.501 [CBIT] Loaded
2012-11-15T19:25:38.501Z,1353007538.501 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-11-15T19:25:38.502Z,1353007538.502 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-11-15T19:25:38.502Z,1353007538.502 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-11-15T19:25:38.648Z,1353007538.648 [BuoyancyServo] Loaded
2012-11-15T19:25:38.649Z,1353007538.648 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-11-15T19:25:38.660Z,1353007538.660 [ElevatorServo] Loaded
2012-11-15T19:25:38.660Z,1353007538.661 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-11-15T19:25:38.672Z,1353007538.672 [MassServo] Loaded
2012-11-15T19:25:38.672Z,1353007538.672 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-11-15T19:25:38.684Z,1353007538.684 [RudderServo] Loaded
2012-11-15T19:25:38.684Z,1353007538.684 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-11-15T19:25:38.696Z,1353007538.696 [ThrusterServo] Loaded
2012-11-15T19:25:38.696Z,1353007538.696 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-11-15T19:25:38.696Z,1353007538.696 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-11-15T19:25:38.697Z,1353007538.697 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-11-15T19:25:38.714Z,1353007538.714 [DepthRateCalculator] Loaded
2012-11-15T19:25:38.714Z,1353007538.714 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-11-15T19:25:42.451Z,1353007542.451 [HFRadarModelCalc] Loaded
2012-11-15T19:25:42.452Z,1353007542.452 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-11-15T19:25:42.468Z,1353007542.467 [NavChart] Loaded
2012-11-15T19:25:42.468Z,1353007542.468 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-11-15T19:25:42.474Z,1353007542.474 [PitchRateCalculator] Loaded
2012-11-15T19:25:42.474Z,1353007542.474 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-11-15T19:25:42.480Z,1353007542.480 [SpeedCalculator] Loaded
2012-11-15T19:25:42.480Z,1353007542.480 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-11-15T19:25:42.495Z,1353007542.495 [TempGradientCalculator] Loaded
2012-11-15T19:25:42.495Z,1353007542.495 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-11-15T19:25:42.501Z,1353007542.500 [YawRateCalculator] Loaded
2012-11-15T19:25:42.501Z,1353007542.501 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-11-15T19:25:42.540Z,1353007542.540 [Navigation] Loaded
2012-11-15T19:25:42.540Z,1353007542.540 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-11-15T19:25:42.541Z,1353007542.541 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-11-15T19:25:42.541Z,1353007542.541 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-11-15T19:25:42.755Z,1353007542.755 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-11-15T19:25:42.756Z,1353007542.756 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-11-15T19:25:42.778Z,1353007542.778 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-11-15T19:25:42.778Z,1353007542.778 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-11-15T19:25:42.818Z,1353007542.818 [VerticalControl](DEBUG): Construct VerticalControl.
2012-11-15T19:25:42.909Z,1353007542.909 [VerticalControl] Loaded
2012-11-15T19:25:42.909Z,1353007542.909 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-11-15T19:25:42.910Z,1353007542.910 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-11-15T19:25:42.965Z,1353007542.965 [HorizontalControl] Loaded
2012-11-15T19:25:42.965Z,1353007542.965 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-11-15T19:25:42.966Z,1353007542.966 [SpeedControl](DEBUG): Construct SpeedControl.
2012-11-15T19:25:42.968Z,1353007542.968 [SpeedControl] Loaded
2012-11-15T19:25:42.968Z,1353007542.968 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-11-15T19:25:42.969Z,1353007542.969 [LoopControl](DEBUG): Construct LoopControl.
