2012-12-05T18:01:53.645Z,1354730513.645 [Supervisor](DEBUG): Initializing supervisor.
2012-12-05T18:01:53.648Z,1354730513.648 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-12-05T18:01:53.649Z,1354730513.649 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-12-05T18:01:53.650Z,1354730513.650 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-12-05T18:01:53.654Z,1354730513.654 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-12-05T18:01:53.665Z,1354730513.665 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-12-05T18:01:53.666Z,1354730513.666 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-12-05T18:01:53.667Z,1354730513.667 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-12-05T18:01:53.668Z,1354730513.668 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-12-05T18:01:53.668Z,1354730513.668 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-12-05T18:01:53.669Z,1354730513.670 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-12-05T18:01:53.976Z,1354730513.976 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-12-05T18:01:53.976Z,1354730513.976 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-12-05T18:01:54.170Z,1354730514.170 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-12-05T18:01:54.170Z,1354730514.170 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-12-05T18:01:54.255Z,1354730514.255 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-12-05T18:01:54.255Z,1354730514.255 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-12-05T18:01:54.457Z,1354730514.457 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-12-05T18:01:54.457Z,1354730514.457 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-12-05T18:01:54.592Z,1354730514.592 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-12-05T18:01:54.593Z,1354730514.593 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-12-05T18:01:54.831Z,1354730514.831 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-12-05T18:01:54.831Z,1354730514.832 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-12-05T18:01:55.006Z,1354730515.006 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-12-05T18:01:55.006Z,1354730515.006 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-12-05T18:01:55.267Z,1354730515.267 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-12-05T18:01:55.268Z,1354730515.268 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-12-05T18:01:55.367Z,1354730515.367 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-12-05T18:01:55.367Z,1354730515.367 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-12-05T18:01:55.783Z,1354730515.783 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-12-05T18:01:55.784Z,1354730515.784 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-12-05T18:01:55.899Z,1354730515.898 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-12-05T18:01:55.899Z,1354730515.899 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-12-05T18:01:55.984Z,1354730515.984 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-12-05T18:01:55.985Z,1354730515.985 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-12-05T18:01:56.086Z,1354730516.086 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-12-05T18:01:56.217Z,1354730516.217 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-12-05T18:01:56.302Z,1354730516.302 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-12-05T18:01:56.404Z,1354730516.404 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-12-05T18:01:56.504Z,1354730516.504 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-12-05T18:01:56.625Z,1354730516.625 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-12-05T18:01:56.717Z,1354730516.717 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-12-05T18:01:56.804Z,1354730516.804 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-12-05T18:01:56.836Z,1354730516.836 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-12-05T18:01:56.994Z,1354730516.994 [InternalSim] Loaded
2012-12-05T18:01:56.994Z,1354730516.994 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-12-05T18:01:56.995Z,1354730516.995 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-12-05T18:01:56.996Z,1354730516.996 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-12-05T18:01:57.054Z,1354730517.054 [SBIT](DEBUG): Construct Startup Built In Test.
2012-12-05T18:01:57.084Z,1354730517.084 [SBIT] Loaded
2012-12-05T18:01:57.084Z,1354730517.084 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-12-05T18:01:57.085Z,1354730517.085 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-12-05T18:01:57.115Z,1354730517.115 [IBIT] Loaded
2012-12-05T18:01:57.116Z,1354730517.116 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-12-05T18:01:57.119Z,1354730517.119 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-12-05T18:01:57.244Z,1354730517.244 [CBIT] Loaded
