2012-11-20T20:44:23.932Z,1353444263.932 [Supervisor](DEBUG): Initializing supervisor.
2012-11-20T20:44:23.935Z,1353444263.935 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-11-20T20:44:23.936Z,1353444263.935 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-11-20T20:44:23.937Z,1353444263.937 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-11-20T20:44:23.940Z,1353444263.940 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-11-20T20:44:23.950Z,1353444263.950 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-11-20T20:44:23.951Z,1353444263.951 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-11-20T20:44:23.952Z,1353444263.952 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-11-20T20:44:23.953Z,1353444263.953 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-11-20T20:44:23.954Z,1353444263.954 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-11-20T20:44:23.955Z,1353444263.955 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-11-20T20:44:24.233Z,1353444264.233 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-11-20T20:44:24.233Z,1353444264.233 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-11-20T20:44:24.418Z,1353444264.418 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-11-20T20:44:24.419Z,1353444264.419 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-11-20T20:44:24.504Z,1353444264.504 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-11-20T20:44:24.504Z,1353444264.504 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-11-20T20:44:24.700Z,1353444264.700 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-11-20T20:44:24.700Z,1353444264.700 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-11-20T20:44:24.834Z,1353444264.834 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-11-20T20:44:24.835Z,1353444264.835 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-11-20T20:44:25.066Z,1353444265.066 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-11-20T20:44:25.066Z,1353444265.066 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-11-20T20:44:25.235Z,1353444265.236 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-11-20T20:44:25.236Z,1353444265.236 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-11-20T20:44:25.498Z,1353444265.498 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-11-20T20:44:25.498Z,1353444265.498 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-11-20T20:44:25.614Z,1353444265.614 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-11-20T20:44:25.615Z,1353444265.615 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-11-20T20:44:26.014Z,1353444266.014 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-11-20T20:44:26.014Z,1353444266.014 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-11-20T20:44:26.128Z,1353444266.128 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-11-20T20:44:26.129Z,1353444266.129 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-11-20T20:44:26.214Z,1353444266.214 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-11-20T20:44:26.215Z,1353444266.215 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-11-20T20:44:26.317Z,1353444266.316 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-11-20T20:44:26.446Z,1353444266.446 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-11-20T20:44:26.532Z,1353444266.532 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-11-20T20:44:26.635Z,1353444266.635 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-11-20T20:44:26.735Z,1353444266.735 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-11-20T20:44:26.853Z,1353444266.853 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-11-20T20:44:26.947Z,1353444266.947 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-11-20T20:44:27.034Z,1353444267.034 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-11-20T20:44:27.064Z,1353444267.064 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-11-20T20:44:27.211Z,1353444267.211 [InternalSim] Loaded
2012-11-20T20:44:27.211Z,1353444267.211 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-11-20T20:44:27.212Z,1353444267.212 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-11-20T20:44:27.213Z,1353444267.213 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-11-20T20:44:27.268Z,1353444267.268 [SBIT](DEBUG): Construct Startup Built In Test.