2012-11-15T19:25:42.969Z,1353007542.969 [LoopControl] Loaded
2012-11-15T19:25:42.970Z,1353007542.970 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-11-15T19:25:42.970Z,1353007542.970 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-11-15T19:25:42.971Z,1353007542.971 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-11-15T19:25:42.976Z,1353007542.976 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-11-15T19:25:42.981Z,1353007542.981 [AsyncPiEstimator] Loaded
2012-11-15T19:25:42.981Z,1353007542.981 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-11-15T19:25:42.982Z,1353007542.982 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-11-15T19:25:42.983Z,1353007542.983 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-11-15T19:25:42.983Z,1353007542.983 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-11-15T19:25:43.105Z,1353007543.105 [AHRS_sp3003D] Loaded
2012-11-15T19:25:43.105Z,1353007543.105 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-11-15T19:25:43.356Z,1353007543.356 [Batt_Ocean_Server] Loaded
2012-11-15T19:25:43.356Z,1353007543.356 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-11-15T19:25:43.369Z,1353007543.369 [Depth_Keller] Loaded
2012-11-15T19:25:43.369Z,1353007543.369 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-11-15T19:25:43.375Z,1353007543.375 [DropWeight] Loaded
2012-11-15T19:25:43.375Z,1353007543.375 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-11-15T19:25:43.530Z,1353007543.530 [DVL_micro] Loaded
2012-11-15T19:25:43.530Z,1353007543.530 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-11-15T19:25:43.531Z,1353007543.531 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-11-15T19:25:43.610Z,1353007543.610 [NAL9602] Loaded
2012-11-15T19:25:43.610Z,1353007543.610 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-11-15T19:25:43.660Z,1353007543.660 [Onboard] Loaded
2012-11-15T19:25:43.660Z,1353007543.660 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-11-15T19:25:43.666Z,1353007543.667 [Radio_Freewave] Loaded
2012-11-15T19:25:43.667Z,1353007543.667 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-11-15T19:25:43.668Z,1353007543.668 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-11-15T19:25:43.668Z,1353007543.668 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-11-15T19:25:43.738Z,1353007543.738 [CTD_NeilBrown] Loaded
2012-11-15T19:25:43.738Z,1353007543.739 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-11-15T19:25:43.740Z,1353007543.740 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-11-15T19:25:43.756Z,1353007543.756 [PAR_Licor] Loaded
2012-11-15T19:25:43.756Z,1353007543.756 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-11-15T19:25:43.807Z,1353007543.807 [Turbulence_NPS] Loaded
2012-11-15T19:25:43.808Z,1353007543.808 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-11-15T19:25:43.809Z,1353007543.809 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-11-15T19:25:43.838Z,1353007543.838 [WetLabsBB2FL] Loaded
2012-11-15T19:25:43.838Z,1353007543.838 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-11-15T19:25:43.839Z,1353007543.839 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-11-15T19:25:43.840Z,1353007543.840 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-11-15T19:25:43.842Z,1353007543.842 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-11-15T19:25:43.843Z,1353007543.843 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-11-15T19:25:43.850Z,1353007543.850 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-11-15T19:25:43.851Z,1353007543.851 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-11-15T19:25:43.855Z,1353007543.855 [Supervisor](DEBUG): Running supervisor.
2012-11-15T19:25:43.856Z,1353007543.856 [CommandLine](INFO): Thread ID is 1676
2012-11-15T19:25:43.859Z,1353007543.859 [controlThread](INFO): Thread ID is 1675
2012-11-15T19:25:43.859Z,1353007543.859 [controlThread](DEBUG): Initializing ControlThread
2012-11-15T19:25:43.859Z,1353007543.859 [CycleStarter](INFO): Thread ID is 1674
2012-11-15T19:25:43.860Z,1353007543.860 [InternalSim](DEBUG):  InternalSim initializing...
2012-11-15T19:25:43.893Z,1353007543.893 [logger](INFO): Thread ID is 1677
2012-11-15T19:25:43.920Z,1353007543.920 [SBIT](INFO): Initialize SBIT Component.
2012-11-15T19:25:43.920Z,1353007543.921 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10057
2012-11-15T19:25:43.921Z,1353007543.921 [IBIT](INFO): Initialize IBIT Component.
2012-11-15T19:25:43.922Z,1353007543.922 [CBIT](DEBUG): Initialize CBIT Component.
2012-11-15T19:25:43.922Z,1353007543.922 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-11-15T19:25:43.923Z,1353007543.922 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-11-15T19:25:43.933Z,1353007543.933 [AsyncPiEstimator](INFO): Thread ID is 1738
2012-11-15T19:25:43.933Z,1353007543.933 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-11-15T19:25:43.947Z,1353007543.947 [DVL_micro](INFO): Thread ID is 1739
2012-11-15T19:25:43.954Z,1353007543.954 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-11-15T19:25:43.955Z,1353007543.954 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-11-15T19:25:43.955Z,1353007543.955 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-11-15T19:25:43.955Z,1353007543.955 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-11-15T19:25:43.956Z,1353007543.955 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-11-15T19:25:43.957Z,1353007543.957 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-11-15T19:25:43.958Z,1353007543.958 [Navigation](DEBUG): Initializing Navigation.
