2012-11-20T20:34:38.167Z,1353443678.167 [Supervisor](DEBUG): Initializing supervisor.
2012-11-20T20:34:38.169Z,1353443678.169 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-11-20T20:34:38.170Z,1353443678.170 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-11-20T20:34:38.171Z,1353443678.171 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-11-20T20:34:38.175Z,1353443678.174 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-11-20T20:34:38.185Z,1353443678.185 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-11-20T20:34:38.186Z,1353443678.186 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-11-20T20:34:38.187Z,1353443678.187 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-11-20T20:34:38.188Z,1353443678.188 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-11-20T20:34:38.189Z,1353443678.189 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-11-20T20:34:38.190Z,1353443678.190 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-11-20T20:34:38.545Z,1353443678.545 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-11-20T20:34:38.545Z,1353443678.545 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-11-20T20:34:38.733Z,1353443678.733 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-11-20T20:34:38.734Z,1353443678.734 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-11-20T20:34:38.819Z,1353443678.819 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-11-20T20:34:38.819Z,1353443678.819 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-11-20T20:34:39.017Z,1353443679.017 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-11-20T20:34:39.018Z,1353443679.018 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-11-20T20:34:39.152Z,1353443679.152 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-11-20T20:34:39.153Z,1353443679.152 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-11-20T20:34:39.391Z,1353443679.391 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-11-20T20:34:39.392Z,1353443679.392 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-11-20T20:34:39.563Z,1353443679.563 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-11-20T20:34:39.564Z,1353443679.564 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-11-20T20:34:39.831Z,1353443679.830 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-11-20T20:34:39.831Z,1353443679.831 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-11-20T20:34:39.930Z,1353443679.930 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-11-20T20:34:39.930Z,1353443679.930 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-11-20T20:34:40.381Z,1353443680.381 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-11-20T20:34:40.381Z,1353443680.381 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-11-20T20:34:40.496Z,1353443680.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-11-20T20:34:40.497Z,1353443680.497 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-11-20T20:34:40.583Z,1353443680.583 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-11-20T20:34:40.584Z,1353443680.584 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-11-20T20:34:40.686Z,1353443680.686 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-11-20T20:34:40.817Z,1353443680.817 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-11-20T20:34:40.903Z,1353443680.903 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-11-20T20:34:41.005Z,1353443681.005 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-11-20T20:34:41.106Z,1353443681.106 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-11-20T20:34:41.225Z,1353443681.225 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-11-20T20:34:41.319Z,1353443681.319 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-11-20T20:34:41.406Z,1353443681.406 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-11-20T20:34:41.441Z,1353443681.441 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-11-20T20:34:41.596Z,1353443681.596 [InternalSim] Loaded
2012-11-20T20:34:41.596Z,1353443681.596 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-11-20T20:34:41.597Z,1353443681.597 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-11-20T20:34:41.597Z,1353443681.597 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-11-20T20:34:41.655Z,1353443681.655 [SBIT](DEBUG): Construct Startup Built In Test.
2012-11-20T20:34:41.684Z,1353443681.684 [SBIT] Loaded
2012-11-20T20:34:41.685Z,1353443681.685 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-11-20T20:34:41.686Z,1353443681.686 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-11-20T20:34:41.714Z,1353443681.714 [IBIT] Loaded
2012-11-20T20:34:41.715Z,1353443681.714 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-11-20T20:34:41.718Z,1353443681.718 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-11-20T20:34:41.840Z,1353443681.839 [CBIT] Loaded
