2012-12-05T17:58:36.224Z,1354730316.224 [Supervisor](DEBUG): Initializing supervisor.
2012-12-05T17:58:36.226Z,1354730316.226 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-12-05T17:58:36.227Z,1354730316.227 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-12-05T17:58:36.228Z,1354730316.228 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-12-05T17:58:36.232Z,1354730316.232 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-12-05T17:58:36.242Z,1354730316.242 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-12-05T17:58:36.243Z,1354730316.243 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-12-05T17:58:36.244Z,1354730316.244 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-12-05T17:58:36.245Z,1354730316.245 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-12-05T17:58:36.246Z,1354730316.246 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-12-05T17:58:36.247Z,1354730316.247 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-12-05T17:58:36.525Z,1354730316.525 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-12-05T17:58:36.526Z,1354730316.526 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-12-05T17:58:36.714Z,1354730316.714 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-12-05T17:58:36.714Z,1354730316.714 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-12-05T17:58:36.798Z,1354730316.798 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-12-05T17:58:36.799Z,1354730316.799 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-12-05T17:58:36.994Z,1354730316.994 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-12-05T17:58:36.994Z,1354730316.994 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-12-05T17:58:37.126Z,1354730317.126 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-12-05T17:58:37.127Z,1354730317.127 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-12-05T17:58:37.355Z,1354730317.355 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-12-05T17:58:37.356Z,1354730317.356 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-12-05T17:58:37.525Z,1354730317.525 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-12-05T17:58:37.526Z,1354730317.526 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-12-05T17:58:37.776Z,1354730317.776 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-12-05T17:58:37.776Z,1354730317.776 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-12-05T17:58:37.874Z,1354730317.874 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-12-05T17:58:37.875Z,1354730317.875 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-12-05T17:58:38.275Z,1354730318.276 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-12-05T17:58:38.276Z,1354730318.276 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-12-05T17:58:38.393Z,1354730318.393 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-12-05T17:58:38.394Z,1354730318.394 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-12-05T17:58:38.478Z,1354730318.478 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-12-05T17:58:38.479Z,1354730318.479 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-12-05T17:58:38.578Z,1354730318.579 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-12-05T17:58:38.706Z,1354730318.706 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-12-05T17:58:38.790Z,1354730318.790 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-12-05T17:58:38.890Z,1354730318.890 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-12-05T17:58:38.989Z,1354730318.989 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-12-05T17:58:39.106Z,1354730319.106 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-12-05T17:58:39.197Z,1354730319.197 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-12-05T17:58:39.283Z,1354730319.283 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-12-05T17:58:39.314Z,1354730319.314 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-12-05T17:58:39.466Z,1354730319.466 [InternalSim] Loaded
2012-12-05T17:58:39.467Z,1354730319.467 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-12-05T17:58:39.468Z,1354730319.467 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-12-05T17:58:39.468Z,1354730319.468 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-12-05T17:58:39.524Z,1354730319.524 [SBIT](DEBUG): Construct Startup Built In Test.
