2012-12-05T17:56:09.224Z,1354730169.224 [Supervisor](DEBUG): Initializing supervisor.
2012-12-05T17:56:09.226Z,1354730169.226 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-12-05T17:56:09.227Z,1354730169.227 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-12-05T17:56:09.228Z,1354730169.228 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-12-05T17:56:09.232Z,1354730169.232 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-12-05T17:56:09.242Z,1354730169.242 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-12-05T17:56:09.243Z,1354730169.243 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-12-05T17:56:09.244Z,1354730169.244 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-12-05T17:56:09.245Z,1354730169.245 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-12-05T17:56:09.245Z,1354730169.246 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-12-05T17:56:09.247Z,1354730169.247 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-12-05T17:56:09.519Z,1354730169.519 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-12-05T17:56:09.520Z,1354730169.520 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-12-05T17:56:09.705Z,1354730169.705 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-12-05T17:56:09.705Z,1354730169.705 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-12-05T17:56:09.790Z,1354730169.790 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-12-05T17:56:09.790Z,1354730169.790 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-12-05T17:56:09.983Z,1354730169.983 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-12-05T17:56:09.983Z,1354730169.983 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-12-05T17:56:10.113Z,1354730170.114 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-12-05T17:56:10.114Z,1354730170.114 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-12-05T17:56:10.340Z,1354730170.340 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-12-05T17:56:10.340Z,1354730170.340 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-12-05T17:56:10.520Z,1354730170.520 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-12-05T17:56:10.520Z,1354730170.520 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-12-05T17:56:10.780Z,1354730170.780 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-12-05T17:56:10.781Z,1354730170.781 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-12-05T17:56:10.878Z,1354730170.878 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-12-05T17:56:10.879Z,1354730170.879 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-12-05T17:56:11.270Z,1354730171.270 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-12-05T17:56:11.270Z,1354730171.270 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-12-05T17:56:11.383Z,1354730171.383 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-12-05T17:56:11.384Z,1354730171.384 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-12-05T17:56:11.468Z,1354730171.468 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-12-05T17:56:11.469Z,1354730171.469 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-12-05T17:56:11.568Z,1354730171.568 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-12-05T17:56:11.695Z,1354730171.694 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-12-05T17:56:11.779Z,1354730171.779 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-12-05T17:56:11.878Z,1354730171.878 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-12-05T17:56:11.977Z,1354730171.977 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-12-05T17:56:12.094Z,1354730172.094 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-12-05T17:56:12.185Z,1354730172.185 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-12-05T17:56:12.271Z,1354730172.272 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-12-05T17:56:12.302Z,1354730172.302 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-12-05T17:56:12.450Z,1354730172.450 [InternalSim] Loaded
2012-12-05T17:56:12.450Z,1354730172.450 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-12-05T17:56:12.451Z,1354730172.451 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-12-05T17:56:12.451Z,1354730172.451 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-12-05T17:56:12.506Z,1354730172.506 [SBIT](DEBUG): Construct Startup Built In Test.
2012-12-05T17:56:12.534Z,1354730172.534 [SBIT] Loaded
2012-12-05T17:56:12.535Z,1354730172.534 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-12-05T17:56:12.535Z,1354730172.535 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-12-05T17:56:12.563Z,1354730172.563 [IBIT] Loaded
2012-12-05T17:56:12.564Z,1354730172.564 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-12-05T17:56:12.567Z,1354730172.567 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-12-05T17:56:12.684Z,1354730172.684 [CBIT] Loaded
