2012-12-05T17:39:48.690Z,1354729188.690 [Supervisor](DEBUG): Initializing supervisor.
2012-12-05T17:39:48.694Z,1354729188.694 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-12-05T17:39:48.695Z,1354729188.695 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-12-05T17:39:48.696Z,1354729188.696 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-12-05T17:39:48.714Z,1354729188.714 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-12-05T17:39:48.724Z,1354729188.724 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-12-05T17:39:48.725Z,1354729188.726 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-12-05T17:39:48.726Z,1354729188.726 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-12-05T17:39:48.727Z,1354729188.727 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-12-05T17:39:48.728Z,1354729188.728 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-12-05T17:39:48.731Z,1354729188.731 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-12-05T17:39:49.085Z,1354729189.085 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-12-05T17:39:49.088Z,1354729189.088 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-12-05T17:39:49.277Z,1354729189.277 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-12-05T17:39:49.278Z,1354729189.278 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-12-05T17:39:49.363Z,1354729189.364 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-12-05T17:39:49.366Z,1354729189.366 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-12-05T17:39:49.560Z,1354729189.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-12-05T17:39:49.560Z,1354729189.560 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-12-05T17:39:49.693Z,1354729189.693 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-12-05T17:39:49.696Z,1354729189.695 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-12-05T17:39:49.924Z,1354729189.924 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-12-05T17:39:49.925Z,1354729189.925 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-12-05T17:39:50.095Z,1354729190.095 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-12-05T17:39:50.097Z,1354729190.097 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-12-05T17:39:50.345Z,1354729190.345 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-12-05T17:39:50.347Z,1354729190.348 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-12-05T17:39:50.446Z,1354729190.446 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-12-05T17:39:50.447Z,1354729190.447 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-12-05T17:39:50.843Z,1354729190.843 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-12-05T17:39:50.843Z,1354729190.843 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-12-05T17:39:50.978Z,1354729190.978 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-12-05T17:39:50.979Z,1354729190.979 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-12-05T17:39:52.707Z,1354729192.707 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-12-05T17:39:52.713Z,1354729192.713 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-12-05T17:39:52.814Z,1354729192.814 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-12-05T17:39:52.943Z,1354729192.943 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-12-05T17:39:53.029Z,1354729193.029 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-12-05T17:39:53.130Z,1354729193.130 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-12-05T17:39:53.231Z,1354729193.231 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-12-05T17:39:53.351Z,1354729193.351 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-12-05T17:39:53.443Z,1354729193.443 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-12-05T17:39:53.533Z,1354729193.533 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-12-05T17:39:53.563Z,1354729193.563 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-12-05T17:39:53.745Z,1354729193.745 [InternalSim] Loaded
2012-12-05T17:39:53.746Z,1354729193.746 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-12-05T17:39:53.746Z,1354729193.746 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-12-05T17:39:53.747Z,1354729193.747 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-12-05T17:39:53.825Z,1354729193.825 [SBIT](DEBUG): Construct Startup Built In Test.
2012-12-05T17:39:53.854Z,1354729193.854 [SBIT] Loaded
2012-12-05T17:39:53.854Z,1354729193.854 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-12-05T17:39:53.855Z,1354729193.855 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-12-05T17:39:53.883Z,1354729193.883 [IBIT] Loaded
2012-12-05T17:39:53.883Z,1354729193.884 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-12-05T17:39:53.887Z,1354729193.887 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-12-05T17:39:54.007Z,1354729194.007 [CBIT] Loaded
2012-12-05T17:39:54.008Z,1354729194.008 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-12-05T17:39:54.008Z,1354729194.008 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-12-05T17:39:54.009Z,1354729194.009 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-12-05T17:39:54.179Z,1354729194.179 [BuoyancyServo] Loaded
2012-12-05T17:39:54.179Z,1354729194.179 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-12-05T17:39:54.191Z,1354729194.191 [ElevatorServo] Loaded
2012-12-05T17:39:54.191Z,1354729194.191 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-12-05T17:39:54.203Z,1354729194.203 [MassServo] Loaded
2012-12-05T17:39:54.203Z,1354729194.203 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-12-05T17:39:54.215Z,1354729194.215 [RudderServo] Loaded
2012-12-05T17:39:54.215Z,1354729194.215 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-12-05T17:39:54.227Z,1354729194.227 [ThrusterServo] Loaded
2012-12-05T17:39:54.227Z,1354729194.227 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-12-05T17:39:54.228Z,1354729194.228 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-12-05T17:39:54.228Z,1354729194.228 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-12-05T17:39:54.261Z,1354729194.261 [DepthRateCalculator] Loaded
2012-12-05T17:39:54.261Z,1354729194.261 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-12-05T17:39:57.407Z,1354729197.407 [HFRadarModelCalc] Loaded
2012-12-05T17:39:57.407Z,1354729197.407 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-12-05T17:39:57.424Z,1354729197.424 [NavChart] Loaded
2012-12-05T17:39:57.424Z,1354729197.424 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-12-05T17:39:57.430Z,1354729197.430 [PitchRateCalculator] Loaded
2012-12-05T17:39:57.430Z,1354729197.430 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-12-05T17:39:57.437Z,1354729197.437 [SpeedCalculator] Loaded
2012-12-05T17:39:57.437Z,1354729197.437 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-12-05T17:39:57.451Z,1354729197.451 [TempGradientCalculator] Loaded
2012-12-05T17:39:57.451Z,1354729197.451 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-12-05T17:39:57.457Z,1354729197.457 [YawRateCalculator] Loaded
2012-12-05T17:39:57.458Z,1354729197.457 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-12-05T17:39:57.497Z,1354729197.497 [Navigation] Loaded
2012-12-05T17:39:57.498Z,1354729197.498 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-12-05T17:39:57.498Z,1354729197.498 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-12-05T17:39:57.499Z,1354729197.499 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-12-05T17:39:57.758Z,1354729197.758 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-12-05T17:39:57.758Z,1354729197.758 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-12-05T17:39:57.797Z,1354729197.797 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-12-05T17:39:57.798Z,1354729197.798 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-12-05T17:39:57.857Z,1354729197.857 [VerticalControl](DEBUG): Construct VerticalControl.
