2012-11-26T19:25:37.395Z,1353957937.395 [Supervisor](DEBUG): Initializing supervisor.
2012-11-26T19:25:37.398Z,1353957937.398 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-11-26T19:25:37.399Z,1353957937.399 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-11-26T19:25:37.400Z,1353957937.400 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-11-26T19:25:37.405Z,1353957937.405 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-11-26T19:25:37.416Z,1353957937.416 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-11-26T19:25:37.417Z,1353957937.418 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-11-26T19:25:37.418Z,1353957937.418 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-11-26T19:25:37.419Z,1353957937.419 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-11-26T19:25:37.420Z,1353957937.420 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-11-26T19:25:37.421Z,1353957937.421 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-11-26T19:25:37.701Z,1353957937.701 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-11-26T19:25:37.701Z,1353957937.701 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-11-26T19:25:37.889Z,1353957937.889 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-11-26T19:25:37.889Z,1353957937.889 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-11-26T19:25:37.972Z,1353957937.972 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-11-26T19:25:37.973Z,1353957937.973 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-11-26T19:25:38.168Z,1353957938.168 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-11-26T19:25:38.168Z,1353957938.168 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-11-26T19:25:38.300Z,1353957938.300 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-11-26T19:25:38.301Z,1353957938.301 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-11-26T19:25:38.530Z,1353957938.530 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-11-26T19:25:38.531Z,1353957938.531 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-11-26T19:25:38.700Z,1353957938.700 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-11-26T19:25:38.701Z,1353957938.701 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-11-26T19:25:38.951Z,1353957938.951 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-11-26T19:25:38.951Z,1353957938.951 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-11-26T19:25:39.049Z,1353957939.049 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-11-26T19:25:39.049Z,1353957939.049 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-11-26T19:25:39.450Z,1353957939.450 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-11-26T19:25:39.450Z,1353957939.450 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-11-26T19:25:39.563Z,1353957939.563 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-11-26T19:25:39.563Z,1353957939.563 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-11-26T19:25:39.647Z,1353957939.647 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-11-26T19:25:39.648Z,1353957939.648 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-11-26T19:25:39.774Z,1353957939.774 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-11-26T19:25:39.902Z,1353957939.902 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-11-26T19:25:39.986Z,1353957939.986 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-11-26T19:25:40.085Z,1353957940.085 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-11-26T19:25:40.184Z,1353957940.184 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-11-26T19:25:40.300Z,1353957940.300 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-11-26T19:25:40.391Z,1353957940.391 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-11-26T19:25:40.476Z,1353957940.476 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-11-26T19:25:40.506Z,1353957940.506 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-11-26T19:25:40.669Z,1353957940.669 [InternalSim] Loaded
2012-11-26T19:25:40.670Z,1353957940.670 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-11-26T19:25:40.670Z,1353957940.671 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-11-26T19:25:40.671Z,1353957940.671 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-11-26T19:25:40.732Z,1353957940.732 [SBIT](DEBUG): Construct Startup Built In Test.
2012-11-26T19:25:40.762Z,1353957940.762 [SBIT] Loaded
2012-11-26T19:25:40.763Z,1353957940.763 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-11-26T19:25:40.763Z,1353957940.763 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-11-26T19:25:40.794Z,1353957940.794 [IBIT] Loaded
2012-11-26T19:25:40.794Z,1353957940.794 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-11-26T19:25:40.798Z,1353957940.798 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-11-26T19:25:40.923Z,1353957940.923 [CBIT] Loaded
2012-11-26T19:25:40.924Z,1353957940.924 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-11-26T19:25:40.924Z,1353957940.924 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-11-26T19:25:40.925Z,1353957940.925 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-11-26T19:25:41.080Z,1353957941.080 [BuoyancyServo] Loaded
2012-11-26T19:25:41.080Z,1353957941.080 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-11-26T19:25:41.093Z,1353957941.093 [ElevatorServo] Loaded
2012-11-26T19:25:41.093Z,1353957941.093 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-11-26T19:25:41.105Z,1353957941.105 [MassServo] Loaded
2012-11-26T19:25:41.106Z,1353957941.106 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-11-26T19:25:41.118Z,1353957941.118 [RudderServo] Loaded
2012-11-26T19:25:41.119Z,1353957941.119 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-11-26T19:25:41.131Z,1353957941.131 [ThrusterServo] Loaded
2012-11-26T19:25:41.131Z,1353957941.131 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-11-26T19:25:41.132Z,1353957941.132 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-11-26T19:25:41.132Z,1353957941.132 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-11-26T19:25:41.151Z,1353957941.151 [DepthRateCalculator] Loaded