2012-12-05T17:58:39.553Z,1354730319.553 [SBIT] Loaded
2012-12-05T17:58:39.554Z,1354730319.554 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-12-05T17:58:39.555Z,1354730319.555 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-12-05T17:58:39.584Z,1354730319.583 [IBIT] Loaded
2012-12-05T17:58:39.584Z,1354730319.584 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-12-05T17:58:39.587Z,1354730319.587 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-12-05T17:58:39.709Z,1354730319.709 [CBIT] Loaded
2012-12-05T17:58:39.709Z,1354730319.709 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-12-05T17:58:39.710Z,1354730319.710 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-12-05T17:58:39.710Z,1354730319.710 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-12-05T17:58:39.859Z,1354730319.859 [BuoyancyServo] Loaded
2012-12-05T17:58:39.859Z,1354730319.859 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-12-05T17:58:39.872Z,1354730319.872 [ElevatorServo] Loaded
2012-12-05T17:58:39.872Z,1354730319.872 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-12-05T17:58:39.884Z,1354730319.884 [MassServo] Loaded
2012-12-05T17:58:39.884Z,1354730319.884 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-12-05T17:58:39.896Z,1354730319.896 [RudderServo] Loaded
2012-12-05T17:58:39.897Z,1354730319.897 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-12-05T17:58:39.909Z,1354730319.909 [ThrusterServo] Loaded
2012-12-05T17:58:39.909Z,1354730319.909 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-12-05T17:58:39.910Z,1354730319.910 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-12-05T17:58:39.910Z,1354730319.910 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-12-05T17:58:39.927Z,1354730319.927 [DepthRateCalculator] Loaded
2012-12-05T17:58:39.928Z,1354730319.928 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-12-05T17:58:43.269Z,1354730323.269 [HFRadarModelCalc] Loaded
2012-12-05T17:58:43.269Z,1354730323.269 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-12-05T17:58:43.285Z,1354730323.285 [NavChart] Loaded
2012-12-05T17:58:43.286Z,1354730323.286 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-12-05T17:58:43.292Z,1354730323.292 [PitchRateCalculator] Loaded
2012-12-05T17:58:43.292Z,1354730323.292 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-12-05T17:58:43.299Z,1354730323.299 [SpeedCalculator] Loaded
2012-12-05T17:58:43.299Z,1354730323.299 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-12-05T17:58:43.314Z,1354730323.314 [TempGradientCalculator] Loaded
2012-12-05T17:58:43.315Z,1354730323.315 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-12-05T17:58:43.321Z,1354730323.321 [YawRateCalculator] Loaded
2012-12-05T17:58:43.321Z,1354730323.321 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-12-05T17:58:43.362Z,1354730323.362 [Navigation] Loaded
2012-12-05T17:58:43.362Z,1354730323.362 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-12-05T17:58:43.363Z,1354730323.363 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-12-05T17:58:43.363Z,1354730323.363 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-12-05T17:58:43.583Z,1354730323.583 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-12-05T17:58:43.583Z,1354730323.583 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-12-05T17:58:43.605Z,1354730323.605 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-12-05T17:58:43.606Z,1354730323.606 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-12-05T17:58:43.646Z,1354730323.646 [VerticalControl](DEBUG): Construct VerticalControl.
2012-12-05T17:58:43.742Z,1354730323.742 [VerticalControl] Loaded
2012-12-05T17:58:43.742Z,1354730323.742 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-12-05T17:58:43.743Z,1354730323.743 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-12-05T17:58:43.801Z,1354730323.801 [HorizontalControl] Loaded
2012-12-05T17:58:43.802Z,1354730323.802 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-12-05T17:58:43.803Z,1354730323.803 [SpeedControl](DEBUG): Construct SpeedControl.
2012-12-05T17:58:43.804Z,1354730323.804 [SpeedControl] Loaded
2012-12-05T17:58:43.804Z,1354730323.805 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-12-05T17:58:43.805Z,1354730323.805 [LoopControl](DEBUG): Construct LoopControl.