2012-11-20T20:34:41.840Z,1353443681.840 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-11-20T20:34:41.840Z,1353443681.840 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-11-20T20:34:41.841Z,1353443681.841 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-11-20T20:34:41.989Z,1353443681.989 [BuoyancyServo] Loaded
2012-11-20T20:34:41.989Z,1353443681.989 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-11-20T20:34:42.001Z,1353443682.001 [ElevatorServo] Loaded
2012-11-20T20:34:42.002Z,1353443682.001 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-11-20T20:34:42.013Z,1353443682.013 [MassServo] Loaded
2012-11-20T20:34:42.014Z,1353443682.013 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-11-20T20:34:42.026Z,1353443682.026 [RudderServo] Loaded
2012-11-20T20:34:42.026Z,1353443682.026 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-11-20T20:34:42.038Z,1353443682.038 [ThrusterServo] Loaded
2012-11-20T20:34:42.038Z,1353443682.038 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-11-20T20:34:42.039Z,1353443682.039 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-11-20T20:34:42.039Z,1353443682.039 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-11-20T20:34:42.056Z,1353443682.056 [DepthRateCalculator] Loaded
2012-11-20T20:34:42.057Z,1353443682.057 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-11-20T20:34:45.934Z,1353443685.934 [HFRadarModelCalc] Loaded
2012-11-20T20:34:45.934Z,1353443685.934 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-11-20T20:34:45.950Z,1353443685.950 [NavChart] Loaded
2012-11-20T20:34:45.950Z,1353443685.950 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-11-20T20:34:45.956Z,1353443685.956 [PitchRateCalculator] Loaded
2012-11-20T20:34:45.957Z,1353443685.957 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-11-20T20:34:45.963Z,1353443685.963 [SpeedCalculator] Loaded
2012-11-20T20:34:45.963Z,1353443685.963 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-11-20T20:34:45.978Z,1353443685.978 [TempGradientCalculator] Loaded
2012-11-20T20:34:45.979Z,1353443685.979 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-11-20T20:34:45.984Z,1353443685.984 [YawRateCalculator] Loaded
2012-11-20T20:34:45.985Z,1353443685.985 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-11-20T20:34:46.026Z,1353443686.026 [Navigation] Loaded
2012-11-20T20:34:46.026Z,1353443686.026 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-11-20T20:34:46.027Z,1353443686.027 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-11-20T20:34:46.027Z,1353443686.027 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-11-20T20:34:46.254Z,1353443686.254 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-11-20T20:34:46.254Z,1353443686.254 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-11-20T20:34:46.277Z,1353443686.277 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-11-20T20:34:46.278Z,1353443686.278 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-11-20T20:34:46.319Z,1353443686.319 [VerticalControl](DEBUG): Construct VerticalControl.
2012-11-20T20:34:46.415Z,1353443686.415 [VerticalControl] Loaded
2012-11-20T20:34:46.415Z,1353443686.415 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-11-20T20:34:46.416Z,1353443686.416 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-11-20T20:34:46.473Z,1353443686.473 [HorizontalControl] Loaded
2012-11-20T20:34:46.474Z,1353443686.474 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-11-20T20:34:46.475Z,1353443686.475 [SpeedControl](DEBUG): Construct SpeedControl.
2012-11-20T20:34:46.476Z,1353443686.476 [SpeedControl] Loaded
2012-11-20T20:34:46.477Z,1353443686.477 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-11-20T20:34:46.478Z,1353443686.478 [LoopControl](DEBUG): Construct LoopControl.
2012-11-20T20:34:46.478Z,1353443686.478 [LoopControl] Loaded
2012-11-20T20:34:46.478Z,1353443686.478 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-11-20T20:34:46.479Z,1353443686.479 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-11-20T20:34:46.479Z,1353443686.479 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-11-20T20:34:46.485Z,1353443686.485 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-11-20T20:34:46.490Z,1353443686.490 [AsyncPiEstimator] Loaded
2012-11-20T20:34:46.490Z,1353443686.490 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-11-20T20:34:46.491Z,1353443686.491 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-11-20T20:34:46.492Z,1353443686.492 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-11-20T20:34:46.493Z,1353443686.493 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-11-20T20:34:46.620Z,1353443686.620 [AHRS_sp3003D] Loaded
2012-11-20T20:34:46.620Z,1353443686.620 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-11-20T20:34:46.883Z,1353443686.883 [Batt_Ocean_Server] Loaded
2012-11-20T20:34:46.883Z,1353443686.884 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-11-20T20:34:46.896Z,1353443686.897 [Depth_Keller] Loaded
