2012-11-20T20:38:50.875Z,1353443930.875 [Supervisor](DEBUG): Initializing supervisor.
2012-11-20T20:38:50.877Z,1353443930.877 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-11-20T20:38:50.878Z,1353443930.878 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-11-20T20:38:50.879Z,1353443930.879 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-11-20T20:38:50.883Z,1353443930.883 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-11-20T20:38:50.894Z,1353443930.894 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-11-20T20:38:50.895Z,1353443930.895 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-11-20T20:38:50.896Z,1353443930.896 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-11-20T20:38:50.897Z,1353443930.897 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-11-20T20:38:50.897Z,1353443930.897 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-11-20T20:38:50.899Z,1353443930.898 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-11-20T20:38:51.194Z,1353443931.194 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-11-20T20:38:51.195Z,1353443931.195 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-11-20T20:38:51.389Z,1353443931.389 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-11-20T20:38:51.389Z,1353443931.389 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-11-20T20:38:51.474Z,1353443931.474 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-11-20T20:38:51.475Z,1353443931.475 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-11-20T20:38:51.682Z,1353443931.682 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-11-20T20:38:51.682Z,1353443931.682 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-11-20T20:38:51.821Z,1353443931.821 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-11-20T20:38:51.822Z,1353443931.822 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-11-20T20:38:52.065Z,1353443932.065 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-11-20T20:38:52.066Z,1353443932.066 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-11-20T20:38:52.241Z,1353443932.241 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-11-20T20:38:52.242Z,1353443932.242 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-11-20T20:38:52.513Z,1353443932.513 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-11-20T20:38:52.514Z,1353443932.514 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-11-20T20:38:52.616Z,1353443932.616 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-11-20T20:38:52.617Z,1353443932.617 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-11-20T20:38:53.039Z,1353443933.039 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-11-20T20:38:53.040Z,1353443933.040 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-11-20T20:38:53.156Z,1353443933.156 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-11-20T20:38:53.156Z,1353443933.156 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-11-20T20:38:53.243Z,1353443933.243 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-11-20T20:38:53.243Z,1353443933.243 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-11-20T20:38:53.347Z,1353443933.347 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-11-20T20:38:53.481Z,1353443933.481 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-11-20T20:38:53.569Z,1353443933.569 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-11-20T20:38:53.674Z,1353443933.674 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-11-20T20:38:53.776Z,1353443933.776 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-11-20T20:38:53.899Z,1353443933.899 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-11-20T20:38:53.994Z,1353443933.994 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-11-20T20:38:54.082Z,1353443934.082 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-11-20T20:38:54.115Z,1353443934.115 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-11-20T20:38:54.274Z,1353443934.274 [InternalSim] Loaded
2012-11-20T20:38:54.275Z,1353443934.274 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-11-20T20:38:54.275Z,1353443934.275 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-11-20T20:38:54.276Z,1353443934.276 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-11-20T20:38:54.338Z,1353443934.338 [SBIT](DEBUG): Construct Startup Built In Test.