2012-12-05T17:58:43.806Z,1354730323.806 [LoopControl] Loaded
2012-12-05T17:58:43.806Z,1354730323.806 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-12-05T17:58:43.807Z,1354730323.807 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-12-05T17:58:43.807Z,1354730323.807 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-12-05T17:58:43.813Z,1354730323.813 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-12-05T17:58:43.817Z,1354730323.818 [AsyncPiEstimator] Loaded
2012-12-05T17:58:43.818Z,1354730323.818 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-12-05T17:58:43.819Z,1354730323.819 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-12-05T17:58:43.820Z,1354730323.820 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-12-05T17:58:43.820Z,1354730323.820 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-12-05T17:58:43.946Z,1354730323.946 [AHRS_sp3003D] Loaded
2012-12-05T17:58:43.946Z,1354730323.946 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-12-05T17:58:44.213Z,1354730324.213 [Batt_Ocean_Server] Loaded
2012-12-05T17:58:44.213Z,1354730324.213 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-12-05T17:58:44.227Z,1354730324.227 [Depth_Keller] Loaded
2012-12-05T17:58:44.227Z,1354730324.227 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-12-05T17:58:44.233Z,1354730324.233 [DropWeight] Loaded
2012-12-05T17:58:44.233Z,1354730324.233 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-12-05T17:58:44.397Z,1354730324.397 [DVL_micro] Loaded
2012-12-05T17:58:44.397Z,1354730324.397 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-12-05T17:58:44.398Z,1354730324.398 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-12-05T17:58:44.482Z,1354730324.482 [NAL9602] Loaded
2012-12-05T17:58:44.483Z,1354730324.483 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-12-05T17:58:44.534Z,1354730324.534 [Onboard] Loaded
2012-12-05T17:58:44.534Z,1354730324.534 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-12-05T17:58:44.541Z,1354730324.541 [Radio_Freewave] Loaded
2012-12-05T17:58:44.541Z,1354730324.541 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-12-05T17:58:44.542Z,1354730324.542 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-12-05T17:58:44.543Z,1354730324.543 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-12-05T17:58:44.616Z,1354730324.616 [CTD_NeilBrown] Loaded
2012-12-05T17:58:44.616Z,1354730324.616 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-12-05T17:58:44.618Z,1354730324.618 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-12-05T17:58:44.634Z,1354730324.634 [PAR_Licor] Loaded
2012-12-05T17:58:44.635Z,1354730324.635 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-12-05T17:58:44.688Z,1354730324.688 [Turbulence_NPS] Loaded
2012-12-05T17:58:44.688Z,1354730324.688 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-12-05T17:58:44.689Z,1354730324.689 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-12-05T17:58:44.721Z,1354730324.721 [WetLabsBB2FL] Loaded
2012-12-05T17:58:44.722Z,1354730324.722 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-12-05T17:58:44.723Z,1354730324.723 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-12-05T17:58:44.724Z,1354730324.724 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-12-05T17:58:44.726Z,1354730324.726 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-12-05T17:58:44.727Z,1354730324.727 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-12-05T17:58:44.734Z,1354730324.734 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-12-05T17:58:44.735Z,1354730324.735 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-12-05T17:58:44.739Z,1354730324.739 [Supervisor](DEBUG): Running supervisor.
2012-12-05T17:58:44.740Z,1354730324.740 [CommandLine](INFO): Thread ID is 555
2012-12-05T17:58:44.743Z,1354730324.743 [controlThread](INFO): Thread ID is 554
2012-12-05T17:58:44.743Z,1354730324.743 [controlThread](DEBUG): Initializing ControlThread
2012-12-05T17:58:44.743Z,1354730324.743 [CycleStarter](INFO): Thread ID is 553
2012-12-05T17:58:44.744Z,1354730324.744 [InternalSim](DEBUG):  InternalSim initializing...
2012-12-05T17:58:44.779Z,1354730324.779 [logger](INFO): Thread ID is 556
2012-12-05T17:58:44.805Z,1354730324.805 [SBIT](INFO): Initialize SBIT Component.
2012-12-05T17:58:44.805Z,1354730324.805 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10092
2012-12-05T17:58:44.806Z,1354730324.806 [IBIT](INFO): Initialize IBIT Component.
2012-12-05T17:58:44.814Z,1354730324.815 [CBIT](DEBUG): Initialize CBIT Component.