2012-12-05T17:56:12.685Z,1354730172.685 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-12-05T17:56:12.685Z,1354730172.685 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-12-05T17:56:12.686Z,1354730172.686 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-12-05T17:56:12.831Z,1354730172.830 [BuoyancyServo] Loaded
2012-12-05T17:56:12.831Z,1354730172.831 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-12-05T17:56:12.843Z,1354730172.843 [ElevatorServo] Loaded
2012-12-05T17:56:12.843Z,1354730172.843 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-12-05T17:56:12.855Z,1354730172.855 [MassServo] Loaded
2012-12-05T17:56:12.855Z,1354730172.855 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-12-05T17:56:12.867Z,1354730172.867 [RudderServo] Loaded
2012-12-05T17:56:12.867Z,1354730172.867 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-12-05T17:56:12.879Z,1354730172.879 [ThrusterServo] Loaded
2012-12-05T17:56:12.879Z,1354730172.879 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-12-05T17:56:12.880Z,1354730172.880 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-12-05T17:56:12.880Z,1354730172.880 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-12-05T17:56:12.897Z,1354730172.897 [DepthRateCalculator] Loaded
2012-12-05T17:56:12.897Z,1354730172.897 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-12-05T17:56:15.987Z,1354730175.987 [HFRadarModelCalc] Loaded
2012-12-05T17:56:15.987Z,1354730175.987 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-12-05T17:56:16.003Z,1354730176.003 [NavChart] Loaded
2012-12-05T17:56:16.003Z,1354730176.003 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-12-05T17:56:16.009Z,1354730176.009 [PitchRateCalculator] Loaded
2012-12-05T17:56:16.009Z,1354730176.010 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-12-05T17:56:16.023Z,1354730176.023 [SpeedCalculator] Loaded
2012-12-05T17:56:16.024Z,1354730176.024 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-12-05T17:56:16.054Z,1354730176.054 [TempGradientCalculator] Loaded
2012-12-05T17:56:16.055Z,1354730176.055 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-12-05T17:56:16.061Z,1354730176.061 [YawRateCalculator] Loaded
2012-12-05T17:56:16.061Z,1354730176.061 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-12-05T17:56:16.101Z,1354730176.101 [Navigation] Loaded
2012-12-05T17:56:16.101Z,1354730176.101 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-12-05T17:56:16.102Z,1354730176.102 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-12-05T17:56:16.102Z,1354730176.102 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-12-05T17:56:16.315Z,1354730176.316 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-12-05T17:56:16.316Z,1354730176.316 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-12-05T17:56:16.337Z,1354730176.337 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-12-05T17:56:16.338Z,1354730176.338 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-12-05T17:56:16.377Z,1354730176.377 [VerticalControl](DEBUG): Construct VerticalControl.
2012-12-05T17:56:16.470Z,1354730176.470 [VerticalControl] Loaded
2012-12-05T17:56:16.470Z,1354730176.470 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-12-05T17:56:16.472Z,1354730176.471 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-12-05T17:56:16.527Z,1354730176.527 [HorizontalControl] Loaded
2012-12-05T17:56:16.527Z,1354730176.527 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-12-05T17:56:16.528Z,1354730176.528 [SpeedControl](DEBUG): Construct SpeedControl.
2012-12-05T17:56:16.530Z,1354730176.530 [SpeedControl] Loaded
2012-12-05T17:56:16.530Z,1354730176.530 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-12-05T17:56:16.531Z,1354730176.531 [LoopControl](DEBUG): Construct LoopControl.
2012-12-05T17:56:16.532Z,1354730176.532 [LoopControl] Loaded
2012-12-05T17:56:16.532Z,1354730176.532 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-12-05T17:56:16.533Z,1354730176.533 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-12-05T17:56:16.533Z,1354730176.533 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-12-05T17:56:16.538Z,1354730176.538 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-12-05T17:56:16.543Z,1354730176.543 [AsyncPiEstimator] Loaded
2012-12-05T17:56:16.543Z,1354730176.543 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-12-05T17:56:16.545Z,1354730176.545 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-12-05T17:56:16.545Z,1354730176.545 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-12-05T17:56:16.546Z,1354730176.546 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-12-05T17:56:16.668Z,1354730176.668 [AHRS_sp3003D] Loaded
2012-12-05T17:56:16.668Z,1354730176.668 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-12-05T17:56:16.923Z,1354730176.923 [Batt_Ocean_Server] Loaded
2012-12-05T17:56:16.923Z,1354730176.923 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-12-05T17:56:16.936Z,1354730176.936 [Depth_Keller] Loaded