2012-11-20T20:34:46.897Z,1353443686.897 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-11-20T20:34:46.902Z,1353443686.902 [DropWeight] Loaded
2012-11-20T20:34:46.903Z,1353443686.903 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-11-20T20:34:47.066Z,1353443687.066 [DVL_micro] Loaded
2012-11-20T20:34:47.066Z,1353443687.066 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-11-20T20:34:47.067Z,1353443687.067 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-11-20T20:34:47.150Z,1353443687.150 [NAL9602] Loaded
2012-11-20T20:34:47.150Z,1353443687.151 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-11-20T20:34:47.203Z,1353443687.203 [Onboard] Loaded
2012-11-20T20:34:47.203Z,1353443687.203 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-11-20T20:34:47.210Z,1353443687.210 [Radio_Freewave] Loaded
2012-11-20T20:34:47.210Z,1353443687.210 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-11-20T20:34:47.211Z,1353443687.211 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-11-20T20:34:47.212Z,1353443687.212 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-11-20T20:34:47.285Z,1353443687.286 [CTD_NeilBrown] Loaded
2012-11-20T20:34:47.286Z,1353443687.286 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-11-20T20:34:47.287Z,1353443687.287 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-11-20T20:34:47.304Z,1353443687.304 [PAR_Licor] Loaded
2012-11-20T20:34:47.304Z,1353443687.304 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-11-20T20:34:47.358Z,1353443687.358 [Turbulence_NPS] Loaded
2012-11-20T20:34:47.358Z,1353443687.358 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-11-20T20:34:47.359Z,1353443687.359 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-11-20T20:34:47.390Z,1353443687.390 [WetLabsBB2FL] Loaded
2012-11-20T20:34:47.390Z,1353443687.390 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-11-20T20:34:47.391Z,1353443687.391 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-11-20T20:34:47.392Z,1353443687.392 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-11-20T20:34:47.394Z,1353443687.394 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-11-20T20:34:47.395Z,1353443687.395 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-11-20T20:34:47.402Z,1353443687.402 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-11-20T20:34:47.403Z,1353443687.403 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-11-20T20:34:47.407Z,1353443687.407 [Supervisor](DEBUG): Running supervisor.
2012-11-20T20:34:47.408Z,1353443687.408 [CommandLine](INFO): Thread ID is 788
2012-11-20T20:34:47.411Z,1353443687.411 [controlThread](INFO): Thread ID is 787
2012-11-20T20:34:47.411Z,1353443687.411 [controlThread](DEBUG): Initializing ControlThread
2012-11-20T20:34:47.412Z,1353443687.412 [CycleStarter](INFO): Thread ID is 786
2012-11-20T20:34:47.412Z,1353443687.412 [InternalSim](DEBUG):  InternalSim initializing...
2012-11-20T20:34:47.447Z,1353443687.447 [logger](INFO): Thread ID is 789
2012-11-20T20:34:47.472Z,1353443687.472 [SBIT](INFO): Initialize SBIT Component.
2012-11-20T20:34:47.473Z,1353443687.473 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10057
2012-11-20T20:34:47.473Z,1353443687.473 [IBIT](INFO): Initialize IBIT Component.
2012-11-20T20:34:47.474Z,1353443687.474 [CBIT](DEBUG): Initialize CBIT Component.
2012-11-20T20:34:47.474Z,1353443687.474 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-11-20T20:34:47.485Z,1353443687.485 [AsyncPiEstimator](INFO): Thread ID is 850
2012-11-20T20:34:47.485Z,1353443687.485 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-11-20T20:34:47.501Z,1353443687.501 [DVL_micro](INFO): Thread ID is 851
2012-11-20T20:34:47.506Z,1353443687.506 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-11-20T20:34:47.506Z,1353443687.506 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-11-20T20:34:47.507Z,1353443687.507 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-11-20T20:34:47.507Z,1353443687.507 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-11-20T20:34:47.507Z,1353443687.507 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-11-20T20:34:47.509Z,1353443687.509 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-11-20T20:34:47.510Z,1353443687.510 [Navigation](DEBUG): Initializing Navigation.
2012-11-20T20:34:47.510Z,1353443687.510 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-11-20T20:34:47.512Z,1353443687.512 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-11-20T20:34:47.512Z,1353443687.512 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-11-20T20:34:47.517Z,1353443687.517 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-11-20T20:34:47.522Z,1353443687.522 [DVL_micro](INFO): Initializing
2012-11-20T20:34:47.522Z,1353443687.522 [DVL_micro](INFO): start:Powering up
2012-11-20T20:34:47.523Z,1353443687.523 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-11-20T20:34:47.523Z,1353443687.523 [DVL_micro](INFO): Cycling power to configure device.