2012-11-15T19:25:43.958Z,1353007543.958 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-11-15T19:25:43.960Z,1353007543.960 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-11-15T19:25:43.961Z,1353007543.961 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-11-15T19:25:43.961Z,1353007543.961 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-11-15T19:25:43.967Z,1353007543.967 [DVL_micro](INFO): Initializing
2012-11-15T19:25:43.968Z,1353007543.968 [DVL_micro](INFO): start:Powering up
2012-11-15T19:25:43.969Z,1353007543.969 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-11-15T19:25:43.969Z,1353007543.969 [DVL_micro](INFO): Cycling power to configure device.
2012-11-15T19:25:43.977Z,1353007543.977 [CTD_NeilBrown](INFO): Thread ID is 1740
2012-11-15T19:25:43.978Z,1353007543.978 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-11-15T19:25:43.981Z,1353007543.981 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-11-15T19:25:43.990Z,1353007543.990 [Turbulence_NPS](INFO): Thread ID is 1741
2012-11-15T19:25:43.991Z,1353007543.991 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-11-15T19:25:43.992Z,1353007543.991 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-11-15T19:25:44.025Z,1353007544.026 [WetLabsBB2FL](INFO): Thread ID is 1742
2012-11-15T19:25:44.026Z,1353007544.026 [WetLabsBB2FL](INFO): Powering down
2012-11-15T19:25:44.058Z,1353007544.057 [NavChartDb](INFO): Thread ID is 1743
2012-11-15T19:25:44.059Z,1353007544.059 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-11-15T19:25:44.060Z,1353007544.060 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-11-15T19:25:44.061Z,1353007544.061 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-11-15T19:25:44.061Z,1353007544.061 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-11-15T19:25:44.061Z,1353007544.061 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-11-15T19:25:44.093Z,1353007544.093 [Turbulence_NPS](INFO): Pause powering down
2012-11-15T19:25:45.727Z,1353007545.727 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-11-15T19:25:45.764Z,1353007545.764 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-11-15T19:25:45.785Z,1353007545.785 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-15T19:25:45.823Z,1353007545.823 [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>


2012-11-15T19:25:45.824Z,1353007545.824 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-11-15T19:25:45.913Z,1353007545.913 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-11-15T19:25:45.915Z,1353007545.915 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-11-15T19:25:45.930Z,1353007545.930 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-15T19:25:45.951Z,1353007545.951 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-11-15T19:25:45.954Z,1353007545.954 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-15T19:25:45.972Z,1353007545.972 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-11-15T19:25:45.992Z,1353007545.992 [Default:D.SetSpeed](DEBUG): Construct.
2012-11-15T19:25:45.996Z,1353007545.996 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-15T19:25:46.029Z,1353007546.029 [Default:F.Wait](DEBUG): Construct Wait.
2012-11-15T19:25:46.033Z,1353007546.033 [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>


2012-11-15T19:25:46.044Z,1353007546.044 [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,
2012-11-15T19:25:46.061Z,1353007546.061 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-11-15T19:25:46.061Z,1353007546.061 [DVL_micro](INFO): Querying output modes
2012-11-15T19:25:46.062Z,1353007546.062 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-11-15T19:25:46.073Z,1353007546.073 [DVL_micro](DEBUG): cmdResponse: 01
2012-11-15T19:25:46.073Z,1353007546.073 [DVL_micro](INFO): NQ1 output enabled
2012-11-15T19:25:46.073Z,1353007546.073 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-11-15T19:25:46.085Z,1353007546.085 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-11-15T19:25:46.090Z,1353007546.089 [DVL_micro](INFO): pause:Powering down
2012-11-15T19:25:46.115Z,1353007546.115 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-15T19:25:46.313Z,1353007546.313 [Radio_Freewave](INFO): Powering up
2012-11-15T19:25:46.569Z,1353007546.569 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-11-15T19:25:46.577Z,1353007546.577 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-11-15T19:25:46.583Z,1353007546.583 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-11-15T19:25:46.589Z,1353007546.589 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-11-15T19:25:46.595Z,1353007546.595 [MassServo](DEBUG): Initializing EZServoServo.
2012-11-15T19:25:46.621Z,1353007546.621 [MassServo](DEBUG): Initializing MassServo.
2012-11-15T19:25:46.626Z,1353007546.626 [RudderServo](DEBUG): Initializing EZServoServo.