2012-12-05T17:58:44.815Z,1354730324.815 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-12-05T17:58:44.816Z,1354730324.816 [AsyncPiEstimator](INFO): Thread ID is 617
2012-12-05T17:58:44.816Z,1354730324.816 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-12-05T17:58:44.834Z,1354730324.834 [DVL_micro](INFO): Thread ID is 618
2012-12-05T17:58:44.840Z,1354730324.840 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T17:58:44.840Z,1354730324.841 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-12-05T17:58:44.841Z,1354730324.841 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-12-05T17:58:44.841Z,1354730324.841 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-12-05T17:58:44.841Z,1354730324.842 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-12-05T17:58:44.843Z,1354730324.843 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-12-05T17:58:44.843Z,1354730324.843 [Navigation](DEBUG): Initializing Navigation.
2012-12-05T17:58:44.844Z,1354730324.844 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-12-05T17:58:44.846Z,1354730324.846 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-12-05T17:58:44.846Z,1354730324.846 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-12-05T17:58:44.847Z,1354730324.847 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-12-05T17:58:44.854Z,1354730324.854 [DVL_micro](INFO): Initializing
2012-12-05T17:58:44.854Z,1354730324.854 [DVL_micro](INFO): start:Powering up
2012-12-05T17:58:44.855Z,1354730324.855 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T17:58:44.855Z,1354730324.855 [DVL_micro](INFO): Cycling power to configure device.
2012-12-05T17:58:44.863Z,1354730324.863 [CTD_NeilBrown](INFO): Thread ID is 619
2012-12-05T17:58:44.864Z,1354730324.864 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-12-05T17:58:44.867Z,1354730324.867 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-12-05T17:58:44.876Z,1354730324.876 [Turbulence_NPS](INFO): Thread ID is 620
2012-12-05T17:58:44.876Z,1354730324.876 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-12-05T17:58:44.877Z,1354730324.877 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-12-05T17:58:44.919Z,1354730324.919 [WetLabsBB2FL](INFO): Thread ID is 621
2012-12-05T17:58:44.920Z,1354730324.920 [WetLabsBB2FL](INFO): Powering down
2012-12-05T17:58:44.946Z,1354730324.946 [NavChartDb](INFO): Thread ID is 622
2012-12-05T17:58:44.948Z,1354730324.948 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-12-05T17:58:44.949Z,1354730324.949 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-12-05T17:58:44.949Z,1354730324.949 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-12-05T17:58:44.950Z,1354730324.950 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-12-05T17:58:44.950Z,1354730324.950 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-12-05T17:58:44.967Z,1354730324.967 [Turbulence_NPS](INFO): Pause powering down
2012-12-05T17:58:46.826Z,1354730326.826 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-12-05T17:58:46.859Z,1354730326.859 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-12-05T17:58:46.898Z,1354730326.898 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T17:58:46.920Z,1354730326.920 [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>


2012-12-05T17:58:46.921Z,1354730326.921 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-12-05T17:58:46.951Z,1354730326.951 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T17:58:46.951Z,1354730326.951 [DVL_micro](INFO): Querying output modes
2012-12-05T17:58:46.951Z,1354730326.951 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-12-05T17:58:46.962Z,1354730326.963 [DVL_micro](DEBUG): cmdResponse: 01
2012-12-05T17:58:46.963Z,1354730326.963 [DVL_micro](INFO): NQ1 output enabled
2012-12-05T17:58:46.963Z,1354730326.963 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-12-05T17:58:46.975Z,1354730326.975 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-12-05T17:58:46.979Z,1354730326.980 [DVL_micro](INFO): pause:Powering down
2012-12-05T17:58:47.035Z,1354730327.035 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-12-05T17:58:47.037Z,1354730327.037 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-12-05T17:58:47.049Z,1354730327.049 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T17:58:47.057Z,1354730327.057 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-12-05T17:58:47.072Z,1354730327.072 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T17:58:47.079Z,1354730327.079 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-12-05T17:58:47.119Z,1354730327.119 [Default:D.SetSpeed](DEBUG): Construct.
2012-12-05T17:58:47.134Z,1354730327.134 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T17:58:47.153Z,1354730327.153 [Default:F.Wait](DEBUG): Construct Wait.