2012-11-20T20:34:47.529Z,1353443687.529 [CTD_NeilBrown](INFO): Thread ID is 852
2012-11-20T20:34:47.530Z,1353443687.530 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-11-20T20:34:47.533Z,1353443687.533 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-11-20T20:34:47.535Z,1353443687.535 [Turbulence_NPS](INFO): Thread ID is 853
2012-11-20T20:34:47.535Z,1353443687.535 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-11-20T20:34:47.536Z,1353443687.536 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-11-20T20:34:47.577Z,1353443687.577 [WetLabsBB2FL](INFO): Thread ID is 854
2012-11-20T20:34:47.578Z,1353443687.578 [WetLabsBB2FL](INFO): Powering down
2012-11-20T20:34:47.609Z,1353443687.609 [NavChartDb](INFO): Thread ID is 855
2012-11-20T20:34:47.610Z,1353443687.610 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-11-20T20:34:47.611Z,1353443687.611 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-11-20T20:34:47.611Z,1353443687.611 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-11-20T20:34:47.612Z,1353443687.612 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-11-20T20:34:47.612Z,1353443687.612 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-11-20T20:34:47.629Z,1353443687.629 [Turbulence_NPS](INFO): Pause powering down
2012-11-20T20:34:49.525Z,1353443689.526 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-11-20T20:34:49.585Z,1353443689.585 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-11-20T20:34:49.608Z,1353443689.608 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-20T20:34:49.609Z,1353443689.609 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-11-20T20:34:49.610Z,1353443689.610 [DVL_micro](INFO): Querying output modes
2012-11-20T20:34:49.610Z,1353443689.610 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-11-20T20:34:49.621Z,1353443689.621 [DVL_micro](DEBUG): cmdResponse: 01
2012-11-20T20:34:49.621Z,1353443689.621 [DVL_micro](INFO): NQ1 output enabled
2012-11-20T20:34:49.621Z,1353443689.621 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-11-20T20:34:49.632Z,1353443689.632 [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>


2012-11-20T20:34:49.633Z,1353443689.633 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-11-20T20:34:49.638Z,1353443689.638 [DVL_micro](INFO): pause:Powering down
2012-11-20T20:34:49.641Z,1353443689.641 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-11-20T20:34:49.718Z,1353443689.718 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-11-20T20:34:49.720Z,1353443689.720 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-11-20T20:34:49.735Z,1353443689.735 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-20T20:34:49.742Z,1353443689.742 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-11-20T20:34:49.781Z,1353443689.781 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-20T20:34:49.787Z,1353443689.787 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-11-20T20:34:49.814Z,1353443689.814 [Default:D.SetSpeed](DEBUG): Construct.
2012-11-20T20:34:49.817Z,1353443689.817 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-20T20:34:49.833Z,1353443689.833 [Default:F.Wait](DEBUG): Construct Wait.
2012-11-20T20:34:49.837Z,1353443689.837 [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>


2012-11-20T20:34:49.845Z,1353443689.845 [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,
2012-11-20T20:34:49.909Z,1353443689.909 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-20T20:34:50.109Z,1353443690.109 [Radio_Freewave](INFO): Powering up
2012-11-20T20:34:50.391Z,1353443690.391 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:34:50.397Z,1353443690.397 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-11-20T20:34:50.412Z,1353443690.411 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:34:50.417Z,1353443690.417 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-11-20T20:34:50.424Z,1353443690.424 [MassServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:34:50.425Z,1353443690.425 [MassServo](DEBUG): Initializing MassServo.
2012-11-20T20:34:50.447Z,1353443690.447 [RudderServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:34:50.469Z,1353443690.469 [RudderServo](DEBUG): Initializing RudderServo.