2012-11-20T20:38:54.367Z,1353443934.367 [SBIT] Loaded
2012-11-20T20:38:54.368Z,1353443934.368 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-11-20T20:38:54.369Z,1353443934.369 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-11-20T20:38:54.398Z,1353443934.398 [IBIT] Loaded
2012-11-20T20:38:54.398Z,1353443934.398 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-11-20T20:38:54.401Z,1353443934.401 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-11-20T20:38:54.525Z,1353443934.524 [CBIT] Loaded
2012-11-20T20:38:54.525Z,1353443934.525 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-11-20T20:38:54.525Z,1353443934.525 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-11-20T20:38:54.526Z,1353443934.526 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-11-20T20:38:54.677Z,1353443934.677 [BuoyancyServo] Loaded
2012-11-20T20:38:54.677Z,1353443934.677 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-11-20T20:38:54.690Z,1353443934.690 [ElevatorServo] Loaded
2012-11-20T20:38:54.690Z,1353443934.690 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-11-20T20:38:54.702Z,1353443934.702 [MassServo] Loaded
2012-11-20T20:38:54.702Z,1353443934.702 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-11-20T20:38:54.715Z,1353443934.714 [RudderServo] Loaded
2012-11-20T20:38:54.715Z,1353443934.715 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-11-20T20:38:54.727Z,1353443934.727 [ThrusterServo] Loaded
2012-11-20T20:38:54.727Z,1353443934.727 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-11-20T20:38:54.728Z,1353443934.728 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-11-20T20:38:54.728Z,1353443934.728 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-11-20T20:38:54.745Z,1353443934.745 [DepthRateCalculator] Loaded
2012-11-20T20:38:54.745Z,1353443934.745 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-11-20T20:38:59.125Z,1353443939.125 [HFRadarModelCalc] Loaded
2012-11-20T20:38:59.126Z,1353443939.126 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-11-20T20:38:59.142Z,1353443939.142 [NavChart] Loaded
2012-11-20T20:38:59.142Z,1353443939.142 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-11-20T20:38:59.149Z,1353443939.149 [PitchRateCalculator] Loaded
2012-11-20T20:38:59.149Z,1353443939.149 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-11-20T20:38:59.156Z,1353443939.156 [SpeedCalculator] Loaded
2012-11-20T20:38:59.156Z,1353443939.156 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-11-20T20:38:59.171Z,1353443939.171 [TempGradientCalculator] Loaded
2012-11-20T20:38:59.172Z,1353443939.172 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-11-20T20:38:59.178Z,1353443939.178 [YawRateCalculator] Loaded
2012-11-20T20:38:59.178Z,1353443939.178 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-11-20T20:38:59.220Z,1353443939.220 [Navigation] Loaded
2012-11-20T20:38:59.220Z,1353443939.220 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-11-20T20:38:59.221Z,1353443939.221 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-11-20T20:38:59.221Z,1353443939.221 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-11-20T20:38:59.461Z,1353443939.461 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-11-20T20:38:59.462Z,1353443939.462 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-11-20T20:38:59.486Z,1353443939.486 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-11-20T20:38:59.486Z,1353443939.486 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-11-20T20:38:59.529Z,1353443939.529 [VerticalControl](DEBUG): Construct VerticalControl.
2012-11-20T20:38:59.626Z,1353443939.625 [VerticalControl] Loaded
2012-11-20T20:38:59.626Z,1353443939.626 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-11-20T20:38:59.627Z,1353443939.627 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-11-20T20:38:59.686Z,1353443939.686 [HorizontalControl] Loaded
2012-11-20T20:38:59.686Z,1353443939.686 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-11-20T20:38:59.687Z,1353443939.687 [SpeedControl](DEBUG): Construct SpeedControl.
2012-11-20T20:38:59.689Z,1353443939.689 [SpeedControl] Loaded
2012-11-20T20:38:59.689Z,1353443939.689 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-11-20T20:38:59.690Z,1353443939.690 [LoopControl](DEBUG): Construct LoopControl.