2012-12-05T17:58:47.157Z,1354730327.157 [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>


2012-12-05T17:58:47.162Z,1354730327.161 [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,
2012-12-05T17:58:47.226Z,1354730327.226 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-12-05T17:58:47.439Z,1354730327.439 [Radio_Freewave](INFO): Powering up
2012-12-05T17:58:47.758Z,1354730327.758 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:58:47.775Z,1354730327.775 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-12-05T17:58:47.781Z,1354730327.782 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:58:47.807Z,1354730327.807 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-12-05T17:58:47.813Z,1354730327.813 [MassServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:58:47.827Z,1354730327.827 [MassServo](DEBUG): Initializing MassServo.
2012-12-05T17:58:47.833Z,1354730327.833 [RudderServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:58:47.836Z,1354730327.836 [RudderServo](DEBUG): Initializing RudderServo.
2012-12-05T17:58:47.858Z,1354730327.858 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T17:58:47.863Z,1354730327.863 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T17:58:49.865Z,1354730329.865 [NAL9602](INFO): Powering up NAL9602
2012-12-05T17:58:54.451Z,1354730334.451 [CommandLine](IMPORTANT): got command show variable thruster
2012-12-05T17:58:54.463Z,1354730334.463 [CommandLine](INFO): Config/vehicle.ThrusterServo_card (none)
2012-12-05T17:58:54.463Z,1354730334.463 [CommandLine](INFO): Config/vehicle.ThrusterServo_uart (none)
2012-12-05T17:58:54.463Z,1354730334.464 [CommandLine](INFO): Config/vehicle.ThrusterServo_baud (bit_per_second)
2012-12-05T17:58:54.507Z,1354730334.507 [CommandLine](INFO): Config/Servo.ThrusterServo_enable (bool)
2012-12-05T17:58:54.508Z,1354730334.508 [CommandLine](INFO): Config/Servo.ThrusterServo_useHardware (bool)
2012-12-05T17:58:54.508Z,1354730334.508 [CommandLine](INFO): ThrusterServo.powerOnTimeout (second)
2012-12-05T17:58:54.509Z,1354730334.509 [CommandLine](INFO): ThrusterServo.currLimit (percent)
2012-12-05T17:58:54.509Z,1354730334.509 [CommandLine](INFO): ThrusterServo.pidW (count)
2012-12-05T17:58:54.510Z,1354730334.510 [CommandLine](INFO): ThrusterServo.pidX (count)
2012-12-05T17:58:54.510Z,1354730334.510 [CommandLine](INFO): ThrusterServo.pidY (count)
2012-12-05T17:58:54.515Z,1354730334.514 [CommandLine](INFO): ThrusterServo.overloadTimeout (millisecond)
2012-12-05T17:58:54.515Z,1354730334.515 [CommandLine](INFO): ThrusterServo.accel (none)
2012-12-05T17:58:54.515Z,1354730334.515 [CommandLine](INFO): ThrusterServo.encoderTks (count_per_second)
2012-12-05T17:58:54.516Z,1354730334.516 [CommandLine](INFO): ThrusterServo.tksPerRev (count_per_revolution)
2012-12-05T17:58:54.516Z,1354730334.516 [CommandLine](INFO): ThrusterServo.deviation (count)
2012-12-05T17:58:54.517Z,1354730334.517 [CommandLine](INFO): ThrusterServo.allowableBadVelocity (count)
2012-12-05T17:58:54.577Z,1354730334.577 [CommandLine](INFO): ThrusterServo.platform_propeller_rotation_rate (radian_per_second)
2012-12-05T17:58:54.664Z,1354730334.664 [CommandLine](INFO): ThrusterServo.durationOfLastRun (second)
2012-12-05T17:58:54.665Z,1354730334.665 [CommandLine](INFO): ThrusterServo.component_voltage (volt)
2012-12-05T17:58:54.666Z,1354730334.666 [CommandLine](INFO): ThrusterServo.component_avgVoltage (volt)
2012-12-05T17:58:54.666Z,1354730334.666 [CommandLine](INFO): ThrusterServo.component_current (milliampere)
2012-12-05T17:58:54.703Z,1354730334.703 [CommandLine](INFO): ThrusterServo.component_avgCurrent (milliampere)