2012-11-20T20:34:50.474Z,1353443690.474 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:34:50.481Z,1353443690.481 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-20T20:34:52.494Z,1353443692.494 [NAL9602](INFO): Powering up NAL9602
2012-11-20T20:34:53.801Z,1353443693.801 [CommandLine](IMPORTANT): got command show variable thruster
2012-11-20T20:34:54.017Z,1353443694.017 [CommandLine](INFO): Config/vehicle.ThrusterServo_card (none)
2012-11-20T20:34:54.018Z,1353443694.018 [CommandLine](INFO): Config/vehicle.ThrusterServo_uart (none)
2012-11-20T20:34:54.018Z,1353443694.018 [CommandLine](INFO): Config/vehicle.ThrusterServo_baud (bit_per_second)
2012-11-20T20:34:54.043Z,1353443694.043 [CommandLine](INFO): Config/Servo.ThrusterServo_enable (bool)
2012-11-20T20:34:54.043Z,1353443694.043 [CommandLine](INFO): Config/Servo.ThrusterServo_useHardware (bool)
2012-11-20T20:34:54.043Z,1353443694.043 [CommandLine](INFO): ThrusterServo.powerOnTimeout (second)
2012-11-20T20:34:54.044Z,1353443694.044 [CommandLine](INFO): ThrusterServo.currLimit (percent)
2012-11-20T20:34:54.044Z,1353443694.044 [CommandLine](INFO): ThrusterServo.pidW (count)
2012-11-20T20:34:54.065Z,1353443694.065 [CommandLine](INFO): ThrusterServo.pidX (count)
2012-11-20T20:34:54.065Z,1353443694.065 [CommandLine](INFO): ThrusterServo.pidY (count)
2012-11-20T20:34:54.066Z,1353443694.066 [CommandLine](INFO): ThrusterServo.overloadTimeout (millisecond)
2012-11-20T20:34:54.066Z,1353443694.066 [CommandLine](INFO): ThrusterServo.accel (none)
2012-11-20T20:34:54.067Z,1353443694.066 [CommandLine](INFO): ThrusterServo.encoderTks (count_per_second)
2012-11-20T20:34:54.067Z,1353443694.067 [CommandLine](INFO): ThrusterServo.tksPerRev (count_per_revolution)
2012-11-20T20:34:54.067Z,1353443694.067 [CommandLine](INFO): ThrusterServo.deviation (count)
2012-11-20T20:34:54.068Z,1353443694.068 [CommandLine](INFO): ThrusterServo.allowableBadVelocity (count)
2012-11-20T20:34:54.197Z,1353443694.197 [CommandLine](INFO): ThrusterServo.platform_propeller_rotation_rate (radian_per_second)
2012-11-20T20:34:54.273Z,1353443694.273 [CommandLine](INFO): ThrusterServo.durationOfLastRun (second)
2012-11-20T20:35:03.017Z,1353443703.017 [NAL9602](INFO): NAL9602 initialized
2012-11-20T20:35:03.110Z,1353443703.110 [SBIT](IMPORTANT): Beginning Startup BIT
2012-11-20T20:35:03.113Z,1353443703.113 [CBIT](IMPORTANT): Beginning GF scan
2012-11-20T20:35:03.497Z,1353443703.497 [CommandLine](IMPORTANT): got command get ThrusterServo.currLimit
2012-11-20T20:35:03.498Z,1353443703.498 [CommandLine](IMPORTANT): ThrusterServo.currLimit 100.000000 percent
2012-11-20T20:35:18.945Z,1353443718.945 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 300.000000 revolution_per_minute
2012-11-20T20:35:18.947Z,1353443718.947 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-11-20T20:35:19.129Z,1353443719.129 [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,Maintain_SpeedControl.propOmegaAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2012-11-20T20:35:27.973Z,1353443727.973 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-11-20T20:35:27.973Z,1353443727.973 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-11-20T20:35:27.973Z,1353443727.973 [ThrusterServo] Communications Fault, FailCount= 1
2012-11-20T20:35:27.973Z,1353443727.973 [ThrusterServo](ERROR): Communications Fault
2012-11-20T20:35:27.976Z,1353443727.976 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-11-20T20:35:28.242Z,1353443728.242 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-11-20T20:35:28.242Z,1353443728.242 [ThrusterServo](INFO): Powering down
2012-11-20T20:35:28.245Z,1353443728.246 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-11-20T20:35:28.246Z,1353443728.246 [ThrusterServo] No Fault, FailCount= 1
2012-11-20T20:35:29.022Z,1353443729.022 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:35:29.141Z,1353443729.141 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-20T20:35:29.916Z,1353443729.916 [CBIT](IMPORTANT): No ground fault detected
2012-11-20T20:35:50.329Z,1353443750.329 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-11-20T20:35:50.329Z,1353443750.329 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-11-20T20:35:50.329Z,1353443750.329 [ThrusterServo] Communications Fault, FailCount= 1
2012-11-20T20:35:50.329Z,1353443750.329 [ThrusterServo](ERROR): Communications Fault
2012-11-20T20:35:50.332Z,1353443750.332 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-11-20T20:35:50.618Z,1353443750.618 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-11-20T20:35:50.618Z,1353443750.618 [ThrusterServo](INFO): Powering down
2012-11-20T20:35:50.621Z,1353443750.621 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-11-20T20:35:50.621Z,1353443750.621 [ThrusterServo] No Fault, FailCount= 1