2012-12-05T17:39:57.952Z,1354729197.952 [VerticalControl] Loaded
2012-12-05T17:39:57.952Z,1354729197.952 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-12-05T17:39:57.953Z,1354729197.953 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-12-05T17:39:58.009Z,1354729198.009 [HorizontalControl] Loaded
2012-12-05T17:39:58.009Z,1354729198.009 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-12-05T17:39:58.010Z,1354729198.010 [SpeedControl](DEBUG): Construct SpeedControl.
2012-12-05T17:39:58.012Z,1354729198.011 [SpeedControl] Loaded
2012-12-05T17:39:58.012Z,1354729198.012 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-12-05T17:39:58.013Z,1354729198.013 [LoopControl](DEBUG): Construct LoopControl.
2012-12-05T17:39:58.013Z,1354729198.013 [LoopControl] Loaded
2012-12-05T17:39:58.014Z,1354729198.013 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-12-05T17:39:58.014Z,1354729198.014 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-12-05T17:39:58.015Z,1354729198.015 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-12-05T17:39:58.023Z,1354729198.023 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-12-05T17:39:58.027Z,1354729198.027 [AsyncPiEstimator] Loaded
2012-12-05T17:39:58.028Z,1354729198.028 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-12-05T17:39:58.029Z,1354729198.029 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-12-05T17:39:58.030Z,1354729198.030 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-12-05T17:39:58.030Z,1354729198.030 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-12-05T17:39:58.198Z,1354729198.198 [AHRS_sp3003D] Loaded
2012-12-05T17:39:58.199Z,1354729198.199 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-12-05T17:39:58.454Z,1354729198.454 [Batt_Ocean_Server] Loaded
2012-12-05T17:39:58.454Z,1354729198.454 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-12-05T17:39:58.468Z,1354729198.468 [Depth_Keller] Loaded
2012-12-05T17:39:58.468Z,1354729198.468 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-12-05T17:39:58.474Z,1354729198.474 [DropWeight] Loaded
2012-12-05T17:39:58.474Z,1354729198.474 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-12-05T17:39:58.632Z,1354729198.632 [DVL_micro] Loaded
2012-12-05T17:39:58.632Z,1354729198.632 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-12-05T17:39:58.634Z,1354729198.634 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-12-05T17:39:58.715Z,1354729198.715 [NAL9602] Loaded
2012-12-05T17:39:58.715Z,1354729198.715 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-12-05T17:39:58.765Z,1354729198.764 [Onboard] Loaded
2012-12-05T17:39:58.765Z,1354729198.765 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-12-05T17:39:58.771Z,1354729198.771 [Radio_Freewave] Loaded
2012-12-05T17:39:58.772Z,1354729198.772 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-12-05T17:39:58.772Z,1354729198.773 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-12-05T17:39:58.773Z,1354729198.773 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-12-05T17:39:58.870Z,1354729198.870 [CTD_NeilBrown] Loaded
2012-12-05T17:39:58.871Z,1354729198.871 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-12-05T17:39:58.872Z,1354729198.872 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-12-05T17:39:58.888Z,1354729198.888 [PAR_Licor] Loaded
2012-12-05T17:39:58.889Z,1354729198.889 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-12-05T17:39:58.942Z,1354729198.942 [Turbulence_NPS] Loaded
2012-12-05T17:39:58.942Z,1354729198.942 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-12-05T17:39:58.943Z,1354729198.943 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-12-05T17:39:58.973Z,1354729198.973 [WetLabsBB2FL] Loaded
2012-12-05T17:39:58.973Z,1354729198.973 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-12-05T17:39:58.974Z,1354729198.974 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-12-05T17:39:58.975Z,1354729198.975 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-12-05T17:39:58.977Z,1354729198.977 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-12-05T17:39:58.978Z,1354729198.978 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-12-05T17:39:58.988Z,1354729198.988 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-12-05T17:39:58.989Z,1354729198.989 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-12-05T17:39:58.995Z,1354729198.995 [Supervisor](DEBUG): Running supervisor.