2012-11-20T20:38:59.691Z,1353443939.691 [LoopControl] Loaded
2012-11-20T20:38:59.691Z,1353443939.691 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-11-20T20:38:59.691Z,1353443939.691 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-11-20T20:38:59.692Z,1353443939.692 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-11-20T20:38:59.697Z,1353443939.697 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-11-20T20:38:59.702Z,1353443939.702 [AsyncPiEstimator] Loaded
2012-11-20T20:38:59.702Z,1353443939.703 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-11-20T20:38:59.704Z,1353443939.704 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-11-20T20:38:59.704Z,1353443939.704 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-11-20T20:38:59.705Z,1353443939.705 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-11-20T20:38:59.835Z,1353443939.835 [AHRS_sp3003D] Loaded
2012-11-20T20:38:59.835Z,1353443939.835 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-11-20T20:39:00.105Z,1353443940.105 [Batt_Ocean_Server] Loaded
2012-11-20T20:39:00.106Z,1353443940.106 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-11-20T20:39:00.119Z,1353443940.119 [Depth_Keller] Loaded
2012-11-20T20:39:00.120Z,1353443940.120 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-11-20T20:39:00.126Z,1353443940.126 [DropWeight] Loaded
2012-11-20T20:39:00.126Z,1353443940.126 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-11-20T20:39:00.294Z,1353443940.294 [DVL_micro] Loaded
2012-11-20T20:39:00.294Z,1353443940.294 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-11-20T20:39:00.295Z,1353443940.295 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-11-20T20:39:00.380Z,1353443940.380 [NAL9602] Loaded
2012-11-20T20:39:00.380Z,1353443940.381 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-11-20T20:39:00.433Z,1353443940.433 [Onboard] Loaded
2012-11-20T20:39:00.434Z,1353443940.434 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-11-20T20:39:00.441Z,1353443940.441 [Radio_Freewave] Loaded
2012-11-20T20:39:00.441Z,1353443940.441 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-11-20T20:39:00.442Z,1353443940.442 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-11-20T20:39:00.442Z,1353443940.443 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-11-20T20:39:00.518Z,1353443940.518 [CTD_NeilBrown] Loaded
2012-11-20T20:39:00.518Z,1353443940.519 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-11-20T20:39:00.520Z,1353443940.520 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-11-20T20:39:00.537Z,1353443940.537 [PAR_Licor] Loaded
2012-11-20T20:39:00.537Z,1353443940.537 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-11-20T20:39:00.593Z,1353443940.593 [Turbulence_NPS] Loaded
2012-11-20T20:39:00.593Z,1353443940.593 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-11-20T20:39:00.594Z,1353443940.594 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-11-20T20:39:00.626Z,1353443940.625 [WetLabsBB2FL] Loaded
2012-11-20T20:39:00.626Z,1353443940.626 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-11-20T20:39:00.627Z,1353443940.627 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-11-20T20:39:00.628Z,1353443940.628 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-11-20T20:39:00.630Z,1353443940.630 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-11-20T20:39:00.631Z,1353443940.631 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-11-20T20:39:00.638Z,1353443940.638 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-11-20T20:39:00.639Z,1353443940.639 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-11-20T20:39:00.643Z,1353443940.643 [Supervisor](DEBUG): Running supervisor.
2012-11-20T20:39:00.644Z,1353443940.644 [CommandLine](INFO): Thread ID is 1025
2012-11-20T20:39:00.647Z,1353443940.647 [controlThread](INFO): Thread ID is 1024
2012-11-20T20:39:00.647Z,1353443940.647 [controlThread](DEBUG): Initializing ControlThread
2012-11-20T20:39:00.648Z,1353443940.648 [CycleStarter](INFO): Thread ID is 1023
2012-11-20T20:39:00.648Z,1353443940.648 [InternalSim](DEBUG):  InternalSim initializing...
2012-11-20T20:39:00.681Z,1353443940.681 [logger](INFO): Thread ID is 1026
2012-11-20T20:39:00.708Z,1353443940.708 [SBIT](INFO): Initialize SBIT Component.
2012-11-20T20:39:00.709Z,1353443940.709 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10057
2012-11-20T20:39:00.709Z,1353443940.709 [IBIT](INFO): Initialize IBIT Component.
2012-11-20T20:39:00.710Z,1353443940.710 [CBIT](DEBUG): Initialize CBIT Component.
2012-11-20T20:39:00.711Z,1353443940.711 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-11-20T20:39:00.721Z,1353443940.721 [AsyncPiEstimator](INFO): Thread ID is 1087
2012-11-20T20:39:00.721Z,1353443940.721 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-11-20T20:39:00.736Z,1353443940.736 [DVL_micro](INFO): Thread ID is 1088
2012-11-20T20:39:00.742Z,1353443940.742 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-11-20T20:39:00.742Z,1353443940.742 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-11-20T20:39:00.743Z,1353443940.743 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-11-20T20:39:00.743Z,1353443940.743 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-11-20T20:39:00.743Z,1353443940.743 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-11-20T20:39:00.745Z,1353443940.745 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-11-20T20:39:00.746Z,1353443940.746 [Navigation](DEBUG): Initializing Navigation.