2012-11-20T20:44:27.295Z,1353444267.295 [SBIT] Loaded
2012-11-20T20:44:27.296Z,1353444267.296 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-11-20T20:44:27.296Z,1353444267.296 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-11-20T20:44:27.324Z,1353444267.324 [IBIT] Loaded
2012-11-20T20:44:27.324Z,1353444267.324 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-11-20T20:44:27.327Z,1353444267.327 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-11-20T20:44:27.442Z,1353444267.442 [CBIT] Loaded
2012-11-20T20:44:27.443Z,1353444267.443 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-11-20T20:44:27.443Z,1353444267.443 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-11-20T20:44:27.444Z,1353444267.444 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-11-20T20:44:27.588Z,1353444267.588 [BuoyancyServo] Loaded
2012-11-20T20:44:27.589Z,1353444267.589 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-11-20T20:44:27.600Z,1353444267.601 [ElevatorServo] Loaded
2012-11-20T20:44:27.601Z,1353444267.601 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-11-20T20:44:27.612Z,1353444267.612 [MassServo] Loaded
2012-11-20T20:44:27.612Z,1353444267.612 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-11-20T20:44:27.624Z,1353444267.624 [RudderServo] Loaded
2012-11-20T20:44:27.624Z,1353444267.624 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-11-20T20:44:27.636Z,1353444267.636 [ThrusterServo] Loaded
2012-11-20T20:44:27.636Z,1353444267.636 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-11-20T20:44:27.637Z,1353444267.636 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-11-20T20:44:27.637Z,1353444267.637 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-11-20T20:44:27.653Z,1353444267.653 [DepthRateCalculator] Loaded
2012-11-20T20:44:27.654Z,1353444267.654 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-11-20T20:44:31.389Z,1353444271.389 [HFRadarModelCalc] Loaded
2012-11-20T20:44:31.389Z,1353444271.389 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-11-20T20:44:31.405Z,1353444271.405 [NavChart] Loaded
2012-11-20T20:44:31.405Z,1353444271.405 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-11-20T20:44:31.411Z,1353444271.411 [PitchRateCalculator] Loaded
2012-11-20T20:44:31.411Z,1353444271.411 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-11-20T20:44:31.417Z,1353444271.417 [SpeedCalculator] Loaded
2012-11-20T20:44:31.417Z,1353444271.418 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-11-20T20:44:31.432Z,1353444271.432 [TempGradientCalculator] Loaded
2012-11-20T20:44:31.432Z,1353444271.432 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-11-20T20:44:31.438Z,1353444271.438 [YawRateCalculator] Loaded
2012-11-20T20:44:31.438Z,1353444271.438 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-11-20T20:44:31.477Z,1353444271.477 [Navigation] Loaded
2012-11-20T20:44:31.477Z,1353444271.477 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-11-20T20:44:31.478Z,1353444271.478 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-11-20T20:44:31.478Z,1353444271.478 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-11-20T20:44:31.692Z,1353444271.692 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-11-20T20:44:31.693Z,1353444271.693 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-11-20T20:44:31.715Z,1353444271.715 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-11-20T20:44:31.715Z,1353444271.715 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-11-20T20:44:31.755Z,1353444271.755 [VerticalControl](DEBUG): Construct VerticalControl.
2012-11-20T20:44:31.846Z,1353444271.846 [VerticalControl] Loaded
2012-11-20T20:44:31.846Z,1353444271.846 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-11-20T20:44:31.847Z,1353444271.847 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-11-20T20:44:31.902Z,1353444271.902 [HorizontalControl] Loaded
2012-11-20T20:44:31.902Z,1353444271.902 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-11-20T20:44:31.903Z,1353444271.903 [SpeedControl](DEBUG): Construct SpeedControl.
2012-11-20T20:44:31.905Z,1353444271.905 [SpeedControl] Loaded
2012-11-20T20:44:31.905Z,1353444271.905 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-11-20T20:44:31.906Z,1353444271.906 [LoopControl](DEBUG): Construct LoopControl.
2012-11-20T20:44:31.907Z,1353444271.907 [LoopControl] Loaded
2012-11-20T20:44:31.907Z,1353444271.907 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-11-20T20:44:31.907Z,1353444271.907 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-11-20T20:44:31.908Z,1353444271.908 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-11-20T20:44:31.913Z,1353444271.913 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-11-20T20:44:31.918Z,1353444271.918 [AsyncPiEstimator] Loaded
2012-11-20T20:44:31.918Z,1353444271.918 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-11-20T20:44:31.919Z,1353444271.919 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-11-20T20:44:31.920Z,1353444271.920 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-11-20T20:44:31.920Z,1353444271.921 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-11-20T20:44:32.041Z,1353444272.041 [AHRS_sp3003D] Loaded