2012-12-05T17:39:58.996Z,1354729198.996 [CommandLine](INFO): Thread ID is 9627
2012-12-05T17:39:58.998Z,1354729198.998 [controlThread](INFO): Thread ID is 9626
2012-12-05T17:39:58.998Z,1354729198.999 [controlThread](DEBUG): Initializing ControlThread
2012-12-05T17:39:58.999Z,1354729198.999 [CycleStarter](INFO): Thread ID is 9625
2012-12-05T17:39:58.999Z,1354729199.000 [InternalSim](DEBUG):  InternalSim initializing...
2012-12-05T17:39:59.031Z,1354729199.031 [logger](INFO): Thread ID is 9628
2012-12-05T17:39:59.147Z,1354729199.147 [AsyncPiEstimator](INFO): Thread ID is 9689
2012-12-05T17:39:59.147Z,1354729199.147 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-12-05T17:39:59.156Z,1354729199.156 [DVL_micro](INFO): Thread ID is 9690
2012-12-05T17:39:59.217Z,1354729199.217 [CTD_NeilBrown](INFO): Thread ID is 9691
2012-12-05T17:39:59.217Z,1354729199.217 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-12-05T17:39:59.223Z,1354729199.223 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-12-05T17:39:59.376Z,1354729199.376 [Turbulence_NPS](INFO): Thread ID is 9692
2012-12-05T17:39:59.377Z,1354729199.377 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-12-05T17:39:59.378Z,1354729199.378 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-12-05T17:39:59.426Z,1354729199.426 [WetLabsBB2FL](INFO): Thread ID is 9693
2012-12-05T17:39:59.426Z,1354729199.426 [WetLabsBB2FL](INFO): Powering down
2012-12-05T17:39:59.444Z,1354729199.444 [DVL_micro](INFO): Initializing
2012-12-05T17:39:59.445Z,1354729199.445 [DVL_micro](INFO): start:Powering up
2012-12-05T17:39:59.445Z,1354729199.445 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T17:39:59.446Z,1354729199.446 [DVL_micro](INFO): Cycling power to configure device.
2012-12-05T17:39:59.451Z,1354729199.451 [Turbulence_NPS](INFO): Pause powering down
2012-12-05T17:39:59.463Z,1354729199.463 [NavChartDb](INFO): Thread ID is 9694
2012-12-05T17:39:59.468Z,1354729199.468 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-12-05T17:39:59.469Z,1354729199.469 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-12-05T17:39:59.470Z,1354729199.470 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-12-05T17:39:59.470Z,1354729199.470 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-12-05T17:39:59.470Z,1354729199.470 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-12-05T17:39:59.489Z,1354729199.489 [SBIT](INFO): Initialize SBIT Component.
2012-12-05T17:39:59.489Z,1354729199.489 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10092
2012-12-05T17:39:59.490Z,1354729199.490 [IBIT](INFO): Initialize IBIT Component.
2012-12-05T17:39:59.503Z,1354729199.503 [CBIT](DEBUG): Initialize CBIT Component.
2012-12-05T17:39:59.503Z,1354729199.503 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-12-05T17:39:59.503Z,1354729199.503 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-12-05T17:39:59.528Z,1354729199.528 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T17:39:59.529Z,1354729199.529 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-12-05T17:39:59.529Z,1354729199.529 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-12-05T17:39:59.529Z,1354729199.529 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-12-05T17:39:59.530Z,1354729199.530 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-12-05T17:39:59.531Z,1354729199.531 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-12-05T17:39:59.531Z,1354729199.531 [Navigation](DEBUG): Initializing Navigation.