2012-11-20T20:39:00.746Z,1353443940.746 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-11-20T20:39:00.748Z,1353443940.748 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-11-20T20:39:00.748Z,1353443940.748 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-11-20T20:39:00.749Z,1353443940.749 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-11-20T20:39:00.756Z,1353443940.756 [DVL_micro](INFO): Initializing
2012-11-20T20:39:00.756Z,1353443940.756 [DVL_micro](INFO): start:Powering up
2012-11-20T20:39:00.757Z,1353443940.757 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-11-20T20:39:00.758Z,1353443940.758 [DVL_micro](INFO): Cycling power to configure device.
2012-11-20T20:39:00.761Z,1353443940.761 [CTD_NeilBrown](INFO): Thread ID is 1089
2012-11-20T20:39:00.762Z,1353443940.762 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-11-20T20:39:00.765Z,1353443940.765 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-11-20T20:39:00.774Z,1353443940.774 [Turbulence_NPS](INFO): Thread ID is 1090
2012-11-20T20:39:00.774Z,1353443940.774 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-11-20T20:39:00.775Z,1353443940.775 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-11-20T20:39:00.805Z,1353443940.806 [WetLabsBB2FL](INFO): Thread ID is 1091
2012-11-20T20:39:00.806Z,1353443940.806 [WetLabsBB2FL](INFO): Powering down
2012-11-20T20:39:00.834Z,1353443940.834 [NavChartDb](INFO): Thread ID is 1092
2012-11-20T20:39:00.836Z,1353443940.836 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-11-20T20:39:00.837Z,1353443940.837 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-11-20T20:39:00.837Z,1353443940.837 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-11-20T20:39:00.837Z,1353443940.837 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-11-20T20:39:00.838Z,1353443940.838 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-11-20T20:39:00.873Z,1353443940.873 [Turbulence_NPS](INFO): Pause powering down
2012-11-20T20:39:02.353Z,1353443942.353 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-11-20T20:39:02.383Z,1353443942.383 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-11-20T20:39:02.426Z,1353443942.426 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-20T20:39:02.444Z,1353443942.444 [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>


2012-11-20T20:39:02.457Z,1353443942.457 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-11-20T20:39:02.531Z,1353443942.531 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-11-20T20:39:02.545Z,1353443942.545 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-11-20T20:39:02.554Z,1353443942.554 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-20T20:39:02.575Z,1353443942.575 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-11-20T20:39:02.578Z,1353443942.578 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-20T20:39:02.617Z,1353443942.616 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-11-20T20:39:02.654Z,1353443942.654 [Default:D.SetSpeed](DEBUG): Construct.
2012-11-20T20:39:02.661Z,1353443942.661 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-20T20:39:02.672Z,1353443942.671 [Default:F.Wait](DEBUG): Construct Wait.
2012-11-20T20:39:02.681Z,1353443942.681 [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>


2012-11-20T20:39:02.713Z,1353443942.713 [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,
2012-11-20T20:39:02.765Z,1353443942.765 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-20T20:39:02.861Z,1353443942.861 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-11-20T20:39:02.861Z,1353443942.861 [DVL_micro](INFO): Querying output modes
2012-11-20T20:39:02.862Z,1353443942.862 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-11-20T20:39:02.873Z,1353443942.873 [DVL_micro](DEBUG): cmdResponse: 01
2012-11-20T20:39:02.873Z,1353443942.873 [DVL_micro](INFO): NQ1 output enabled
2012-11-20T20:39:02.873Z,1353443942.873 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-11-20T20:39:02.885Z,1353443942.885 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-11-20T20:39:02.897Z,1353443942.897 [DVL_micro](INFO): pause:Powering down
2012-11-20T20:39:02.961Z,1353443942.961 [Radio_Freewave](INFO): Powering up
2012-11-20T20:39:03.275Z,1353443943.275 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:39:03.281Z,1353443943.281 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-11-20T20:39:03.299Z,1353443943.299 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:39:03.305Z,1353443943.305 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-11-20T20:39:03.323Z,1353443943.323 [MassServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:39:03.329Z,1353443943.329 [MassServo](DEBUG): Initializing MassServo.