2012-11-20T20:44:32.041Z,1353444272.042 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-11-20T20:44:32.293Z,1353444272.293 [Batt_Ocean_Server] Loaded
2012-11-20T20:44:32.293Z,1353444272.293 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-11-20T20:44:32.305Z,1353444272.305 [Depth_Keller] Loaded
2012-11-20T20:44:32.306Z,1353444272.306 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-11-20T20:44:32.311Z,1353444272.311 [DropWeight] Loaded
2012-11-20T20:44:32.311Z,1353444272.311 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-11-20T20:44:32.467Z,1353444272.467 [DVL_micro] Loaded
2012-11-20T20:44:32.467Z,1353444272.467 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-11-20T20:44:32.468Z,1353444272.468 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-11-20T20:44:32.549Z,1353444272.549 [NAL9602] Loaded
2012-11-20T20:44:32.549Z,1353444272.549 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-11-20T20:44:32.599Z,1353444272.599 [Onboard] Loaded
2012-11-20T20:44:32.599Z,1353444272.599 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-11-20T20:44:32.605Z,1353444272.605 [Radio_Freewave] Loaded
2012-11-20T20:44:32.606Z,1353444272.606 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-11-20T20:44:32.607Z,1353444272.606 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-11-20T20:44:32.607Z,1353444272.607 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-11-20T20:44:32.677Z,1353444272.677 [CTD_NeilBrown] Loaded
2012-11-20T20:44:32.678Z,1353444272.678 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-11-20T20:44:32.679Z,1353444272.679 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-11-20T20:44:32.695Z,1353444272.695 [PAR_Licor] Loaded
2012-11-20T20:44:32.695Z,1353444272.695 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-11-20T20:44:32.747Z,1353444272.747 [Turbulence_NPS] Loaded
2012-11-20T20:44:32.747Z,1353444272.747 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-11-20T20:44:32.748Z,1353444272.748 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-11-20T20:44:32.777Z,1353444272.777 [WetLabsBB2FL] Loaded
2012-11-20T20:44:32.777Z,1353444272.777 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-11-20T20:44:32.779Z,1353444272.779 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-11-20T20:44:32.779Z,1353444272.779 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-11-20T20:44:32.782Z,1353444272.782 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-11-20T20:44:32.783Z,1353444272.783 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-11-20T20:44:32.789Z,1353444272.789 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-11-20T20:44:32.790Z,1353444272.790 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-11-20T20:44:32.794Z,1353444272.794 [Supervisor](DEBUG): Running supervisor.
2012-11-20T20:44:32.795Z,1353444272.795 [CommandLine](INFO): Thread ID is 1278
2012-11-20T20:44:32.798Z,1353444272.798 [controlThread](INFO): Thread ID is 1277
2012-11-20T20:44:32.798Z,1353444272.798 [controlThread](DEBUG): Initializing ControlThread
2012-11-20T20:44:32.799Z,1353444272.799 [CycleStarter](INFO): Thread ID is 1276
2012-11-20T20:44:32.799Z,1353444272.799 [InternalSim](DEBUG):  InternalSim initializing...
2012-11-20T20:44:32.833Z,1353444272.833 [logger](INFO): Thread ID is 1279
2012-11-20T20:44:32.859Z,1353444272.859 [SBIT](INFO): Initialize SBIT Component.
2012-11-20T20:44:32.860Z,1353444272.860 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10057
2012-11-20T20:44:32.860Z,1353444272.860 [IBIT](INFO): Initialize IBIT Component.
2012-11-20T20:44:32.861Z,1353444272.861 [CBIT](DEBUG): Initialize CBIT Component.
2012-11-20T20:44:32.861Z,1353444272.861 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-11-20T20:44:32.865Z,1353444272.865 [AsyncPiEstimator](INFO): Thread ID is 1340
2012-11-20T20:44:32.866Z,1353444272.866 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-11-20T20:44:32.886Z,1353444272.886 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-11-20T20:44:32.887Z,1353444272.887 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-11-20T20:44:32.887Z,1353444272.887 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-11-20T20:44:32.887Z,1353444272.887 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-11-20T20:44:32.888Z,1353444272.888 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-11-20T20:44:32.889Z,1353444272.889 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-11-20T20:44:32.890Z,1353444272.890 [Navigation](DEBUG): Initializing Navigation.
2012-11-20T20:44:32.890Z,1353444272.890 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-11-20T20:44:32.892Z,1353444272.892 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-11-20T20:44:32.892Z,1353444272.892 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-11-20T20:44:32.893Z,1353444272.893 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-11-20T20:44:32.896Z,1353444272.896 [DVL_micro](INFO): Thread ID is 1341
2012-11-20T20:44:32.905Z,1353444272.905 [DVL_micro](INFO): Initializing
2012-11-20T20:44:32.905Z,1353444272.905 [DVL_micro](INFO): start:Powering up
2012-11-20T20:44:32.906Z,1353444272.906 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-11-20T20:44:32.907Z,1353444272.907 [DVL_micro](INFO): Cycling power to configure device.