2012-11-26T19:25:41.151Z,1353957941.151 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-11-26T19:25:44.192Z,1353957944.192 [HFRadarModelCalc] Loaded
2012-11-26T19:25:44.192Z,1353957944.192 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-11-26T19:25:44.209Z,1353957944.209 [NavChart] Loaded
2012-11-26T19:25:44.209Z,1353957944.209 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-11-26T19:25:44.215Z,1353957944.215 [PitchRateCalculator] Loaded
2012-11-26T19:25:44.216Z,1353957944.216 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-11-26T19:25:44.222Z,1353957944.222 [SpeedCalculator] Loaded
2012-11-26T19:25:44.223Z,1353957944.223 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-11-26T19:25:44.238Z,1353957944.238 [TempGradientCalculator] Loaded
2012-11-26T19:25:44.238Z,1353957944.238 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-11-26T19:25:44.244Z,1353957944.244 [YawRateCalculator] Loaded
2012-11-26T19:25:44.245Z,1353957944.245 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-11-26T19:25:44.287Z,1353957944.287 [Navigation] Loaded
2012-11-26T19:25:44.287Z,1353957944.287 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-11-26T19:25:44.288Z,1353957944.288 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-11-26T19:25:44.288Z,1353957944.288 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-11-26T19:25:44.525Z,1353957944.525 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-11-26T19:25:44.526Z,1353957944.526 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-11-26T19:25:44.550Z,1353957944.550 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-11-26T19:25:44.550Z,1353957944.550 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-11-26T19:25:44.594Z,1353957944.594 [VerticalControl](DEBUG): Construct VerticalControl.
2012-11-26T19:25:44.692Z,1353957944.692 [VerticalControl] Loaded
2012-11-26T19:25:44.692Z,1353957944.693 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-11-26T19:25:44.693Z,1353957944.694 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-11-26T19:25:44.753Z,1353957944.753 [HorizontalControl] Loaded
2012-11-26T19:25:44.753Z,1353957944.753 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-11-26T19:25:44.754Z,1353957944.754 [SpeedControl](DEBUG): Construct SpeedControl.
2012-11-26T19:25:44.756Z,1353957944.756 [SpeedControl] Loaded
2012-11-26T19:25:44.756Z,1353957944.756 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-11-26T19:25:44.757Z,1353957944.757 [LoopControl](DEBUG): Construct LoopControl.
2012-11-26T19:25:44.758Z,1353957944.758 [LoopControl] Loaded
2012-11-26T19:25:44.758Z,1353957944.758 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-11-26T19:25:44.758Z,1353957944.759 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-11-26T19:25:44.759Z,1353957944.759 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-11-26T19:25:44.772Z,1353957944.772 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-11-26T19:25:44.780Z,1353957944.780 [AsyncPiEstimator] Loaded
2012-11-26T19:25:44.782Z,1353957944.782 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-11-26T19:25:44.785Z,1353957944.785 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-11-26T19:25:44.785Z,1353957944.786 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-11-26T19:25:44.786Z,1353957944.786 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-11-26T19:25:44.920Z,1353957944.920 [AHRS_sp3003D] Loaded
2012-11-26T19:25:44.921Z,1353957944.921 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-11-26T19:25:45.192Z,1353957945.192 [Batt_Ocean_Server] Loaded
2012-11-26T19:25:45.192Z,1353957945.192 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-11-26T19:25:45.206Z,1353957945.206 [Depth_Keller] Loaded
2012-11-26T19:25:45.206Z,1353957945.206 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-11-26T19:25:45.212Z,1353957945.212 [DropWeight] Loaded
2012-11-26T19:25:45.212Z,1353957945.212 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-11-26T19:25:45.382Z,1353957945.382 [DVL_micro] Loaded
2012-11-26T19:25:45.382Z,1353957945.382 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-11-26T19:25:45.383Z,1353957945.383 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-11-26T19:25:45.470Z,1353957945.470 [NAL9602] Loaded
2012-11-26T19:25:45.470Z,1353957945.470 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-11-26T19:25:45.523Z,1353957945.523 [Onboard] Loaded
2012-11-26T19:25:45.523Z,1353957945.523 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-11-26T19:25:45.530Z,1353957945.530 [Radio_Freewave] Loaded
2012-11-26T19:25:45.530Z,1353957945.530 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-11-26T19:25:45.531Z,1353957945.531 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-11-26T19:25:45.532Z,1353957945.532 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-11-26T19:25:45.610Z,1353957945.610 [CTD_NeilBrown] Loaded
2012-11-26T19:25:45.610Z,1353957945.610 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-11-26T19:25:45.611Z,1353957945.611 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-11-26T19:25:45.629Z,1353957945.629 [PAR_Licor] Loaded
2012-11-26T19:25:45.629Z,1353957945.629 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-11-26T19:25:45.690Z,1353957945.690 [Turbulence_NPS] Loaded
2012-11-26T19:25:45.691Z,1353957945.691 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-11-26T19:25:45.692Z,1353957945.692 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-11-26T19:25:45.723Z,1353957945.723 [WetLabsBB2FL] Loaded
2012-11-26T19:25:45.723Z,1353957945.723 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-11-26T19:25:45.724Z,1353957945.724 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-11-26T19:25:45.725Z,1353957945.725 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-11-26T19:25:45.728Z,1353957945.728 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-11-26T19:25:45.729Z,1353957945.729 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-11-26T19:25:45.736Z,1353957945.736 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-11-26T19:25:45.737Z,1353957945.737 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-11-26T19:25:45.742Z,1353957945.742 [Supervisor](DEBUG): Running supervisor.