2012-12-05T17:59:00.249Z,1354730340.249 [SBIT](IMPORTANT): Beginning Startup BIT
2012-12-05T17:59:00.251Z,1354730340.251 [CBIT](IMPORTANT): Beginning GF scan
2012-12-05T17:59:00.587Z,1354730340.587 [NAL9602](INFO): NAL9602 initialized
2012-12-05T17:59:01.105Z,1354730341.105 [CommandLine](IMPORTANT): got command get ThrusterServo.currLimit 
2012-12-05T17:59:01.106Z,1354730341.106 [CommandLine](IMPORTANT): ThrusterServo.currLimit 89.999998 percent
2012-12-05T17:59:03.431Z,1354730343.431 [CommandLine](IMPORTANT): got command quit
2012-12-05T17:59:04.579Z,1354730344.579 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-12-05T17:59:04.579Z,1354730344.579 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-12-05T17:59:05.015Z,1354730345.015 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-12-05T17:59:05.159Z,1354730345.159 [WetLabsBB2FL](INFO): Powering down
2012-12-05T17:59:05.174Z,1354730345.174 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-12-05T17:59:05.211Z,1354730345.211 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-12-05T17:59:05.215Z,1354730345.215 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-12-05T17:59:05.387Z,1354730345.387 [CTD_NeilBrown](INFO): Powering down
2012-12-05T17:59:05.394Z,1354730345.395 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-12-05T17:59:05.591Z,1354730345.591 [DVL_micro](INFO): uninitialize:Powering down
2012-12-05T17:59:05.612Z,1354730345.612 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-12-05T17:59:05.819Z,1354730345.819 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-12-05T17:59:05.835Z,1354730345.835 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-12-05T17:59:05.895Z,1354730345.895 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-12-05T17:59:05.897Z,1354730345.897 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-12-05T17:59:05.936Z,1354730345.936 [controlThread](DEBUG): Uninitializing ControlThread
2012-12-05T17:59:05.937Z,1354730345.937 [AHRS_sp3003D](INFO): Powering down
2012-12-05T17:59:06.024Z,1354730346.024 [NAL9602](INFO): Powering down
2012-12-05T17:59:06.025Z,1354730346.026 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T17:59:06.026Z,1354730346.026 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-12-05T17:59:06.031Z,1354730346.031 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-12-05T17:59:06.032Z,1354730346.032 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-12-05T17:59:06.032Z,1354730346.032 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-12-05T17:59:06.032Z,1354730346.032 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-12-05T17:59:06.032Z,1354730346.032 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-12-05T17:59:06.033Z,1354730346.033 [BuoyancyServo](INFO): Powering down
2012-12-05T17:59:06.047Z,1354730346.047 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-12-05T17:59:06.047Z,1354730346.047 [ElevatorServo](INFO): Powering down
2012-12-05T17:59:06.047Z,1354730346.047 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-12-05T17:59:06.048Z,1354730346.048 [MassServo](INFO): Powering down
2012-12-05T17:59:06.048Z,1354730346.048 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-12-05T17:59:06.049Z,1354730346.049 [RudderServo](INFO): Powering down
2012-12-05T17:59:06.049Z,1354730346.049 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T17:59:06.049Z,1354730346.049 [ThrusterServo](INFO): Powering down
2012-12-05T17:59:06.050Z,1354730346.050 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-12-05T17:59:06.051Z,1354730346.051 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-12-05T17:59:06.051Z,1354730346.051 [CBIT](DEBUG): Uninitialize CBIT Component.