2012-11-15T19:25:46.633Z,1353007546.633 [RudderServo](DEBUG): Initializing RudderServo.
2012-11-15T19:25:46.657Z,1353007546.657 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-15T19:25:46.661Z,1353007546.661 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-15T19:25:49.015Z,1353007549.015 [NAL9602](INFO): Powering up NAL9602
2012-11-15T19:25:59.465Z,1353007559.465 [NAL9602](INFO): NAL9602 initialized
2012-11-15T19:25:59.543Z,1353007559.543 [SBIT](IMPORTANT): Beginning Startup BIT
2012-11-15T19:25:59.545Z,1353007559.545 [CBIT](IMPORTANT): Beginning GF scan
2012-11-15T19:26:00.632Z,1353007560.632 [NAL9602](IMPORTANT): GPS fix at: 1353007542.00
2012-11-15T19:26:07.927Z,1353007567.927 [NAL9602](INFO): Powering down
2012-11-15T19:26:12.788Z,1353007572.788 [SBIT](FAULT): Mass: EXPECTED:0.004000 ACTUAL:0.002486
2012-11-15T19:26:15.637Z,1353007575.637 [CommandLine](IMPORTANT): got command get platform_battery_charge
2012-11-15T19:26:15.638Z,1353007575.638 [CommandLine](IMPORTANT): platform_battery_charge 6.520001 ampere_hour
2012-11-15T19:26:26.153Z,1353007586.153 [CBIT](IMPORTANT): No ground fault detected
2012-11-15T19:26:53.426Z,1353007613.426 [SBIT](CRITICAL): SBIT FAILED
2012-11-15T19:26:53.796Z,1353007613.796 [MissionManager](IMPORTANT): Started mission Startup
2012-11-15T19:26:53.796Z,1353007613.796 [Startup] Running Loop=1
2012-11-15T19:26:53.796Z,1353007613.796 [Startup](INFO): Aggregate::initialize Startup
2012-11-15T19:26:53.796Z,1353007613.796 [Startup:A.GoToSurface] Running Loop=1
2012-11-15T19:26:53.796Z,1353007613.796 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-11-15T19:26:53.818Z,1353007613.818 [Startup:StartupSatComms] Running Loop=1
2012-11-15T19:26:53.818Z,1353007613.819 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-11-15T19:26:53.819Z,1353007613.819 [Startup:StartupSatComms:A] Running Loop=1
2012-11-15T19:26:54.196Z,1353007614.196 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-11-15T19:26:54.582Z,1353007614.582 [NAL9602](INFO): Powering up
2012-11-15T19:27:05.405Z,1353007625.405 [NAL9602](INFO): NAL9602 initialized
2012-11-15T19:27:54.209Z,1353007674.209 [Startup:StartupSatComms:A](INFO): Timed out from 2012-11-15T19:26:53.8Z
2012-11-15T19:27:54.209Z,1353007674.209 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2012-11-15T19:27:54.209Z,1353007674.209 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2012-11-15T19:27:54.209Z,1353007674.209 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2012-11-15T19:27:54.209Z,1353007674.209 [Startup:StartupSatComms:A] Stopped
2012-11-15T19:27:54.209Z,1353007674.209 [Startup:StartupSatComms:B] Running Loop=1
2012-11-15T19:27:54.661Z,1353007674.661 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-11-15T19:27:57.701Z,1353007677.701 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:02.058Z,1353007682.058 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:04.342Z,1353007684.342 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:08.704Z,1353007688.704 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:11.067Z,1353007691.067 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:15.450Z,1353007695.450 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:17.731Z,1353007697.731 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:22.030Z,1353007702.030 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:24.379Z,1353007704.379 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:28.662Z,1353007708.662 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:31.071Z,1353007711.071 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:35.315Z,1353007715.315 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:37.646Z,1353007717.647 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:41.982Z,1353007721.982 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:44.325Z,1353007724.325 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:48.638Z,1353007728.638 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:51.043Z,1353007731.043 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:55.105Z,1353007735.105 [Startup:StartupSatComms:B](INFO): Timed out from 2012-11-15T19:27:54.2Z
2012-11-15T19:28:55.105Z,1353007735.105 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2012-11-15T19:28:55.105Z,1353007735.105 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2012-11-15T19:28:55.105Z,1353007735.105 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2012-11-15T19:28:55.106Z,1353007735.106 [Startup:StartupSatComms:B] Stopped
2012-11-15T19:28:55.106Z,1353007735.106 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-11-15T19:28:55.106Z,1353007735.106 [Startup:StartupSatComms] Stopped
2012-11-15T19:28:55.106Z,1353007735.106 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-11-15T19:28:55.107Z,1353007735.107 [Startup](INFO): Completed Startup
2012-11-15T19:28:55.107Z,1353007735.107 [Startup] Stopped
2012-11-15T19:28:55.107Z,1353007735.107 [Startup](INFO): Aggregate::uninitialize Startup
2012-11-15T19:28:55.107Z,1353007735.107 [Startup:A.GoToSurface] Stopped
2012-11-15T19:28:55.107Z,1353007735.107 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-11-15T19:28:55.311Z,1353007735.311 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:28:55.325Z,1353007735.325 [MissionManager](IMPORTANT): Started mission Default
2012-11-15T19:28:55.325Z,1353007735.325 [Default] Running Loop=1
2012-11-15T19:28:55.325Z,1353007735.325 [Default](INFO): Aggregate::initialize Default
2012-11-15T19:28:55.325Z,1353007735.325 [Default:D.SetSpeed] Running Loop=1
2012-11-15T19:28:55.325Z,1353007735.325 [Default:D.SetSpeed](DEBUG): Initialize.