2012-11-20T20:44:32.917Z,1353444272.917 [CTD_NeilBrown](INFO): Thread ID is 1342
2012-11-20T20:44:32.918Z,1353444272.918 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-11-20T20:44:32.921Z,1353444272.921 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-11-20T20:44:32.931Z,1353444272.931 [Turbulence_NPS](INFO): Thread ID is 1343
2012-11-20T20:44:32.931Z,1353444272.931 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-11-20T20:44:32.932Z,1353444272.932 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-11-20T20:44:32.961Z,1353444272.961 [WetLabsBB2FL](INFO): Thread ID is 1344
2012-11-20T20:44:32.962Z,1353444272.962 [WetLabsBB2FL](INFO): Powering down
2012-11-20T20:44:32.991Z,1353444272.991 [NavChartDb](INFO): Thread ID is 1345
2012-11-20T20:44:32.993Z,1353444272.993 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-11-20T20:44:32.994Z,1353444272.994 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-11-20T20:44:32.994Z,1353444272.994 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-11-20T20:44:32.994Z,1353444272.994 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-11-20T20:44:32.995Z,1353444272.995 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-11-20T20:44:33.009Z,1353444273.009 [Turbulence_NPS](INFO): Pause powering down
2012-11-20T20:44:34.495Z,1353444274.495 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-11-20T20:44:34.533Z,1353444274.533 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-11-20T20:44:34.564Z,1353444274.564 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-20T20:44:34.594Z,1353444274.594 [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>


2012-11-20T20:44:34.595Z,1353444274.595 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-11-20T20:44:34.693Z,1353444274.693 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-11-20T20:44:34.695Z,1353444274.695 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-11-20T20:44:34.711Z,1353444274.711 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-20T20:44:34.718Z,1353444274.718 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-11-20T20:44:34.721Z,1353444274.721 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-20T20:44:34.763Z,1353444274.763 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-11-20T20:44:34.788Z,1353444274.788 [Default:D.SetSpeed](DEBUG): Construct.
2012-11-20T20:44:34.791Z,1353444274.791 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-20T20:44:34.806Z,1353444274.806 [Default:F.Wait](DEBUG): Construct Wait.
2012-11-20T20:44:34.809Z,1353444274.809 [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>


2012-11-20T20:44:34.816Z,1353444274.816 [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,
2012-11-20T20:44:34.887Z,1353444274.886 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-20T20:44:34.997Z,1353444274.997 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-11-20T20:44:34.997Z,1353444274.997 [DVL_micro](INFO): Querying output modes
2012-11-20T20:44:34.998Z,1353444274.998 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-11-20T20:44:35.009Z,1353444275.009 [DVL_micro](DEBUG): cmdResponse: 01
2012-11-20T20:44:35.009Z,1353444275.009 [DVL_micro](INFO): NQ1 output enabled
2012-11-20T20:44:35.009Z,1353444275.009 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-11-20T20:44:35.021Z,1353444275.021 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-11-20T20:44:35.025Z,1353444275.026 [DVL_micro](INFO): pause:Powering down
2012-11-20T20:44:35.097Z,1353444275.097 [Radio_Freewave](INFO): Powering up
2012-11-20T20:44:35.390Z,1353444275.390 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:44:35.397Z,1353444275.397 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-11-20T20:44:35.403Z,1353444275.403 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:44:35.409Z,1353444275.409 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-11-20T20:44:35.415Z,1353444275.415 [MassServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:44:35.421Z,1353444275.421 [MassServo](DEBUG): Initializing MassServo.
2012-11-20T20:44:35.426Z,1353444275.427 [RudderServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:44:35.433Z,1353444275.433 [RudderServo](DEBUG): Initializing RudderServo.