2012-12-05T17:39:59.533Z,1354729199.533 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-12-05T17:39:59.539Z,1354729199.539 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-12-05T17:39:59.540Z,1354729199.540 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-12-05T17:39:59.540Z,1354729199.540 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-12-05T17:40:01.465Z,1354729201.466 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-12-05T17:40:01.498Z,1354729201.498 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-12-05T17:40:01.537Z,1354729201.537 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T17:40:01.575Z,1354729201.575 [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>


2012-12-05T17:40:01.576Z,1354729201.576 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-12-05T17:40:01.591Z,1354729201.591 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T17:40:01.591Z,1354729201.591 [DVL_micro](INFO): Querying output modes
2012-12-05T17:40:01.591Z,1354729201.592 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-12-05T17:40:01.603Z,1354729201.602 [DVL_micro](DEBUG): cmdResponse: 01
2012-12-05T17:40:01.603Z,1354729201.603 [DVL_micro](INFO): NQ1 output enabled
2012-12-05T17:40:01.603Z,1354729201.603 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-12-05T17:40:01.615Z,1354729201.615 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-12-05T17:40:01.620Z,1354729201.620 [DVL_micro](INFO): pause:Powering down
2012-12-05T17:40:01.669Z,1354729201.670 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-12-05T17:40:01.672Z,1354729201.671 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-12-05T17:40:01.687Z,1354729201.687 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T17:40:01.707Z,1354729201.707 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-12-05T17:40:01.710Z,1354729201.710 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T17:40:01.728Z,1354729201.728 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-12-05T17:40:01.770Z,1354729201.770 [Default:D.SetSpeed](DEBUG): Construct.
2012-12-05T17:40:01.773Z,1354729201.773 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T17:40:01.789Z,1354729201.789 [Default:F.Wait](DEBUG): Construct Wait.
2012-12-05T17:40:01.793Z,1354729201.793 [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>


2012-12-05T17:40:01.802Z,1354729201.802 [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,
2012-12-05T17:40:01.840Z,1354729201.839 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-12-05T17:40:02.074Z,1354729202.074 [Radio_Freewave](INFO): Powering up
2012-12-05T17:40:02.491Z,1354729202.491 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:40:02.498Z,1354729202.499 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-12-05T17:40:02.513Z,1354729202.513 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:40:02.519Z,1354729202.519 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-12-05T17:40:02.525Z,1354729202.524 [MassServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:40:02.531Z,1354729202.531 [MassServo](DEBUG): Initializing MassServo.
2012-12-05T17:40:02.536Z,1354729202.536 [RudderServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:40:02.543Z,1354729202.543 [RudderServo](DEBUG): Initializing RudderServo.
2012-12-05T17:40:02.564Z,1354729202.564 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:40:02.571Z,1354729202.571 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T17:40:04.111Z,1354729204.111 [NAL9602](INFO): Powering up NAL9602
2012-12-05T17:40:13.823Z,1354729213.823 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 150.000000 revolution_per_minute
2012-12-05T17:40:13.825Z,1354729213.825 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-12-05T17:40:14.138Z,1354729214.138 [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,
2012-12-05T17:40:14.915Z,1354729214.915 [NAL9602](INFO): NAL9602 initialized
2012-12-05T17:40:14.997Z,1354729214.997 [SBIT](IMPORTANT): Beginning Startup BIT
2012-12-05T17:40:14.000Z,1354729215.000 [CBIT](IMPORTANT): Beginning GF scan
2012-12-05T17:40:26.139Z,1354729226.139 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 0.000000 revolution_per_minute
2012-12-05T17:40:41.691Z,1354729241.691 [CBIT](IMPORTANT): No ground fault detected
2012-12-05T17:41:08.997Z,1354729268.997 [SBIT](IMPORTANT): SBIT PASSED
2012-12-05T17:41:09.394Z,1354729269.394 [MissionManager](IMPORTANT): Started mission Startup
2012-12-05T17:41:09.394Z,1354729269.394 [Startup] Running Loop=1
2012-12-05T17:41:09.394Z,1354729269.394 [Startup](INFO): Aggregate::initialize Startup
2012-12-05T17:41:09.394Z,1354729269.394 [Startup:A.GoToSurface] Running Loop=1
2012-12-05T17:41:09.394Z,1354729269.394 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-12-05T17:41:09.400Z,1354729269.400 [Startup:StartupSatComms] Running Loop=1
2012-12-05T17:41:09.400Z,1354729269.400 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-12-05T17:41:09.400Z,1354729269.401 [Startup:StartupSatComms:A] Running Loop=1