2012-12-05T17:56:16.936Z,1354730176.936 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-12-05T17:56:16.942Z,1354730176.942 [DropWeight] Loaded
2012-12-05T17:56:16.942Z,1354730176.942 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-12-05T17:56:17.100Z,1354730177.100 [DVL_micro] Loaded
2012-12-05T17:56:17.101Z,1354730177.101 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-12-05T17:56:17.102Z,1354730177.102 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-12-05T17:56:17.183Z,1354730177.182 [NAL9602] Loaded
2012-12-05T17:56:17.183Z,1354730177.183 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-12-05T17:56:17.232Z,1354730177.232 [Onboard] Loaded
2012-12-05T17:56:17.233Z,1354730177.233 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-12-05T17:56:17.239Z,1354730177.239 [Radio_Freewave] Loaded
2012-12-05T17:56:17.239Z,1354730177.239 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-12-05T17:56:17.240Z,1354730177.240 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-12-05T17:56:17.241Z,1354730177.241 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-12-05T17:56:17.312Z,1354730177.312 [CTD_NeilBrown] Loaded
2012-12-05T17:56:17.313Z,1354730177.313 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-12-05T17:56:17.314Z,1354730177.314 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-12-05T17:56:17.330Z,1354730177.330 [PAR_Licor] Loaded
2012-12-05T17:56:17.330Z,1354730177.330 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-12-05T17:56:17.382Z,1354730177.382 [Turbulence_NPS] Loaded
2012-12-05T17:56:17.383Z,1354730177.383 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-12-05T17:56:17.384Z,1354730177.384 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-12-05T17:56:17.413Z,1354730177.413 [WetLabsBB2FL] Loaded
2012-12-05T17:56:17.414Z,1354730177.414 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-12-05T17:56:17.415Z,1354730177.415 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-12-05T17:56:17.415Z,1354730177.415 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-12-05T17:56:17.418Z,1354730177.418 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-12-05T17:56:17.419Z,1354730177.419 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-12-05T17:56:17.425Z,1354730177.425 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-12-05T17:56:17.426Z,1354730177.426 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-12-05T17:56:17.431Z,1354730177.431 [Supervisor](DEBUG): Running supervisor.
2012-12-05T17:56:17.432Z,1354730177.432 [CommandLine](INFO): Thread ID is 9979
2012-12-05T17:56:17.435Z,1354730177.435 [controlThread](INFO): Thread ID is 9978
2012-12-05T17:56:17.435Z,1354730177.435 [controlThread](DEBUG): Initializing ControlThread
2012-12-05T17:56:17.435Z,1354730177.435 [CycleStarter](INFO): Thread ID is 9977
2012-12-05T17:56:17.436Z,1354730177.436 [InternalSim](DEBUG):  InternalSim initializing...
2012-12-05T17:56:17.471Z,1354730177.471 [logger](INFO): Thread ID is 9980
2012-12-05T17:56:17.496Z,1354730177.496 [SBIT](INFO): Initialize SBIT Component.
2012-12-05T17:56:17.496Z,1354730177.497 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10092
2012-12-05T17:56:17.497Z,1354730177.497 [IBIT](INFO): Initialize IBIT Component.
2012-12-05T17:56:17.498Z,1354730177.498 [CBIT](DEBUG): Initialize CBIT Component.
2012-12-05T17:56:17.498Z,1354730177.498 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-12-05T17:56:17.511Z,1354730177.511 [AsyncPiEstimator](INFO): Thread ID is 341
2012-12-05T17:56:17.511Z,1354730177.511 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-12-05T17:56:17.524Z,1354730177.524 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T17:56:17.524Z,1354730177.524 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-12-05T17:56:17.525Z,1354730177.525 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-12-05T17:56:17.525Z,1354730177.525 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-12-05T17:56:17.525Z,1354730177.525 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-12-05T17:56:17.527Z,1354730177.527 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-12-05T17:56:17.527Z,1354730177.527 [Navigation](DEBUG): Initializing Navigation.
2012-12-05T17:56:17.528Z,1354730177.528 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-12-05T17:56:17.529Z,1354730177.529 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-12-05T17:56:17.530Z,1354730177.530 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-12-05T17:56:17.531Z,1354730177.531 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-12-05T17:56:17.536Z,1354730177.536 [DVL_micro](INFO): Thread ID is 342
2012-12-05T17:56:17.545Z,1354730177.545 [DVL_micro](INFO): Initializing
2012-12-05T17:56:17.545Z,1354730177.545 [DVL_micro](INFO): start:Powering up
2012-12-05T17:56:17.546Z,1354730177.546 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T17:56:17.547Z,1354730177.547 [DVL_micro](INFO): Cycling power to configure device.