2012-11-20T20:39:03.347Z,1353443943.347 [RudderServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:39:03.353Z,1353443943.353 [RudderServo](DEBUG): Initializing RudderServo.
2012-11-20T20:39:03.358Z,1353443943.358 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:39:03.365Z,1353443943.365 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-20T20:39:05.775Z,1353443945.775 [NAL9602](INFO): Powering up NAL9602
2012-11-20T20:39:16.170Z,1353443956.170 [SBIT](IMPORTANT): Beginning Startup BIT
2012-11-20T20:39:16.173Z,1353443956.173 [CBIT](IMPORTANT): Beginning GF scan
2012-11-20T20:39:16.423Z,1353443956.423 [NAL9602](INFO): NAL9602 initialized
2012-11-20T20:39:16.641Z,1353443956.641 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 300.000000 revolution_per_minute
2012-11-20T20:39:16.643Z,1353443956.643 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-11-20T20:39:16.969Z,1353443956.969 [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,
2012-11-20T20:39:26.553Z,1353443966.553 [ThrusterServo](FAULT): Overload Error
2012-11-20T20:39:26.553Z,1353443966.553 [ThrusterServo] Hardware Fault, FailCount= 1
2012-11-20T20:39:26.553Z,1353443966.553 [ThrusterServo](ERROR): Hardware Fault
2012-11-20T20:39:26.556Z,1353443966.556 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-11-20T20:39:26.906Z,1353443966.906 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-11-20T20:39:26.906Z,1353443966.906 [ThrusterServo](INFO): Powering down
2012-11-20T20:39:26.909Z,1353443966.909 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-11-20T20:39:26.910Z,1353443966.909 [ThrusterServo] No Fault, FailCount= 1
2012-11-20T20:39:27.794Z,1353443967.794 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:39:27.914Z,1353443967.914 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-20T20:39:41.597Z,1353443981.597 [ThrusterServo](FAULT): Overload Error
2012-11-20T20:39:41.597Z,1353443981.597 [ThrusterServo] Hardware Fault, FailCount= 1
2012-11-20T20:39:41.597Z,1353443981.597 [ThrusterServo](ERROR): Hardware Fault
2012-11-20T20:39:41.600Z,1353443981.600 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-11-20T20:39:42.002Z,1353443982.002 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-11-20T20:39:42.002Z,1353443982.002 [ThrusterServo](INFO): Powering down
2012-11-20T20:39:42.005Z,1353443982.005 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-11-20T20:39:42.005Z,1353443982.005 [ThrusterServo] No Fault, FailCount= 1
2012-11-20T20:39:42.782Z,1353443982.782 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:39:42.902Z,1353443982.902 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-20T20:39:42.906Z,1353443982.906 [CBIT](IMPORTANT): No ground fault detected
2012-11-20T20:39:50.727Z,1353443990.727 [CommandLine](IMPORTANT): got command maintain clear
2012-11-20T20:39:50.764Z,1353443990.764 [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,
2012-11-20T20:40:00.205Z,1353444000.205 [CommandLine](IMPORTANT): got command ! echo 1 > /dev/loadA7
2012-11-20T20:40:09.749Z,1353444009.749 [SBIT](IMPORTANT): SBIT PASSED
2012-11-20T20:40:10.140Z,1353444010.140 [MissionManager](IMPORTANT): Started mission Startup
2012-11-20T20:40:10.140Z,1353444010.140 [Startup] Running Loop=1
2012-11-20T20:40:10.140Z,1353444010.140 [Startup](INFO): Aggregate::initialize Startup
2012-11-20T20:40:10.140Z,1353444010.140 [Startup:A.GoToSurface] Running Loop=1
2012-11-20T20:40:10.140Z,1353444010.140 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-11-20T20:40:10.146Z,1353444010.146 [Startup:StartupSatComms] Running Loop=1
2012-11-20T20:40:10.146Z,1353444010.146 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-11-20T20:40:10.147Z,1353444010.147 [Startup:StartupSatComms:A] Running Loop=1