2012-12-05T18:01:57.245Z,1354730517.245 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-12-05T18:01:57.245Z,1354730517.245 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-12-05T18:01:57.246Z,1354730517.246 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-12-05T18:01:57.396Z,1354730517.395 [BuoyancyServo] Loaded
2012-12-05T18:01:57.396Z,1354730517.396 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-12-05T18:01:57.409Z,1354730517.409 [ElevatorServo] Loaded
2012-12-05T18:01:57.409Z,1354730517.409 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-12-05T18:01:57.421Z,1354730517.421 [MassServo] Loaded
2012-12-05T18:01:57.421Z,1354730517.421 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-12-05T18:01:57.434Z,1354730517.434 [RudderServo] Loaded
2012-12-05T18:01:57.434Z,1354730517.434 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-12-05T18:01:57.447Z,1354730517.447 [ThrusterServo] Loaded
2012-12-05T18:01:57.447Z,1354730517.447 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-12-05T18:01:57.448Z,1354730517.448 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-12-05T18:01:57.448Z,1354730517.448 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-12-05T18:01:57.465Z,1354730517.465 [DepthRateCalculator] Loaded
2012-12-05T18:01:57.465Z,1354730517.466 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-12-05T18:02:00.951Z,1354730520.951 [HFRadarModelCalc] Loaded
2012-12-05T18:02:00.951Z,1354730520.951 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-12-05T18:02:00.968Z,1354730520.968 [NavChart] Loaded
2012-12-05T18:02:00.968Z,1354730520.968 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-12-05T18:02:00.974Z,1354730520.974 [PitchRateCalculator] Loaded
2012-12-05T18:02:00.975Z,1354730520.975 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-12-05T18:02:00.981Z,1354730520.981 [SpeedCalculator] Loaded
2012-12-05T18:02:00.982Z,1354730520.982 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-12-05T18:02:00.997Z,1354730520.997 [TempGradientCalculator] Loaded
2012-12-05T18:02:00.998Z,1354730520.997 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-12-05T18:02:01.004Z,1354730521.004 [YawRateCalculator] Loaded
2012-12-05T18:02:01.004Z,1354730521.004 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-12-05T18:02:01.047Z,1354730521.046 [Navigation] Loaded
2012-12-05T18:02:01.047Z,1354730521.047 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-12-05T18:02:01.047Z,1354730521.047 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-12-05T18:02:01.048Z,1354730521.048 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-12-05T18:02:01.276Z,1354730521.276 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-12-05T18:02:01.277Z,1354730521.277 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-12-05T18:02:01.299Z,1354730521.299 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-12-05T18:02:01.300Z,1354730521.300 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-12-05T18:02:01.342Z,1354730521.342 [VerticalControl](DEBUG): Construct VerticalControl.
2012-12-05T18:02:01.440Z,1354730521.441 [VerticalControl] Loaded
2012-12-05T18:02:01.441Z,1354730521.441 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-12-05T18:02:01.442Z,1354730521.442 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-12-05T18:02:01.501Z,1354730521.501 [HorizontalControl] Loaded
2012-12-05T18:02:01.501Z,1354730521.501 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-12-05T18:02:01.502Z,1354730521.502 [SpeedControl](DEBUG): Construct SpeedControl.
2012-12-05T18:02:01.504Z,1354730521.504 [SpeedControl] Loaded
2012-12-05T18:02:01.504Z,1354730521.504 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-12-05T18:02:01.505Z,1354730521.505 [LoopControl](DEBUG): Construct LoopControl.
2012-12-05T18:02:01.506Z,1354730521.506 [LoopControl] Loaded
2012-12-05T18:02:01.506Z,1354730521.506 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-12-05T18:02:01.507Z,1354730521.507 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-12-05T18:02:01.507Z,1354730521.507 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-12-05T18:02:01.513Z,1354730521.513 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-12-05T18:02:01.518Z,1354730521.518 [AsyncPiEstimator] Loaded
2012-12-05T18:02:01.518Z,1354730521.518 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-12-05T18:02:01.519Z,1354730521.519 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-12-05T18:02:01.520Z,1354730521.520 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-12-05T18:02:01.521Z,1354730521.520 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-12-05T18:02:01.650Z,1354730521.650 [AHRS_sp3003D] Loaded
2012-12-05T18:02:01.650Z,1354730521.650 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-12-05T18:02:01.923Z,1354730521.923 [Batt_Ocean_Server] Loaded
2012-12-05T18:02:01.923Z,1354730521.923 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-12-05T18:02:01.937Z,1354730521.937 [Depth_Keller] Loaded