2012-12-05T17:56:17.560Z,1354730177.560 [CTD_NeilBrown](INFO): Thread ID is 343
2012-12-05T17:56:17.560Z,1354730177.560 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-12-05T17:56:17.563Z,1354730177.563 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-12-05T17:56:17.573Z,1354730177.573 [Turbulence_NPS](INFO): Thread ID is 344
2012-12-05T17:56:17.573Z,1354730177.573 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-12-05T17:56:17.574Z,1354730177.574 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-12-05T17:56:17.615Z,1354730177.615 [WetLabsBB2FL](INFO): Thread ID is 345
2012-12-05T17:56:17.616Z,1354730177.616 [WetLabsBB2FL](INFO): Powering down
2012-12-05T17:56:17.644Z,1354730177.644 [NavChartDb](INFO): Thread ID is 346
2012-12-05T17:56:17.646Z,1354730177.646 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-12-05T17:56:17.648Z,1354730177.648 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-12-05T17:56:17.648Z,1354730177.648 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-12-05T17:56:17.648Z,1354730177.648 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-12-05T17:56:17.649Z,1354730177.648 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-12-05T17:56:17.651Z,1354730177.651 [Turbulence_NPS](INFO): Pause powering down
2012-12-05T17:56:19.137Z,1354730179.137 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-12-05T17:56:19.169Z,1354730179.170 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-12-05T17:56:19.212Z,1354730179.212 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T17:56:19.236Z,1354730179.236 [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>


2012-12-05T17:56:19.237Z,1354730179.237 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-12-05T17:56:19.329Z,1354730179.329 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-12-05T17:56:19.333Z,1354730179.333 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-12-05T17:56:19.336Z,1354730179.336 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T17:56:19.361Z,1354730179.361 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-12-05T17:56:19.364Z,1354730179.364 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T17:56:19.370Z,1354730179.370 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-12-05T17:56:19.423Z,1354730179.423 [Default:D.SetSpeed](DEBUG): Construct.
2012-12-05T17:56:19.426Z,1354730179.426 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T17:56:19.440Z,1354730179.440 [Default:F.Wait](DEBUG): Construct Wait.
2012-12-05T17:56:19.444Z,1354730179.444 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
xmlns:Control="Tethys/Control"
xmlns:Guidance="Tethys/Guidance" 
xmlns:Units="Tethys/Units"
xmlns:Universal="Tethys/Universal"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
Id="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>


2012-12-05T17:56:19.459Z,1354730179.459 [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,
2012-12-05T17:56:19.526Z,1354730179.526 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-12-05T17:56:19.651Z,1354730179.651 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T17:56:19.651Z,1354730179.651 [DVL_micro](INFO): Querying output modes
2012-12-05T17:56:19.651Z,1354730179.651 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-12-05T17:56:19.663Z,1354730179.663 [DVL_micro](DEBUG): cmdResponse: 01
2012-12-05T17:56:19.663Z,1354730179.663 [DVL_micro](INFO): NQ1 output enabled
2012-12-05T17:56:19.663Z,1354730179.663 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-12-05T17:56:19.675Z,1354730179.675 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-12-05T17:56:19.687Z,1354730179.687 [DVL_micro](INFO): pause:Powering down
2012-12-05T17:56:19.711Z,1354730179.711 [Radio_Freewave](INFO): Powering up
2012-12-05T17:56:20.012Z,1354730180.011 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:56:20.019Z,1354730180.019 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-12-05T17:56:20.030Z,1354730180.030 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:56:20.035Z,1354730180.035 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-12-05T17:56:20.053Z,1354730180.053 [MassServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:56:20.059Z,1354730180.059 [MassServo](DEBUG): Initializing MassServo.
2012-12-05T17:56:20.064Z,1354730180.064 [RudderServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:56:20.071Z,1354730180.071 [RudderServo](DEBUG): Initializing RudderServo.