2012-11-20T20:35:51.398Z,1353443751.398 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:35:51.518Z,1353443751.518 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-20T20:35:56.989Z,1353443756.989 [SBIT](IMPORTANT): SBIT PASSED
2012-11-20T20:35:57.344Z,1353443757.344 [MissionManager](IMPORTANT): Started mission Startup
2012-11-20T20:35:57.344Z,1353443757.344 [Startup] Running Loop=1
2012-11-20T20:35:57.344Z,1353443757.344 [Startup](INFO): Aggregate::initialize Startup
2012-11-20T20:35:57.344Z,1353443757.344 [Startup:A.GoToSurface] Running Loop=1
2012-11-20T20:35:57.344Z,1353443757.344 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-11-20T20:35:57.371Z,1353443757.371 [Startup:StartupSatComms] Running Loop=1
2012-11-20T20:35:57.371Z,1353443757.371 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-11-20T20:35:57.371Z,1353443757.371 [Startup:StartupSatComms:A] Running Loop=1
2012-11-20T20:35:57.748Z,1353443757.748 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-11-20T20:36:03.997Z,1353443763.997 [CommandLine](IMPORTANT): got command restart application
2012-11-20T20:36:05.072Z,1353443765.072 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-11-20T20:36:05.073Z,1353443765.073 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-11-20T20:36:05.132Z,1353443765.132 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-11-20T20:36:05.221Z,1353443765.221 [WetLabsBB2FL](INFO): Powering down
2012-11-20T20:36:05.236Z,1353443765.237 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-11-20T20:36:05.309Z,1353443765.309 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-11-20T20:36:05.317Z,1353443765.317 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-11-20T20:36:05.457Z,1353443765.457 [CTD_NeilBrown](INFO): Powering down
2012-11-20T20:36:05.461Z,1353443765.461 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-11-20T20:36:05.633Z,1353443765.633 [DVL_micro](INFO): uninitialize:Powering down
2012-11-20T20:36:05.641Z,1353443765.641 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-11-20T20:36:05.821Z,1353443765.821 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-11-20T20:36:05.825Z,1353443765.825 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-11-20T20:36:05.865Z,1353443765.865 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-11-20T20:36:05.867Z,1353443765.867 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-11-20T20:36:05.873Z,1353443765.872 [controlThread](DEBUG): Uninitializing ControlThread
2012-11-20T20:36:05.873Z,1353443765.873 [AHRS_sp3003D](INFO): Powering down
2012-11-20T20:36:05.962Z,1353443765.962 [NAL9602](INFO): Powering down
2012-11-20T20:36:05.964Z,1353443765.964 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-11-20T20:36:05.964Z,1353443765.964 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-11-20T20:36:05.968Z,1353443765.968 [Startup] Stopped
2012-11-20T20:36:05.969Z,1353443765.968 [Startup](INFO): Aggregate::uninitialize Startup
2012-11-20T20:36:05.969Z,1353443765.969 [Startup:A.GoToSurface] Stopped
2012-11-20T20:36:05.969Z,1353443765.969 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-11-20T20:36:05.969Z,1353443765.969 [Startup:StartupSatComms] Stopped
2012-11-20T20:36:05.969Z,1353443765.969 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-11-20T20:36:05.969Z,1353443765.969 [Startup:StartupSatComms:A] Stopped
2012-11-20T20:36:05.970Z,1353443765.970 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-11-20T20:36:05.970Z,1353443765.970 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-11-20T20:36:05.971Z,1353443765.971 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-11-20T20:36:05.971Z,1353443765.971 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-11-20T20:36:05.971Z,1353443765.971 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-11-20T20:36:05.972Z,1353443765.972 [BuoyancyServo](INFO): Powering down
2012-11-20T20:36:05.985Z,1353443765.985 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-11-20T20:36:05.985Z,1353443765.985 [ElevatorServo](INFO): Powering down
2012-11-20T20:36:05.986Z,1353443765.986 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-11-20T20:36:05.986Z,1353443765.986 [MassServo](INFO): Powering down
2012-11-20T20:36:05.987Z,1353443765.987 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-11-20T20:36:05.987Z,1353443765.987 [RudderServo](INFO): Powering down
2012-11-20T20:36:05.987Z,1353443765.987 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-11-20T20:36:05.988Z,1353443765.987 [ThrusterServo](INFO): Powering down
2012-11-20T20:36:05.988Z,1353443765.988 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-11-20T20:36:05.989Z,1353443765.989 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-11-20T20:36:05.989Z,1353443765.989 [CBIT](DEBUG): Uninitialize CBIT Component.