2012-12-05T18:02:01.937Z,1354730521.937 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-12-05T18:02:01.943Z,1354730521.943 [DropWeight] Loaded
2012-12-05T18:02:01.943Z,1354730521.944 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-12-05T18:02:02.113Z,1354730522.113 [DVL_micro] Loaded
2012-12-05T18:02:02.113Z,1354730522.113 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-12-05T18:02:02.114Z,1354730522.114 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-12-05T18:02:02.201Z,1354730522.201 [NAL9602] Loaded
2012-12-05T18:02:02.201Z,1354730522.201 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-12-05T18:02:02.254Z,1354730522.254 [Onboard] Loaded
2012-12-05T18:02:02.254Z,1354730522.254 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-12-05T18:02:02.261Z,1354730522.261 [Radio_Freewave] Loaded
2012-12-05T18:02:02.261Z,1354730522.261 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-12-05T18:02:02.262Z,1354730522.262 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-12-05T18:02:02.263Z,1354730522.263 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-12-05T18:02:02.339Z,1354730522.339 [CTD_NeilBrown] Loaded
2012-12-05T18:02:02.339Z,1354730522.339 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-12-05T18:02:02.340Z,1354730522.340 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-12-05T18:02:02.358Z,1354730522.358 [PAR_Licor] Loaded
2012-12-05T18:02:02.358Z,1354730522.358 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-12-05T18:02:02.414Z,1354730522.414 [Turbulence_NPS] Loaded
2012-12-05T18:02:02.414Z,1354730522.414 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-12-05T18:02:02.415Z,1354730522.415 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-12-05T18:02:02.447Z,1354730522.447 [WetLabsBB2FL] Loaded
2012-12-05T18:02:02.447Z,1354730522.447 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-12-05T18:02:02.448Z,1354730522.448 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-12-05T18:02:02.449Z,1354730522.449 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-12-05T18:02:02.452Z,1354730522.452 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-12-05T18:02:02.453Z,1354730522.453 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-12-05T18:02:02.460Z,1354730522.460 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-12-05T18:02:02.461Z,1354730522.461 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-12-05T18:02:02.465Z,1354730522.465 [Supervisor](DEBUG): Running supervisor.
2012-12-05T18:02:02.466Z,1354730522.466 [CommandLine](INFO): Thread ID is 815
2012-12-05T18:02:02.469Z,1354730522.469 [controlThread](INFO): Thread ID is 814
2012-12-05T18:02:02.469Z,1354730522.469 [controlThread](DEBUG): Initializing ControlThread
2012-12-05T18:02:02.469Z,1354730522.469 [CycleStarter](INFO): Thread ID is 813
2012-12-05T18:02:02.470Z,1354730522.470 [InternalSim](DEBUG):  InternalSim initializing...
2012-12-05T18:02:02.503Z,1354730522.503 [logger](INFO): Thread ID is 816
2012-12-05T18:02:02.531Z,1354730522.531 [SBIT](INFO): Initialize SBIT Component.
2012-12-05T18:02:02.531Z,1354730522.532 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10092
2012-12-05T18:02:02.532Z,1354730522.532 [IBIT](INFO): Initialize IBIT Component.
2012-12-05T18:02:02.533Z,1354730522.533 [CBIT](DEBUG): Initialize CBIT Component.
2012-12-05T18:02:02.533Z,1354730522.533 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-12-05T18:02:02.543Z,1354730522.543 [AsyncPiEstimator](INFO): Thread ID is 877
2012-12-05T18:02:02.543Z,1354730522.543 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-12-05T18:02:02.557Z,1354730522.557 [DVL_micro](INFO): Thread ID is 878
2012-12-05T18:02:02.560Z,1354730522.560 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:02:02.561Z,1354730522.561 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-12-05T18:02:02.561Z,1354730522.561 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-12-05T18:02:02.562Z,1354730522.562 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-12-05T18:02:02.562Z,1354730522.562 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-12-05T18:02:02.563Z,1354730522.563 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-12-05T18:02:02.564Z,1354730522.564 [Navigation](DEBUG): Initializing Navigation.
2012-12-05T18:02:02.564Z,1354730522.564 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-12-05T18:02:02.566Z,1354730522.566 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-12-05T18:02:02.575Z,1354730522.575 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-12-05T18:02:02.575Z,1354730522.575 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-12-05T18:02:02.578Z,1354730522.578 [DVL_micro](INFO): Initializing
2012-12-05T18:02:02.578Z,1354730522.578 [DVL_micro](INFO): start:Powering up
2012-12-05T18:02:02.579Z,1354730522.579 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:02:02.580Z,1354730522.579 [DVL_micro](INFO): Cycling power to configure device.