2012-12-05T17:56:20.089Z,1354730180.089 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:56:20.095Z,1354730180.095 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T17:56:22.525Z,1354730182.525 [NAL9602](INFO): Powering up NAL9602
2012-12-05T17:56:23.759Z,1354730183.759 [CommandLine](IMPORTANT): got command show variable thruster
2012-12-05T17:56:23.792Z,1354730183.792 [CommandLine](INFO): Config/vehicle.ThrusterServo_card (none)
2012-12-05T17:56:23.794Z,1354730183.793 [CommandLine](INFO): Config/vehicle.ThrusterServo_uart (none)
2012-12-05T17:56:23.794Z,1354730183.794 [CommandLine](INFO): Config/vehicle.ThrusterServo_baud (bit_per_second)
2012-12-05T17:56:23.835Z,1354730183.835 [CommandLine](INFO): Config/Servo.ThrusterServo_enable (bool)
2012-12-05T17:56:23.836Z,1354730183.836 [CommandLine](INFO): Config/Servo.ThrusterServo_useHardware (bool)
2012-12-05T17:56:23.836Z,1354730183.836 [CommandLine](INFO): ThrusterServo.powerOnTimeout (second)
2012-12-05T17:56:23.836Z,1354730183.836 [CommandLine](INFO): ThrusterServo.currLimit (percent)
2012-12-05T17:56:23.837Z,1354730183.837 [CommandLine](INFO): ThrusterServo.pidW (count)
2012-12-05T17:56:23.837Z,1354730183.837 [CommandLine](INFO): ThrusterServo.pidX (count)
2012-12-05T17:56:23.838Z,1354730183.838 [CommandLine](INFO): ThrusterServo.pidY (count)
2012-12-05T17:56:23.838Z,1354730183.838 [CommandLine](INFO): ThrusterServo.overloadTimeout (millisecond)
2012-12-05T17:56:23.843Z,1354730183.843 [CommandLine](INFO): ThrusterServo.accel (none)
2012-12-05T17:56:23.843Z,1354730183.843 [CommandLine](INFO): ThrusterServo.encoderTks (count_per_second)
2012-12-05T17:56:23.844Z,1354730183.844 [CommandLine](INFO): ThrusterServo.tksPerRev (count_per_revolution)
2012-12-05T17:56:23.844Z,1354730183.844 [CommandLine](INFO): ThrusterServo.deviation (count)
2012-12-05T17:56:23.844Z,1354730183.844 [CommandLine](INFO): ThrusterServo.allowableBadVelocity (count)
2012-12-05T17:56:23.938Z,1354730183.938 [CommandLine](INFO): ThrusterServo.platform_propeller_rotation_rate (radian_per_second)
2012-12-05T17:56:24.001Z,1354730184.001 [CommandLine](INFO): ThrusterServo.durationOfLastRun (second)
2012-12-05T17:56:30.939Z,1354730190.939 [CommandLine](IMPORTANT): got command get ThrusterServo.currLimit
2012-12-05T17:56:30.939Z,1354730190.940 [CommandLine](IMPORTANT): ThrusterServo.currLimit 100.000000 percent
2012-12-05T17:56:33.019Z,1354730193.019 [NAL9602](INFO): NAL9602 initialized
2012-12-05T17:56:33.088Z,1354730193.088 [SBIT](IMPORTANT): Beginning Startup BIT
2012-12-05T17:56:33.091Z,1354730193.091 [CBIT](IMPORTANT): Beginning GF scan
2012-12-05T17:56:42.795Z,1354730202.795 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 300.000000 revolution_per_minute
2012-12-05T17:56:42.797Z,1354730202.797 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-12-05T17:56:43.168Z,1354730203.168 [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,
2012-12-05T17:56:53.115Z,1354730213.115 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-12-05T17:56:53.115Z,1354730213.115 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-12-05T17:56:53.115Z,1354730213.115 [ThrusterServo] Communications Fault, FailCount= 1
2012-12-05T17:56:53.115Z,1354730213.115 [ThrusterServo](ERROR): Communications Fault
2012-12-05T17:56:53.118Z,1354730213.118 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-12-05T17:56:53.463Z,1354730213.463 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T17:56:53.463Z,1354730213.464 [ThrusterServo](INFO): Powering down
2012-12-05T17:56:53.467Z,1354730213.467 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T17:56:53.467Z,1354730213.467 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T17:56:54.311Z,1354730214.311 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:56:54.431Z,1354730214.431 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T17:56:59.930Z,1354730219.931 [CBIT](IMPORTANT): No ground fault detected
2012-12-05T17:57:00.713Z,1354730220.713 [ThrusterServo](FAULT): Overload Error
2012-12-05T17:57:00.713Z,1354730220.713 [ThrusterServo] Hardware Fault, FailCount= 2
2012-12-05T17:57:00.713Z,1354730220.713 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T17:57:00.716Z,1354730220.716 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T17:57:01.120Z,1354730221.120 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T17:57:01.120Z,1354730221.120 [ThrusterServo](INFO): Powering down
2012-12-05T17:57:01.123Z,1354730221.123 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T17:57:01.123Z,1354730221.123 [ThrusterServo] No Fault, FailCount= 2
2012-12-05T17:57:01.880Z,1354730221.880 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:57:01.995Z,1354730221.995 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T17:57:06.967Z,1354730226.967 [CommandLine](IMPORTANT): got command maintain clear