2012-11-15T19:28:55.326Z,1353007735.326 [Default:E.GoToSurface] Running Loop=1
2012-11-15T19:28:55.326Z,1353007735.326 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-11-15T19:28:55.326Z,1353007735.326 [Default:Iridium] Running Loop=1
2012-11-15T19:28:55.326Z,1353007735.326 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-11-15T19:28:55.326Z,1353007735.326 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-11-15T19:28:55.326Z,1353007735.326 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-11-15T19:28:55.326Z,1353007735.326 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-11-15T19:28:55.326Z,1353007735.326 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-11-15T19:28:55.327Z,1353007735.327 [Default:E.GoToSurface] Running Loop=1
2012-11-15T19:28:55.332Z,1353007735.332 [Default:D.SetSpeed] Running Loop=1
2012-11-15T19:28:55.337Z,1353007735.337 [Default:CallIridium] Running Loop=1
2012-11-15T19:28:55.337Z,1353007735.337 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-11-15T19:28:55.338Z,1353007735.338 [Default:CallIridium:A] Running Loop=1
2012-11-15T19:28:55.339Z,1353007735.339 [Default:CallIridium:A] Stopped
2012-11-15T19:28:55.340Z,1353007735.339 [Default:CallIridium:B] Running Loop=1
2012-11-15T19:28:55.340Z,1353007735.340 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-11-15T19:28:55.345Z,1353007735.345 [Default:Iridium:B.GoToSurface] Stopped
2012-11-15T19:28:55.345Z,1353007735.345 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-11-15T19:28:55.345Z,1353007735.345 [Default:Iridium:Read_Iridium] Running Loop=1
2012-11-15T19:28:55.345Z,1353007735.345 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-11-15T19:28:55.350Z,1353007735.350 [Default:GPS] Running Loop=1
2012-11-15T19:28:55.350Z,1353007735.350 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-11-15T19:28:55.350Z,1353007735.351 [Default:GPS:A.SetSpeed] Running Loop=1
2012-11-15T19:28:55.351Z,1353007735.351 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-11-15T19:28:55.351Z,1353007735.351 [Default:GPS:B.GoToSurface] Running Loop=1
2012-11-15T19:28:55.351Z,1353007735.351 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-11-15T19:28:55.356Z,1353007735.356 [Default:GPS:B.GoToSurface] Stopped
2012-11-15T19:28:55.356Z,1353007735.356 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-11-15T19:28:55.357Z,1353007735.357 [Default:GPS:Read_GPS] Running Loop=1
2012-11-15T19:28:55.357Z,1353007735.357 [Default:GPS:A.SetSpeed] Running Loop=1
2012-11-15T19:28:55.726Z,1353007735.726 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-11-15T19:28:55.729Z,1353007735.728 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-11-15T19:29:00.882Z,1353007740.882 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:29:05.200Z,1353007745.201 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:29:09.951Z,1353007749.951 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:29:14.254Z,1353007754.254 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:29:18.573Z,1353007758.573 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:29:22.994Z,1353007762.994 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:29:26.918Z,1353007766.918 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:29:31.237Z,1353007771.237 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2012-11-15T19:29:35.694Z,1353007775.694 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0