2012-12-05T17:41:09.762Z,1354729269.762 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-12-05T17:42:09.766Z,1354729329.766 [Startup:StartupSatComms:A](INFO): Timed out from 2012-12-05T17:41:09.4Z
2012-12-05T17:42:09.766Z,1354729329.766 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2012-12-05T17:42:09.766Z,1354729329.766 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2012-12-05T17:42:09.767Z,1354729329.767 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2012-12-05T17:42:09.767Z,1354729329.767 [Startup:StartupSatComms:A] Stopped
2012-12-05T17:42:09.767Z,1354729329.767 [Startup:StartupSatComms:B] Running Loop=1
2012-12-05T17:42:10.167Z,1354729330.167 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-12-05T17:43:06.387Z,1354729386.387 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 150.000000 revolution_per_minute
2012-12-05T17:43:10.603Z,1354729390.603 [Startup:StartupSatComms:B](INFO): Timed out from 2012-12-05T17:42:09.8Z
2012-12-05T17:43:10.603Z,1354729390.603 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2012-12-05T17:43:10.603Z,1354729390.603 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2012-12-05T17:43:10.604Z,1354729390.604 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2012-12-05T17:43:10.604Z,1354729390.604 [Startup:StartupSatComms:B] Stopped
2012-12-05T17:43:10.604Z,1354729390.604 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2012-12-05T17:43:10.604Z,1354729390.604 [Startup:StartupSatComms] Stopped
2012-12-05T17:43:10.604Z,1354729390.604 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-12-05T17:43:10.605Z,1354729390.605 [Startup](INFO): Completed Startup
2012-12-05T17:43:10.605Z,1354729390.605 [Startup] Stopped
2012-12-05T17:43:10.605Z,1354729390.605 [Startup](INFO): Aggregate::uninitialize Startup
2012-12-05T17:43:10.605Z,1354729390.605 [Startup:A.GoToSurface] Stopped
2012-12-05T17:43:10.605Z,1354729390.605 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-12-05T17:43:10.966Z,1354729390.966 [MissionManager](IMPORTANT): Started mission Default
2012-12-05T17:43:10.966Z,1354729390.966 [Default] Running Loop=1
2012-12-05T17:43:10.966Z,1354729390.966 [Default](INFO): Aggregate::initialize Default
2012-12-05T17:43:10.966Z,1354729390.966 [Default:D.SetSpeed] Running Loop=1
2012-12-05T17:43:10.966Z,1354729390.966 [Default:D.SetSpeed](DEBUG): Initialize.
2012-12-05T17:43:10.966Z,1354729390.967 [Default:E.GoToSurface] Running Loop=1
2012-12-05T17:43:10.967Z,1354729390.967 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-12-05T17:43:10.967Z,1354729390.967 [Default:Iridium] Running Loop=1
2012-12-05T17:43:10.967Z,1354729390.967 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2012-12-05T17:43:10.967Z,1354729390.967 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-12-05T17:43:10.967Z,1354729390.967 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2012-12-05T17:43:10.967Z,1354729390.967 [Default:Iridium:B.GoToSurface] Running Loop=1
2012-12-05T17:43:10.967Z,1354729390.967 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-12-05T17:43:10.968Z,1354729390.968 [Default:E.GoToSurface] Running Loop=1
2012-12-05T17:43:10.973Z,1354729390.973 [Default:D.SetSpeed] Running Loop=1
2012-12-05T17:43:10.979Z,1354729390.978 [Default:CallIridium] Running Loop=1
2012-12-05T17:43:10.979Z,1354729390.979 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2012-12-05T17:43:10.979Z,1354729390.979 [Default:CallIridium:A] Running Loop=1
2012-12-05T17:43:10.981Z,1354729390.981 [Default:CallIridium:A] Stopped
2012-12-05T17:43:10.981Z,1354729390.981 [Default:CallIridium:B] Running Loop=1
2012-12-05T17:43:10.981Z,1354729390.981 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2012-12-05T17:43:10.986Z,1354729390.986 [Default:Iridium:B.GoToSurface] Stopped
2012-12-05T17:43:10.987Z,1354729390.987 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-12-05T17:43:10.987Z,1354729390.987 [Default:Iridium:Read_Iridium] Running Loop=1
2012-12-05T17:43:10.987Z,1354729390.987 [Default:Iridium:A.SetSpeed] Running Loop=1
2012-12-05T17:43:10.992Z,1354729390.992 [Default:GPS] Running Loop=1
2012-12-05T17:43:10.992Z,1354729390.992 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2012-12-05T17:43:10.992Z,1354729390.992 [Default:GPS:A.SetSpeed] Running Loop=1
2012-12-05T17:43:10.992Z,1354729390.992 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2012-12-05T17:43:10.992Z,1354729390.992 [Default:GPS:B.GoToSurface] Running Loop=1
2012-12-05T17:43:10.992Z,1354729390.992 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-12-05T17:43:10.999Z,1354729390.999 [Default:GPS:B.GoToSurface] Stopped
2012-12-05T17:43:10.999Z,1354729390.999 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-12-05T17:43:10.999Z,1354729391.000 [Default:GPS:Read_GPS] Running Loop=1
2012-12-05T17:43:10.000Z,1354729391.000 [Default:GPS:A.SetSpeed] Running Loop=1
2012-12-05T17:43:11.277Z,1354729391.277 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-12-05T17:43:11.280Z,1354729391.280 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-12-05T17:43:20.567Z,1354729400.567 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 315.000000 revolution_per_minute