2012-11-20T20:44:35.458Z,1353444275.458 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:44:35.465Z,1353444275.465 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-20T20:44:37.919Z,1353444277.919 [NAL9602](INFO): Powering up NAL9602
2012-11-20T20:44:39.414Z,1353444279.414 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 300.000000 revolution_per_minute
2012-11-20T20:44:39.416Z,1353444279.416 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-11-20T20:44:39.784Z,1353444279.784 [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,
2012-11-20T20:44:48.318Z,1353444288.318 [SBIT](IMPORTANT): Beginning Startup BIT
2012-11-20T20:44:48.320Z,1353444288.320 [CBIT](IMPORTANT): Beginning GF scan
2012-11-20T20:44:48.657Z,1353444288.657 [NAL9602](INFO): NAL9602 initialized
2012-11-20T20:44:53.401Z,1353444293.401 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-11-20T20:44:53.401Z,1353444293.401 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-11-20T20:44:53.401Z,1353444293.401 [ThrusterServo] Communications Fault, FailCount= 1
2012-11-20T20:44:53.401Z,1353444293.401 [ThrusterServo](ERROR): Communications Fault
2012-11-20T20:44:53.404Z,1353444293.404 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-11-20T20:44:53.797Z,1353444293.797 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-11-20T20:44:53.797Z,1353444293.797 [ThrusterServo](INFO): Powering down
2012-11-20T20:44:53.801Z,1353444293.801 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-11-20T20:44:53.801Z,1353444293.801 [ThrusterServo] No Fault, FailCount= 1
2012-11-20T20:44:54.569Z,1353444294.569 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:44:54.689Z,1353444294.690 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-20T20:45:08.324Z,1353444308.325 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-11-20T20:45:08.325Z,1353444308.325 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-11-20T20:45:08.325Z,1353444308.325 [ThrusterServo] Communications Fault, FailCount= 1
2012-11-20T20:45:08.325Z,1353444308.325 [ThrusterServo](ERROR): Communications Fault
2012-11-20T20:45:08.328Z,1353444308.328 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-11-20T20:45:08.670Z,1353444308.670 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-11-20T20:45:08.670Z,1353444308.670 [ThrusterServo](INFO): Powering down
2012-11-20T20:45:08.673Z,1353444308.673 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-11-20T20:45:08.673Z,1353444308.673 [ThrusterServo] No Fault, FailCount= 1
2012-11-20T20:45:09.378Z,1353444309.378 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:45:09.497Z,1353444309.497 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-20T20:45:15.041Z,1353444315.041 [CBIT](IMPORTANT): No ground fault detected
2012-11-20T20:45:17.105Z,1353444317.105 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-11-20T20:45:17.105Z,1353444317.105 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-11-20T20:45:17.105Z,1353444317.105 [ThrusterServo] Communications Fault, FailCount= 1
2012-11-20T20:45:17.105Z,1353444317.105 [ThrusterServo](ERROR): Communications Fault
2012-11-20T20:45:17.108Z,1353444317.108 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-11-20T20:45:17.458Z,1353444317.458 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-11-20T20:45:17.458Z,1353444317.458 [ThrusterServo](INFO): Powering down
2012-11-20T20:45:17.461Z,1353444317.461 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-11-20T20:45:17.461Z,1353444317.461 [ThrusterServo] No Fault, FailCount= 1
2012-11-20T20:45:18.290Z,1353444318.290 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-20T20:45:18.291Z,1353444318.291 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-20T20:45:23.925Z,1353444323.925 [CommandLine](IMPORTANT): got command maintain clear
2012-11-20T20:45:24.212Z,1353444324.212 [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,
2012-11-20T20:45:29.833Z,1353444329.833 [CommandLine](INFO): End of History
2012-11-20T20:45:30.509Z,1353444330.509 [CommandLine](INFO): End of History
2012-11-20T20:45:31.081Z,1353444331.081 [CommandLine](INFO): End of History
2012-11-20T20:45:31.771Z,1353444331.771 [CommandLine](INFO): End of History
2012-11-20T20:45:41.473Z,1353444341.473 [CommandLine](IMPORTANT): got command ! echo 1 > /dev/loadA7
2012-11-20T20:45:42.102Z,1353444342.102 [SBIT](IMPORTANT): SBIT PASSED
2012-11-20T20:45:42.506Z,1353444342.506 [MissionManager](IMPORTANT): Started mission Startup
2012-11-20T20:45:42.507Z,1353444342.507 [Startup] Running Loop=1