2012-12-05T17:57:07.074Z,1354730227.074 [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,
2012-12-05T17:57:27.218Z,1354730247.218 [SBIT](IMPORTANT): SBIT PASSED
2012-12-05T17:57:27.609Z,1354730247.609 [MissionManager](IMPORTANT): Started mission Startup
2012-12-05T17:57:27.609Z,1354730247.609 [Startup] Running Loop=1
2012-12-05T17:57:27.609Z,1354730247.609 [Startup](INFO): Aggregate::initialize Startup
2012-12-05T17:57:27.610Z,1354730247.610 [Startup:A.GoToSurface] Running Loop=1
2012-12-05T17:57:27.610Z,1354730247.610 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-12-05T17:57:27.616Z,1354730247.616 [Startup:StartupSatComms] Running Loop=1
2012-12-05T17:57:27.616Z,1354730247.616 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-12-05T17:57:27.616Z,1354730247.616 [Startup:StartupSatComms:A] Running Loop=1
2012-12-05T17:57:28.013Z,1354730248.013 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-12-05T17:57:32.631Z,1354730252.631 [CommandLine](IMPORTANT): got command restart application
2012-12-05T17:57:33.682Z,1354730253.682 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-12-05T17:57:33.683Z,1354730253.682 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-12-05T17:57:34.091Z,1354730254.091 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-12-05T17:57:34.091Z,1354730254.092 [WetLabsBB2FL](INFO): Powering down
2012-12-05T17:57:34.093Z,1354730254.093 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-12-05T17:57:34.131Z,1354730254.131 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-12-05T17:57:34.134Z,1354730254.134 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-12-05T17:57:34.227Z,1354730254.227 [CTD_NeilBrown](INFO): Powering down
2012-12-05T17:57:34.234Z,1354730254.234 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-12-05T17:57:34.447Z,1354730254.447 [DVL_micro](INFO): uninitialize:Powering down
2012-12-05T17:57:34.460Z,1354730254.460 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-12-05T17:57:34.515Z,1354730254.515 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-12-05T17:57:34.531Z,1354730254.531 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-12-05T17:57:34.611Z,1354730254.611 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-12-05T17:57:34.613Z,1354730254.613 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-12-05T17:57:34.619Z,1354730254.619 [controlThread](DEBUG): Uninitializing ControlThread
2012-12-05T17:57:34.619Z,1354730254.619 [AHRS_sp3003D](INFO): Powering down
2012-12-05T17:57:34.707Z,1354730254.707 [NAL9602](INFO): Powering down
2012-12-05T17:57:34.709Z,1354730254.709 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T17:57:34.710Z,1354730254.710 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-12-05T17:57:34.715Z,1354730254.714 [Startup] Stopped
2012-12-05T17:57:34.715Z,1354730254.715 [Startup](INFO): Aggregate::uninitialize Startup
2012-12-05T17:57:34.715Z,1354730254.715 [Startup:A.GoToSurface] Stopped
2012-12-05T17:57:34.715Z,1354730254.715 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-12-05T17:57:34.715Z,1354730254.715 [Startup:StartupSatComms] Stopped
2012-12-05T17:57:34.715Z,1354730254.715 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-12-05T17:57:34.715Z,1354730254.715 [Startup:StartupSatComms:A] Stopped
2012-12-05T17:57:34.716Z,1354730254.716 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-12-05T17:57:34.717Z,1354730254.717 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-12-05T17:57:34.717Z,1354730254.717 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-12-05T17:57:34.717Z,1354730254.717 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-12-05T17:57:34.717Z,1354730254.717 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-12-05T17:57:34.718Z,1354730254.718 [BuoyancyServo](INFO): Powering down
2012-12-05T17:57:34.731Z,1354730254.731 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-12-05T17:57:34.731Z,1354730254.731 [ElevatorServo](INFO): Powering down
2012-12-05T17:57:34.732Z,1354730254.731 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-12-05T17:57:34.732Z,1354730254.732 [MassServo](INFO): Powering down
2012-12-05T17:57:34.732Z,1354730254.732 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-12-05T17:57:34.733Z,1354730254.733 [RudderServo](INFO): Powering down
2012-12-05T17:57:34.733Z,1354730254.733 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T17:57:34.733Z,1354730254.733 [ThrusterServo](INFO): Powering down
2012-12-05T17:57:34.734Z,1354730254.734 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-12-05T17:57:34.735Z,1354730254.735 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-12-05T17:57:34.735Z,1354730254.735 [CBIT](DEBUG): Uninitialize CBIT Component.