2012-12-05T18:02:02.587Z,1354730522.587 [CTD_NeilBrown](INFO): Thread ID is 879
2012-12-05T18:02:02.588Z,1354730522.588 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-12-05T18:02:02.591Z,1354730522.591 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-12-05T18:02:02.600Z,1354730522.600 [Turbulence_NPS](INFO): Thread ID is 880
2012-12-05T18:02:02.600Z,1354730522.600 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-12-05T18:02:02.601Z,1354730522.601 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-12-05T18:02:02.635Z,1354730522.635 [WetLabsBB2FL](INFO): Thread ID is 881
2012-12-05T18:02:02.636Z,1354730522.636 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:02:02.663Z,1354730522.663 [NavChartDb](INFO): Thread ID is 882
2012-12-05T18:02:02.665Z,1354730522.665 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-12-05T18:02:02.666Z,1354730522.666 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-12-05T18:02:02.667Z,1354730522.667 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-12-05T18:02:02.667Z,1354730522.667 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-12-05T18:02:02.667Z,1354730522.667 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-12-05T18:02:02.699Z,1354730522.699 [Turbulence_NPS](INFO): Pause powering down
2012-12-05T18:02:04.374Z,1354730524.374 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-12-05T18:02:04.424Z,1354730524.424 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-12-05T18:02:04.459Z,1354730524.459 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:02:04.482Z,1354730524.482 [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>


2012-12-05T18:02:04.483Z,1354730524.483 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-12-05T18:02:04.573Z,1354730524.573 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-12-05T18:02:04.575Z,1354730524.575 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:02:04.578Z,1354730524.578 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:02:04.598Z,1354730524.598 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:02:04.601Z,1354730524.601 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:02:04.644Z,1354730524.644 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-12-05T18:02:04.671Z,1354730524.671 [Default:D.SetSpeed](DEBUG): Construct.
2012-12-05T18:02:04.674Z,1354730524.674 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:02:04.695Z,1354730524.695 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:02:04.695Z,1354730524.695 [DVL_micro](INFO): Querying output modes
2012-12-05T18:02:04.696Z,1354730524.695 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-12-05T18:02:04.697Z,1354730524.697 [Default:F.Wait](DEBUG): Construct Wait.
2012-12-05T18:02:04.701Z,1354730524.701 [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>


2012-12-05T18:02:04.705Z,1354730524.705 [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,
2012-12-05T18:02:04.707Z,1354730524.707 [DVL_micro](DEBUG): cmdResponse: 01
2012-12-05T18:02:04.707Z,1354730524.707 [DVL_micro](INFO): NQ1 output enabled
2012-12-05T18:02:04.707Z,1354730524.707 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-12-05T18:02:04.719Z,1354730524.719 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-12-05T18:02:04.724Z,1354730524.724 [DVL_micro](INFO): pause:Powering down
2012-12-05T18:02:04.775Z,1354730524.775 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-12-05T18:02:04.983Z,1354730524.983 [Radio_Freewave](INFO): Powering up
2012-12-05T18:02:05.303Z,1354730525.303 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:02:05.327Z,1354730525.327 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-12-05T18:02:05.333Z,1354730525.333 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:02:05.339Z,1354730525.339 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-12-05T18:02:05.361Z,1354730525.361 [MassServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:02:05.393Z,1354730525.393 [MassServo](DEBUG): Initializing MassServo.
2012-12-05T18:02:05.398Z,1354730525.398 [RudderServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:02:05.423Z,1354730525.423 [RudderServo](DEBUG): Initializing RudderServo.
2012-12-05T18:02:05.429Z,1354730525.429 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:02:05.435Z,1354730525.435 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:02:07.336Z,1354730527.336 [NAL9602](INFO): Powering up NAL9602
2012-12-05T18:02:17.835Z,1354730537.835 [NAL9602](INFO): NAL9602 initialized
2012-12-05T18:02:17.904Z,1354730537.904 [SBIT](IMPORTANT): Beginning Startup BIT
2012-12-05T18:02:17.923Z,1354730537.923 [CBIT](IMPORTANT): Beginning GF scan
2012-12-05T18:02:22.643Z,1354730542.643 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 300.000000 revolution_per_minute
2012-12-05T18:02:22.645Z,1354730542.645 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-12-05T18:02:22.899Z,1354730542.899 [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,
2012-12-05T18:02:29.366Z,1354730549.366 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-12-05T18:02:29.367Z,1354730549.367 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-12-05T18:02:29.367Z,1354730549.367 [ThrusterServo] Communications Fault, FailCount= 1
2012-12-05T18:02:29.367Z,1354730549.367 [ThrusterServo](ERROR): Communications Fault
2012-12-05T18:02:29.370Z,1354730549.370 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-12-05T18:02:29.684Z,1354730549.684 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:02:29.684Z,1354730549.684 [ThrusterServo](INFO): Powering down
2012-12-05T18:02:29.688Z,1354730549.688 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:02:29.688Z,1354730549.688 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T18:02:30.464Z,1354730550.464 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:02:30.579Z,1354730550.579 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:02:40.094Z,1354730560.094 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-12-05T18:02:40.095Z,1354730560.095 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-12-05T18:02:40.095Z,1354730560.095 [ThrusterServo] Communications Fault, FailCount= 2
2012-12-05T18:02:40.095Z,1354730560.095 [ThrusterServo](ERROR): Communications Fault
2012-12-05T18:02:40.098Z,1354730560.098 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-12-05T18:02:40.476Z,1354730560.476 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:02:40.476Z,1354730560.476 [ThrusterServo](INFO): Powering down
2012-12-05T18:02:40.480Z,1354730560.480 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:02:40.480Z,1354730560.480 [ThrusterServo] No Fault, FailCount= 2
2012-12-05T18:02:41.164Z,1354730561.164 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:02:41.283Z,1354730561.283 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:02:44.515Z,1354730564.515 [CommandLine](IMPORTANT): got command quit
2012-12-05T18:02:44.775Z,1354730564.775 [CBIT](IMPORTANT): No ground fault detected
2012-12-05T18:02:45.579Z,1354730565.579 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-12-05T18:02:45.579Z,1354730565.579 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-12-05T18:02:45.763Z,1354730565.763 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-12-05T18:02:45.935Z,1354730565.935 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:02:45.942Z,1354730565.942 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-12-05T18:02:46.020Z,1354730566.020 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-12-05T18:02:46.022Z,1354730566.022 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-12-05T18:02:46.131Z,1354730566.131 [CTD_NeilBrown](INFO): Powering down
2012-12-05T18:02:46.143Z,1354730566.143 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-12-05T18:02:46.387Z,1354730566.387 [DVL_micro](INFO): uninitialize:Powering down
2012-12-05T18:02:46.403Z,1354730566.403 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-12-05T18:02:46.547Z,1354730566.547 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-12-05T18:02:46.563Z,1354730566.563 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-12-05T18:02:46.623Z,1354730566.623 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-12-05T18:02:46.625Z,1354730566.625 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-12-05T18:02:46.835Z,1354730566.835 [controlThread](DEBUG): Uninitializing ControlThread
2012-12-05T18:02:46.835Z,1354730566.835 [AHRS_sp3003D](INFO): Powering down
2012-12-05T18:02:46.924Z,1354730566.924 [NAL9602](INFO): Powering down
2012-12-05T18:02:46.926Z,1354730566.926 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:02:46.927Z,1354730566.927 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-12-05T18:02:46.932Z,1354730566.932 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-12-05T18:02:46.932Z,1354730566.932 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-12-05T18:02:46.932Z,1354730566.932 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-12-05T18:02:46.933Z,1354730566.933 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-12-05T18:02:46.933Z,1354730566.933 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-12-05T18:02:46.933Z,1354730566.933 [BuoyancyServo](INFO): Powering down
2012-12-05T18:02:46.947Z,1354730566.947 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-12-05T18:02:46.947Z,1354730566.947 [ElevatorServo](INFO): Powering down
2012-12-05T18:02:46.947Z,1354730566.947 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-12-05T18:02:46.948Z,1354730566.948 [MassServo](INFO): Powering down
2012-12-05T18:02:46.948Z,1354730566.948 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-12-05T18:02:46.948Z,1354730566.948 [RudderServo](INFO): Powering down
2012-12-05T18:02:46.949Z,1354730566.949 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:02:46.949Z,1354730566.949 [ThrusterServo](INFO): Powering down
2012-12-05T18:02:46.950Z,1354730566.950 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-12-05T18:02:46.951Z,1354730566.951 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-12-05T18:02:46.951Z,1354730566.951 [CBIT](DEBUG): Uninitialize CBIT Component.