2012-11-20T20:45:42.507Z,1353444342.507 [Startup](INFO): Aggregate::initialize Startup
2012-11-20T20:45:42.507Z,1353444342.507 [Startup:A.GoToSurface] Running Loop=1
2012-11-20T20:45:42.507Z,1353444342.507 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-11-20T20:45:42.513Z,1353444342.513 [Startup:StartupSatComms] Running Loop=1
2012-11-20T20:45:42.513Z,1353444342.513 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-11-20T20:45:42.514Z,1353444342.514 [Startup:StartupSatComms:A] Running Loop=1
2012-11-20T20:45:42.913Z,1353444342.913 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-11-20T20:45:46.889Z,1353444346.889 [Batt_Ocean_Server](INFO): Bus busy reported for battery bank#8 STATUS: 65535
2012-11-20T20:46:24.485Z,1353444384.485 [CommandLine](IMPORTANT): got command restart application
2012-11-20T20:46:25.576Z,1353444385.576 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-11-20T20:46:25.577Z,1353444385.577 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-11-20T20:46:25.681Z,1353444385.681 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-11-20T20:46:25.825Z,1353444385.825 [WetLabsBB2FL](INFO): Powering down
2012-11-20T20:46:25.828Z,1353444385.829 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-11-20T20:46:26.221Z,1353444386.221 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-11-20T20:46:26.228Z,1353444386.228 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-11-20T20:46:26.365Z,1353444386.365 [CTD_NeilBrown](INFO): Powering down
2012-11-20T20:46:26.368Z,1353444386.368 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-11-20T20:46:26.657Z,1353444386.657 [DVL_micro](INFO): uninitialize:Powering down
2012-11-20T20:46:26.669Z,1353444386.670 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-11-20T20:46:26.869Z,1353444386.869 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-11-20T20:46:26.889Z,1353444386.889 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-11-20T20:46:26.941Z,1353444386.941 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-11-20T20:46:26.950Z,1353444386.950 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-11-20T20:46:27.093Z,1353444387.093 [controlThread](DEBUG): Uninitializing ControlThread
2012-11-20T20:46:27.093Z,1353444387.093 [AHRS_sp3003D](INFO): Powering down
2012-11-20T20:46:27.182Z,1353444387.182 [NAL9602](INFO): Powering down
2012-11-20T20:46:27.184Z,1353444387.184 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-11-20T20:46:27.184Z,1353444387.184 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-11-20T20:46:27.188Z,1353444387.188 [Startup] Stopped
2012-11-20T20:46:27.189Z,1353444387.189 [Startup](INFO): Aggregate::uninitialize Startup
2012-11-20T20:46:27.189Z,1353444387.189 [Startup:A.GoToSurface] Stopped
2012-11-20T20:46:27.189Z,1353444387.189 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-11-20T20:46:27.189Z,1353444387.189 [Startup:StartupSatComms] Stopped
2012-11-20T20:46:27.189Z,1353444387.189 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-11-20T20:46:27.189Z,1353444387.189 [Startup:StartupSatComms:A] Stopped
2012-11-20T20:46:27.190Z,1353444387.190 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-11-20T20:46:27.191Z,1353444387.191 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-11-20T20:46:27.191Z,1353444387.191 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-11-20T20:46:27.191Z,1353444387.191 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-11-20T20:46:27.191Z,1353444387.191 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-11-20T20:46:27.191Z,1353444387.191 [BuoyancyServo](INFO): Powering down
2012-11-20T20:46:27.205Z,1353444387.205 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-11-20T20:46:27.205Z,1353444387.205 [ElevatorServo](INFO): Powering down
2012-11-20T20:46:27.206Z,1353444387.205 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-11-20T20:46:27.206Z,1353444387.206 [MassServo](INFO): Powering down
2012-11-20T20:46:27.206Z,1353444387.206 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-11-20T20:46:27.206Z,1353444387.207 [RudderServo](INFO): Powering down
2012-11-20T20:46:27.207Z,1353444387.207 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-11-20T20:46:27.207Z,1353444387.207 [ThrusterServo](INFO): Powering down
2012-11-20T20:46:27.208Z,1353444387.208 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-11-20T20:46:27.209Z,1353444387.209 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-11-20T20:46:27.209Z,1353444387.209 [CBIT](DEBUG): Uninitialize CBIT Component.