2012-11-20T20:40:10.516Z,1353444010.516 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-11-20T20:40:39.389Z,1353444039.389 [CommandLine](IMPORTANT): got command restart application
2012-11-20T20:40:40.580Z,1353444040.580 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-11-20T20:40:40.581Z,1353444040.581 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-11-20T20:40:40.861Z,1353444040.861 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-11-20T20:40:41.145Z,1353444041.145 [WetLabsBB2FL](INFO): Powering down
2012-11-20T20:40:41.161Z,1353444041.161 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-11-20T20:40:41.557Z,1353444041.557 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-11-20T20:40:41.564Z,1353444041.565 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-11-20T20:40:41.589Z,1353444041.589 [CTD_NeilBrown](INFO): Powering down
2012-11-20T20:40:41.609Z,1353444041.609 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-11-20T20:40:41.925Z,1353444041.925 [DVL_micro](INFO): uninitialize:Powering down
2012-11-20T20:40:41.938Z,1353444041.938 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-11-20T20:40:42.057Z,1353444042.057 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-11-20T20:40:42.077Z,1353444042.077 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-11-20T20:40:42.098Z,1353444042.098 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-11-20T20:40:42.100Z,1353444042.100 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-11-20T20:40:42.233Z,1353444042.233 [controlThread](DEBUG): Uninitializing ControlThread
2012-11-20T20:40:42.234Z,1353444042.234 [AHRS_sp3003D](INFO): Powering down
2012-11-20T20:40:42.322Z,1353444042.322 [NAL9602](INFO): Powering down
2012-11-20T20:40:42.324Z,1353444042.323 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-11-20T20:40:42.324Z,1353444042.324 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-11-20T20:40:42.328Z,1353444042.328 [Startup] Stopped
2012-11-20T20:40:42.328Z,1353444042.328 [Startup](INFO): Aggregate::uninitialize Startup
2012-11-20T20:40:42.329Z,1353444042.329 [Startup:A.GoToSurface] Stopped
2012-11-20T20:40:42.329Z,1353444042.329 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-11-20T20:40:42.329Z,1353444042.329 [Startup:StartupSatComms] Stopped
2012-11-20T20:40:42.329Z,1353444042.329 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-11-20T20:40:42.329Z,1353444042.329 [Startup:StartupSatComms:A] Stopped
2012-11-20T20:40:42.330Z,1353444042.330 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-11-20T20:40:42.330Z,1353444042.330 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-11-20T20:40:42.331Z,1353444042.331 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-11-20T20:40:42.331Z,1353444042.331 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-11-20T20:40:42.331Z,1353444042.331 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-11-20T20:40:42.331Z,1353444042.332 [BuoyancyServo](INFO): Powering down
2012-11-20T20:40:42.345Z,1353444042.345 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-11-20T20:40:42.345Z,1353444042.345 [ElevatorServo](INFO): Powering down
2012-11-20T20:40:42.346Z,1353444042.346 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-11-20T20:40:42.346Z,1353444042.346 [MassServo](INFO): Powering down
2012-11-20T20:40:42.346Z,1353444042.346 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-11-20T20:40:42.347Z,1353444042.346 [RudderServo](INFO): Powering down
2012-11-20T20:40:42.347Z,1353444042.347 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-11-20T20:40:42.347Z,1353444042.348 [ThrusterServo](INFO): Powering down
2012-11-20T20:40:42.348Z,1353444042.348 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-11-20T20:40:42.349Z,1353444042.349 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-11-20T20:40:42.349Z,1353444042.349 [CBIT](DEBUG): Uninitialize CBIT Component.