2012-11-26T19:25:45.743Z,1353957945.743 [CommandLine](INFO): Thread ID is 1080
2012-11-26T19:25:45.746Z,1353957945.746 [controlThread](INFO): Thread ID is 1079
2012-11-26T19:25:45.746Z,1353957945.746 [controlThread](DEBUG): Initializing ControlThread
2012-11-26T19:25:45.746Z,1353957945.746 [CycleStarter](INFO): Thread ID is 1078
2012-11-26T19:25:45.747Z,1353957945.747 [InternalSim](DEBUG):  InternalSim initializing...
2012-11-26T19:25:45.848Z,1353957945.848 [logger](INFO): Thread ID is 1081
2012-11-26T19:25:45.935Z,1353957945.935 [AsyncPiEstimator](INFO): Thread ID is 1142
2012-11-26T19:25:45.936Z,1353957945.936 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-11-26T19:25:45.945Z,1353957945.945 [DVL_micro](INFO): Thread ID is 1143
2012-11-26T19:25:46.049Z,1353957946.049 [CTD_NeilBrown](INFO): Thread ID is 1144
2012-11-26T19:25:46.049Z,1353957946.049 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-11-26T19:25:46.055Z,1353957946.055 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-11-26T19:25:46.080Z,1353957946.080 [DVL_micro](INFO): Initializing
2012-11-26T19:25:46.080Z,1353957946.080 [DVL_micro](INFO): start:Powering up
2012-11-26T19:25:46.081Z,1353957946.081 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-11-26T19:25:46.081Z,1353957946.081 [DVL_micro](INFO): Cycling power to configure device.
2012-11-26T19:25:46.101Z,1353957946.101 [Turbulence_NPS](INFO): Thread ID is 1145
2012-11-26T19:25:46.101Z,1353957946.101 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-11-26T19:25:46.102Z,1353957946.102 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-11-26T19:25:46.106Z,1353957946.106 [SBIT](INFO): Initialize SBIT Component.
2012-11-26T19:25:46.106Z,1353957946.106 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10092
2012-11-26T19:25:46.119Z,1353957946.119 [IBIT](INFO): Initialize IBIT Component.
2012-11-26T19:25:46.120Z,1353957946.120 [CBIT](DEBUG): Initialize CBIT Component.
2012-11-26T19:25:46.120Z,1353957946.120 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-11-26T19:25:46.120Z,1353957946.121 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-11-26T19:25:46.127Z,1353957946.127 [WetLabsBB2FL](INFO): Thread ID is 1146
2012-11-26T19:25:46.128Z,1353957946.128 [WetLabsBB2FL](INFO): Powering down
2012-11-26T19:25:46.160Z,1353957946.160 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-11-26T19:25:46.161Z,1353957946.161 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-11-26T19:25:46.161Z,1353957946.161 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-11-26T19:25:46.161Z,1353957946.161 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-11-26T19:25:46.162Z,1353957946.162 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-11-26T19:25:46.168Z,1353957946.168 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-11-26T19:25:46.168Z,1353957946.168 [Navigation](DEBUG): Initializing Navigation.