2012-12-05T17:43:42.123Z,1354729422.123 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 325.000000 revolution_per_minute
2012-12-05T17:43:59.235Z,1354729439.235 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 330.000000 revolution_per_minute
2012-12-05T17:44:12.303Z,1354729452.303 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 340.000000 revolution_per_minute
2012-12-05T17:44:24.319Z,1354729464.319 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 350.000000 revolution_per_minute
2012-12-05T17:44:38.995Z,1354729478.995 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 375.000000 revolution_per_minute
2012-12-05T17:44:53.431Z,1354729493.431 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 400.000000 revolution_per_minute
2012-12-05T17:45:15.643Z,1354729515.643 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 450.000000 revolution_per_minute
2012-12-05T17:45:31.964Z,1354729531.964 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 500.000000 revolution_per_minute
2012-12-05T17:45:56.336Z,1354729556.336 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 600.000000 revolution_per_minute
2012-12-05T17:46:11.859Z,1354729571.859 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 650.000000 revolution_per_minute
2012-12-05T17:46:14.799Z,1354729574.799 [ThrusterServo](FAULT): Overload Error
2012-12-05T17:46:14.799Z,1354729574.799 [ThrusterServo] Hardware Fault, FailCount= 1
2012-12-05T17:46:14.799Z,1354729574.799 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T17:46:14.801Z,1354729574.801 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T17:46:15.213Z,1354729575.213 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T17:46:15.213Z,1354729575.213 [ThrusterServo](INFO): Powering down
2012-12-05T17:46:15.216Z,1354729575.216 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T17:46:15.216Z,1354729575.216 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T17:46:15.986Z,1354729575.986 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:46:16.107Z,1354729576.107 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T17:46:20.347Z,1354729580.347 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 600.000000 revolution_per_minute
2012-12-05T17:46:35.519Z,1354729595.519 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 900.000000 revolution_per_minute
2012-12-05T17:46:38.595Z,1354729598.595 [ThrusterServo](FAULT): Overload Error
2012-12-05T17:46:38.595Z,1354729598.595 [ThrusterServo] Hardware Fault, FailCount= 1
2012-12-05T17:46:38.595Z,1354729598.595 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T17:46:38.597Z,1354729598.597 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T17:46:38.961Z,1354729598.961 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T17:46:38.961Z,1354729598.961 [ThrusterServo](INFO): Powering down
2012-12-05T17:46:38.964Z,1354729598.964 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T17:46:38.964Z,1354729598.964 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T17:46:39.769Z,1354729599.769 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:46:39.887Z,1354729599.887 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T17:46:42.915Z,1354729602.915 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 600.000000 revolution_per_minute
2012-12-05T17:47:00.027Z,1354729620.027 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 625.000000 revolution_per_minute
2012-12-05T17:47:11.075Z,1354729631.075 [CommandLine](IMPORTANT): got command show variable thruster
2012-12-05T17:47:11.143Z,1354729631.143 [CommandLine](INFO): Config/vehicle.ThrusterServo_card (none)
2012-12-05T17:47:11.143Z,1354729631.143 [CommandLine](INFO): Config/vehicle.ThrusterServo_uart (none)
2012-12-05T17:47:11.144Z,1354729631.144 [CommandLine](INFO): Config/vehicle.ThrusterServo_baud (bit_per_second)
2012-12-05T17:47:11.181Z,1354729631.181 [CommandLine](INFO): Config/Servo.ThrusterServo_enable (bool)
2012-12-05T17:47:11.181Z,1354729631.181 [CommandLine](INFO): Config/Servo.ThrusterServo_useHardware (bool)
2012-12-05T17:47:11.182Z,1354729631.182 [CommandLine](INFO): ThrusterServo.powerOnTimeout (second)
2012-12-05T17:47:11.182Z,1354729631.182 [CommandLine](INFO): ThrusterServo.currLimit (percent)
2012-12-05T17:47:11.182Z,1354729631.182 [CommandLine](INFO): ThrusterServo.pidW (count)
2012-12-05T17:47:11.183Z,1354729631.183 [CommandLine](INFO): ThrusterServo.pidX (count)
2012-12-05T17:47:11.183Z,1354729631.183 [CommandLine](INFO): ThrusterServo.pidY (count)
2012-12-05T17:47:11.184Z,1354729631.184 [CommandLine](INFO): ThrusterServo.overloadTimeout (millisecond)
2012-12-05T17:47:11.184Z,1354729631.184 [CommandLine](INFO): ThrusterServo.accel (none)
2012-12-05T17:47:11.184Z,1354729631.184 [CommandLine](INFO): ThrusterServo.encoderTks (count_per_second)
2012-12-05T17:47:11.185Z,1354729631.185 [CommandLine](INFO): ThrusterServo.tksPerRev (count_per_revolution)
2012-12-05T17:47:11.185Z,1354729631.185 [CommandLine](INFO): ThrusterServo.deviation (count)
2012-12-05T17:47:11.185Z,1354729631.185 [CommandLine](INFO): ThrusterServo.allowableBadVelocity (count)
2012-12-05T17:47:11.209Z,1354729631.209 [CommandLine](INFO): ThrusterServo.platform_propeller_rotation_rate (radian_per_second)
2012-12-05T17:47:11.232Z,1354729631.232 [CommandLine](INFO): ThrusterServo.durationOfLastRun (second)
2012-12-05T17:47:11.234Z,1354729631.234 [CommandLine](INFO): ThrusterServo.component_voltage (volt)
2012-12-05T17:47:11.234Z,1354729631.234 [CommandLine](INFO): ThrusterServo.component_avgVoltage (volt)
2012-12-05T17:47:11.234Z,1354729631.234 [CommandLine](INFO): ThrusterServo.component_current (milliampere)
2012-12-05T17:47:11.235Z,1354729631.235 [CommandLine](INFO): ThrusterServo.component_avgCurrent (milliampere)
2012-12-05T17:47:20.655Z,1354729640.655 [CommandLine](IMPORTANT): got command get ThrusterServo.currLimit
2012-12-05T17:47:20.655Z,1354729640.655 [CommandLine](IMPORTANT): ThrusterServo.currLimit 50.000000 percent
2012-12-05T17:47:29.575Z,1354729649.575 [CommandLine](IMPORTANT): got command get ThrusterServo.overloadTimeout
2012-12-05T17:47:29.576Z,1354729649.576 [CommandLine](IMPORTANT): ThrusterServo.overloadTimeout 1000.000000 millisecond
2012-12-05T17:47:41.295Z,1354729661.295 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 650.000000 revolution_per_minute
2012-12-05T17:47:44.115Z,1354729664.115 [ThrusterServo](FAULT): Overload Error
2012-12-05T17:47:44.115Z,1354729664.115 [ThrusterServo] Hardware Fault, FailCount= 1
2012-12-05T17:47:44.115Z,1354729664.115 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T17:47:44.117Z,1354729664.117 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T17:47:44.338Z,1354729664.338 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T17:47:44.338Z,1354729664.339 [ThrusterServo](INFO): Powering down
2012-12-05T17:47:44.341Z,1354729664.341 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T17:47:44.341Z,1354729664.341 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T17:47:45.179Z,1354729665.179 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:47:45.299Z,1354729665.299 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T17:47:48.731Z,1354729668.731 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 635.000000 revolution_per_minute
2012-12-05T17:48:09.335Z,1354729689.335 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 640.000000 revolution_per_minute
2012-12-05T17:48:11.087Z,1354729691.087 [ThrusterServo](FAULT): Overload Error
2012-12-05T17:48:11.087Z,1354729691.087 [ThrusterServo] Hardware Fault, FailCount= 1
2012-12-05T17:48:11.087Z,1354729691.087 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T17:48:11.089Z,1354729691.089 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T17:48:11.423Z,1354729691.423 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T17:48:11.423Z,1354729691.423 [ThrusterServo](INFO): Powering down
2012-12-05T17:48:11.426Z,1354729691.426 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T17:48:11.426Z,1354729691.426 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T17:48:12.127Z,1354729692.127 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:48:12.250Z,1354729692.250 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T17:48:15.463Z,1354729695.463 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 636.000000 revolution_per_minute
2012-12-05T17:48:29.610Z,1354729709.611 [ThrusterServo](FAULT): Overload Error
2012-12-05T17:48:29.611Z,1354729709.611 [ThrusterServo] Hardware Fault, FailCount= 1
2012-12-05T17:48:29.611Z,1354729709.611 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T17:48:29.613Z,1354729709.613 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T17:48:29.999Z,1354729709.999 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T17:48:29.999Z,1354729709.999 [ThrusterServo](INFO): Powering down
2012-12-05T17:48:30.001Z,1354729710.001 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T17:48:30.001Z,1354729710.001 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T17:48:30.799Z,1354729710.799 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:48:30.915Z,1354729710.915 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T17:48:32.615Z,1354729712.615 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 635.000000 revolution_per_minute
2012-12-05T17:49:22.231Z,1354729762.231 [CommandLine](IMPORTANT): got command maintain clear
2012-12-05T17:49:22.867Z,1354729762.867 [ThrusterServo](FAULT): Overload Error
2012-12-05T17:49:22.867Z,1354729762.867 [ThrusterServo] Hardware Fault, FailCount= 1
2012-12-05T17:49:22.867Z,1354729762.867 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T17:49:22.869Z,1354729762.869 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T17:49:22.874Z,1354729762.874 [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,
2012-12-05T17:49:23.103Z,1354729763.103 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T17:49:23.103Z,1354729763.103 [ThrusterServo](INFO): Powering down
2012-12-05T17:49:23.106Z,1354729763.106 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T17:49:23.106Z,1354729763.106 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T17:49:23.898Z,1354729763.898 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:49:24.016Z,1354729764.016 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T17:49:38.871Z,1354729778.871 [CommandLine](IMPORTANT): got command quit
2012-12-05T17:49:39.942Z,1354729779.942 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-12-05T17:49:39.942Z,1354729779.943 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-12-05T17:49:40.242Z,1354729780.242 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-12-05T17:49:40.611Z,1354729780.611 [WetLabsBB2FL](INFO): Powering down
2012-12-05T17:49:40.623Z,1354729780.622 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-12-05T17:49:40.847Z,1354729780.847 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-12-05T17:49:40.863Z,1354729780.862 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-12-05T17:49:41.043Z,1354729781.043 [CTD_NeilBrown](INFO): Powering down
2012-12-05T17:49:41.062Z,1354729781.062 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-12-05T17:49:41.283Z,1354729781.283 [DVL_micro](INFO): uninitialize:Powering down
2012-12-05T17:49:41.303Z,1354729781.303 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-12-05T17:49:41.483Z,1354729781.483 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-12-05T17:49:41.487Z,1354729781.487 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-12-05T17:49:41.549Z,1354729781.549 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-12-05T17:49:41.555Z,1354729781.555 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-12-05T17:49:41.669Z,1354729781.669 [controlThread](DEBUG): Uninitializing ControlThread
2012-12-05T17:49:41.669Z,1354729781.669 [AHRS_sp3003D](INFO): Powering down
2012-12-05T17:49:41.757Z,1354729781.757 [NAL9602](INFO): Powering down
2012-12-05T17:49:41.759Z,1354729781.759 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T17:49:41.760Z,1354729781.760 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-12-05T17:49:41.761Z,1354729781.761 [Default] Stopped
2012-12-05T17:49:41.761Z,1354729781.761 [Default](INFO): Aggregate::uninitialize Default
2012-12-05T17:49:41.761Z,1354729781.761 [Default:GPS] Stopped
2012-12-05T17:49:41.761Z,1354729781.761 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2012-12-05T17:49:41.761Z,1354729781.761 [Default:GPS:A.SetSpeed] Stopped
2012-12-05T17:49:41.761Z,1354729781.761 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2012-12-05T17:49:41.761Z,1354729781.761 [Default:GPS:Read_GPS] Stopped
2012-12-05T17:49:41.761Z,1354729781.761 [Default:Iridium] Stopped
2012-12-05T17:49:41.761Z,1354729781.761 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2012-12-05T17:49:41.762Z,1354729781.761 [Default:Iridium:A.SetSpeed] Stopped
2012-12-05T17:49:41.762Z,1354729781.762 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2012-12-05T17:49:41.762Z,1354729781.762 [Default:Iridium:Read_Iridium] Stopped
2012-12-05T17:49:41.762Z,1354729781.762 [Default:CallIridium] Stopped
2012-12-05T17:49:41.762Z,1354729781.762 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2012-12-05T17:49:41.762Z,1354729781.762 [Default:CallIridium:B] Stopped
2012-12-05T17:49:41.762Z,1354729781.762 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2012-12-05T17:49:41.762Z,1354729781.762 [Default:D.SetSpeed] Stopped
2012-12-05T17:49:41.762Z,1354729781.762 [Default:D.SetSpeed](DEBUG): Uninitialize.
2012-12-05T17:49:41.762Z,1354729781.762 [Default:E.GoToSurface] Stopped
2012-12-05T17:49:41.762Z,1354729781.762 [Default:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-12-05T17:49:41.780Z,1354729781.780 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-12-05T17:49:41.780Z,1354729781.780 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-12-05T17:49:41.780Z,1354729781.780 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-12-05T17:49:41.781Z,1354729781.781 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-12-05T17:49:41.781Z,1354729781.781 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-12-05T17:49:41.781Z,1354729781.781 [BuoyancyServo](INFO): Powering down
2012-12-05T17:49:41.795Z,1354729781.795 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-12-05T17:49:41.795Z,1354729781.795 [ElevatorServo](INFO): Powering down
2012-12-05T17:49:41.796Z,1354729781.796 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-12-05T17:49:41.796Z,1354729781.796 [MassServo](INFO): Powering down
2012-12-05T17:49:41.797Z,1354729781.797 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-12-05T17:49:41.797Z,1354729781.797 [RudderServo](INFO): Powering down
2012-12-05T17:49:41.798Z,1354729781.798 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T17:49:41.798Z,1354729781.798 [ThrusterServo](INFO): Powering down
2012-12-05T17:49:41.799Z,1354729781.799 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-12-05T17:49:41.799Z,1354729781.799 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-12-05T17:49:41.800Z,1354729781.800 [CBIT](DEBUG): Uninitialize CBIT Component.