2012-11-26T19:25:46.168Z,1353957946.168 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-11-26T19:25:46.170Z,1353957946.170 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-11-26T19:25:46.175Z,1353957946.175 [NavChartDb](INFO): Thread ID is 1147
2012-11-26T19:25:46.179Z,1353957946.179 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-11-26T19:25:46.181Z,1353957946.181 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-11-26T19:25:46.183Z,1353957946.183 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-11-26T19:25:46.184Z,1353957946.184 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-11-26T19:25:46.185Z,1353957946.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-11-26T19:25:46.185Z,1353957946.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-11-26T19:25:46.185Z,1353957946.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-11-26T19:25:46.244Z,1353957946.244 [Turbulence_NPS](INFO): Pause powering down
2012-11-26T19:25:47.840Z,1353957947.840 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-11-26T19:25:47.883Z,1353957947.884 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-11-26T19:25:47.912Z,1353957947.912 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-26T19:25:47.927Z,1353957947.927 [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>


2012-11-26T19:25:47.928Z,1353957947.928 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-11-26T19:25:48.024Z,1353957948.024 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-11-26T19:25:48.039Z,1353957948.039 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-11-26T19:25:48.042Z,1353957948.042 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-26T19:25:48.050Z,1353957948.050 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-11-26T19:25:48.085Z,1353957948.085 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-26T19:25:48.104Z,1353957948.104 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-11-26T19:25:48.124Z,1353957948.124 [Default:D.SetSpeed](DEBUG): Construct.
2012-11-26T19:25:48.127Z,1353957948.127 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-11-26T19:25:48.144Z,1353957948.144 [Default:F.Wait](DEBUG): Construct Wait.
2012-11-26T19:25:48.147Z,1353957948.147 [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>


2012-11-26T19:25:48.160Z,1353957948.160 [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,
2012-11-26T19:25:48.179Z,1353957948.179 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-11-26T19:25:48.179Z,1353957948.179 [DVL_micro](INFO): Querying output modes
2012-11-26T19:25:48.180Z,1353957948.180 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-11-26T19:25:48.191Z,1353957948.191 [DVL_micro](DEBUG): cmdResponse: 01
2012-11-26T19:25:48.191Z,1353957948.191 [DVL_micro](INFO): NQ1 output enabled
2012-11-26T19:25:48.191Z,1353957948.191 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-11-26T19:25:48.203Z,1353957948.203 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-11-26T19:25:48.208Z,1353957948.208 [DVL_micro](INFO): pause:Powering down
2012-11-26T19:25:48.211Z,1353957948.211 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-11-26T19:25:48.435Z,1353957948.435 [Radio_Freewave](INFO): Powering up
2012-11-26T19:25:48.672Z,1353957948.672 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-11-26T19:25:48.679Z,1353957948.679 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-11-26T19:25:48.701Z,1353957948.701 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-11-26T19:25:48.705Z,1353957948.704 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-11-26T19:25:48.723Z,1353957948.723 [MassServo](DEBUG): Initializing EZServoServo.
2012-11-26T19:25:48.731Z,1353957948.731 [MassServo](DEBUG): Initializing MassServo.
2012-11-26T19:25:48.737Z,1353957948.737 [RudderServo](DEBUG): Initializing EZServoServo.
2012-11-26T19:25:48.743Z,1353957948.743 [RudderServo](DEBUG): Initializing RudderServo.
2012-11-26T19:25:48.749Z,1353957948.749 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-11-26T19:25:48.783Z,1353957948.783 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-11-26T19:25:50.701Z,1353957950.701 [NAL9602](INFO): Powering up NAL9602
2012-11-26T19:26:01.307Z,1353957961.307 [NAL9602](INFO): NAL9602 initialized
2012-11-26T19:26:01.737Z,1353957961.737 [SBIT](IMPORTANT): Beginning Startup BIT
2012-11-26T19:26:01.739Z,1353957961.739 [CBIT](IMPORTANT): Beginning GF scan
2012-11-26T19:26:28.447Z,1353957988.447 [CBIT](IMPORTANT): No ground fault detected
2012-11-26T19:26:36.959Z,1353957996.959 [CommandLine](IMPORTANT): got command failComponent
2012-11-26T19:26:36.959Z,1353957996.959 [CommandLine](IMPORTANT): Failed components:
2012-11-26T19:26:36.959Z,1353957996.959 [CommandLine](IMPORTANT): No failed Components.
2012-11-26T19:26:55.745Z,1353958015.745 [SBIT](IMPORTANT): SBIT PASSED
2012-11-26T19:26:56.192Z,1353958016.193 [MissionManager](IMPORTANT): Started mission Startup
2012-11-26T19:26:56.193Z,1353958016.193 [Startup] Running Loop=1
2012-11-26T19:26:56.193Z,1353958016.193 [Startup](INFO): Aggregate::initialize Startup
2012-11-26T19:26:56.193Z,1353958016.193 [Startup:A.GoToSurface] Running Loop=1
2012-11-26T19:26:56.193Z,1353958016.193 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-11-26T19:26:56.200Z,1353958016.200 [Startup:StartupSatComms] Running Loop=1
2012-11-26T19:26:56.200Z,1353958016.200 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-11-26T19:26:56.200Z,1353958016.200 [Startup:StartupSatComms:A] Running Loop=1
2012-11-26T19:26:56.562Z,1353958016.562 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix