2012-12-05T18:03:17.494Z,1354730597.494 [Supervisor](DEBUG): Initializing supervisor.
2012-12-05T18:03:17.497Z,1354730597.497 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-12-05T18:03:17.497Z,1354730597.497 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-12-05T18:03:17.498Z,1354730597.498 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-12-05T18:03:17.502Z,1354730597.502 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-12-05T18:03:17.513Z,1354730597.513 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-12-05T18:03:17.514Z,1354730597.514 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-12-05T18:03:17.515Z,1354730597.515 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-12-05T18:03:17.516Z,1354730597.516 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-12-05T18:03:17.516Z,1354730597.516 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-12-05T18:03:17.518Z,1354730597.518 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-12-05T18:03:17.795Z,1354730597.795 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-12-05T18:03:17.795Z,1354730597.795 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-12-05T18:03:17.982Z,1354730597.982 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-12-05T18:03:17.983Z,1354730597.983 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-12-05T18:03:18.066Z,1354730598.066 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-12-05T18:03:18.067Z,1354730598.067 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-12-05T18:03:18.261Z,1354730598.261 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-12-05T18:03:18.261Z,1354730598.261 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-12-05T18:03:18.393Z,1354730598.393 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-12-05T18:03:18.394Z,1354730598.394 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-12-05T18:03:18.622Z,1354730598.622 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-12-05T18:03:18.622Z,1354730598.622 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-12-05T18:03:18.799Z,1354730598.799 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-12-05T18:03:18.799Z,1354730598.799 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-12-05T18:03:19.055Z,1354730599.055 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-12-05T18:03:19.056Z,1354730599.056 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-12-05T18:03:19.153Z,1354730599.153 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-12-05T18:03:19.154Z,1354730599.154 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-12-05T18:03:19.552Z,1354730599.552 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-12-05T18:03:19.552Z,1354730599.552 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-12-05T18:03:19.665Z,1354730599.665 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-12-05T18:03:19.666Z,1354730599.666 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-12-05T18:03:19.751Z,1354730599.751 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-12-05T18:03:19.752Z,1354730599.752 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-12-05T18:03:19.852Z,1354730599.852 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-12-05T18:03:19.980Z,1354730599.980 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-12-05T18:03:20.064Z,1354730600.064 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-12-05T18:03:20.164Z,1354730600.164 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-12-05T18:03:20.263Z,1354730600.263 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-12-05T18:03:20.381Z,1354730600.381 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-12-05T18:03:20.472Z,1354730600.472 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-12-05T18:03:20.558Z,1354730600.558 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-12-05T18:03:20.589Z,1354730600.589 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-12-05T18:03:20.743Z,1354730600.743 [InternalSim] Loaded
2012-12-05T18:03:20.744Z,1354730600.744 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-12-05T18:03:20.745Z,1354730600.745 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-12-05T18:03:20.745Z,1354730600.745 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-12-05T18:03:20.803Z,1354730600.803 [SBIT](DEBUG): Construct Startup Built In Test.
2012-12-05T18:03:20.832Z,1354730600.832 [SBIT] Loaded
2012-12-05T18:03:20.832Z,1354730600.832 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-12-05T18:03:20.833Z,1354730600.833 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-12-05T18:03:20.862Z,1354730600.862 [IBIT] Loaded
2012-12-05T18:03:20.863Z,1354730600.862 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-12-05T18:03:20.866Z,1354730600.866 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-12-05T18:03:20.989Z,1354730600.989 [CBIT] Loaded
2012-12-05T18:03:20.989Z,1354730600.989 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-12-05T18:03:20.990Z,1354730600.990 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-12-05T18:03:20.990Z,1354730600.990 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-12-05T18:03:21.139Z,1354730601.139 [BuoyancyServo] Loaded
2012-12-05T18:03:21.139Z,1354730601.139 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-12-05T18:03:21.152Z,1354730601.152 [ElevatorServo] Loaded
2012-12-05T18:03:21.152Z,1354730601.152 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-12-05T18:03:21.164Z,1354730601.164 [MassServo] Loaded
2012-12-05T18:03:21.164Z,1354730601.164 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-12-05T18:03:21.176Z,1354730601.177 [RudderServo] Loaded
2012-12-05T18:03:21.177Z,1354730601.177 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-12-05T18:03:21.189Z,1354730601.189 [ThrusterServo] Loaded
2012-12-05T18:03:21.189Z,1354730601.189 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-12-05T18:03:21.190Z,1354730601.190 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-12-05T18:03:21.190Z,1354730601.190 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-12-05T18:03:21.207Z,1354730601.207 [DepthRateCalculator] Loaded
2012-12-05T18:03:21.207Z,1354730601.207 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-12-05T18:03:24.303Z,1354730604.303 [HFRadarModelCalc] Loaded
2012-12-05T18:03:24.304Z,1354730604.304 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-12-05T18:03:24.320Z,1354730604.320 [NavChart] Loaded
2012-12-05T18:03:24.320Z,1354730604.320 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-12-05T18:03:24.327Z,1354730604.327 [PitchRateCalculator] Loaded
2012-12-05T18:03:24.327Z,1354730604.327 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-12-05T18:03:24.333Z,1354730604.333 [SpeedCalculator] Loaded
2012-12-05T18:03:24.334Z,1354730604.334 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-12-05T18:03:24.349Z,1354730604.349 [TempGradientCalculator] Loaded
2012-12-05T18:03:24.349Z,1354730604.349 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-12-05T18:03:24.355Z,1354730604.355 [YawRateCalculator] Loaded
2012-12-05T18:03:24.355Z,1354730604.355 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-12-05T18:03:24.397Z,1354730604.397 [Navigation] Loaded
2012-12-05T18:03:24.397Z,1354730604.397 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-12-05T18:03:24.397Z,1354730604.397 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-12-05T18:03:24.398Z,1354730604.398 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-12-05T18:03:24.622Z,1354730604.622 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-12-05T18:03:24.623Z,1354730604.623 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-12-05T18:03:24.645Z,1354730604.645 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-12-05T18:03:24.645Z,1354730604.645 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-12-05T18:03:24.687Z,1354730604.687 [VerticalControl](DEBUG): Construct VerticalControl.
2012-12-05T18:03:24.783Z,1354730604.783 [VerticalControl] Loaded
2012-12-05T18:03:24.784Z,1354730604.784 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-12-05T18:03:24.785Z,1354730604.785 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-12-05T18:03:24.843Z,1354730604.843 [HorizontalControl] Loaded
2012-12-05T18:03:24.843Z,1354730604.843 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-12-05T18:03:24.844Z,1354730604.844 [SpeedControl](DEBUG): Construct SpeedControl.
2012-12-05T18:03:24.846Z,1354730604.846 [SpeedControl] Loaded
2012-12-05T18:03:24.846Z,1354730604.846 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-12-05T18:03:24.847Z,1354730604.847 [LoopControl](DEBUG): Construct LoopControl.
2012-12-05T18:03:24.848Z,1354730604.848 [LoopControl] Loaded
2012-12-05T18:03:24.848Z,1354730604.848 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-12-05T18:03:24.848Z,1354730604.848 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-12-05T18:03:24.849Z,1354730604.849 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-12-05T18:03:24.854Z,1354730604.854 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-12-05T18:03:24.859Z,1354730604.859 [AsyncPiEstimator] Loaded
2012-12-05T18:03:24.859Z,1354730604.859 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-12-05T18:03:24.861Z,1354730604.861 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-12-05T18:03:24.861Z,1354730604.861 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-12-05T18:03:24.862Z,1354730604.862 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-12-05T18:03:24.989Z,1354730604.989 [AHRS_sp3003D] Loaded
2012-12-05T18:03:24.989Z,1354730604.989 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-12-05T18:03:25.254Z,1354730605.254 [Batt_Ocean_Server] Loaded
2012-12-05T18:03:25.255Z,1354730605.255 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-12-05T18:03:25.268Z,1354730605.268 [Depth_Keller] Loaded
2012-12-05T18:03:25.269Z,1354730605.269 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-12-05T18:03:25.275Z,1354730605.275 [DropWeight] Loaded
2012-12-05T18:03:25.275Z,1354730605.275 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-12-05T18:03:25.440Z,1354730605.440 [DVL_micro] Loaded
2012-12-05T18:03:25.441Z,1354730605.441 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-12-05T18:03:25.442Z,1354730605.442 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-12-05T18:03:25.526Z,1354730605.526 [NAL9602] Loaded
2012-12-05T18:03:25.527Z,1354730605.527 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-12-05T18:03:25.578Z,1354730605.578 [Onboard] Loaded
2012-12-05T18:03:25.579Z,1354730605.579 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-12-05T18:03:25.585Z,1354730605.585 [Radio_Freewave] Loaded
2012-12-05T18:03:25.586Z,1354730605.586 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-12-05T18:03:25.587Z,1354730605.587 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-12-05T18:03:25.587Z,1354730605.587 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-12-05T18:03:25.661Z,1354730605.661 [CTD_NeilBrown] Loaded
2012-12-05T18:03:25.662Z,1354730605.662 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-12-05T18:03:25.663Z,1354730605.663 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-12-05T18:03:25.680Z,1354730605.680 [PAR_Licor] Loaded
2012-12-05T18:03:25.680Z,1354730605.680 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-12-05T18:03:25.734Z,1354730605.734 [Turbulence_NPS] Loaded
2012-12-05T18:03:25.735Z,1354730605.735 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-12-05T18:03:25.736Z,1354730605.736 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-12-05T18:03:25.767Z,1354730605.767 [WetLabsBB2FL] Loaded
2012-12-05T18:03:25.767Z,1354730605.767 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-12-05T18:03:25.768Z,1354730605.769 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-12-05T18:03:25.769Z,1354730605.769 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-12-05T18:03:25.772Z,1354730605.772 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-12-05T18:03:25.773Z,1354730605.773 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-12-05T18:03:25.779Z,1354730605.779 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-12-05T18:03:25.780Z,1354730605.780 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-12-05T18:03:25.785Z,1354730605.785 [Supervisor](DEBUG): Running supervisor.
2012-12-05T18:03:25.786Z,1354730605.786 [CommandLine](INFO): Thread ID is 962
2012-12-05T18:03:25.789Z,1354730605.789 [controlThread](INFO): Thread ID is 961
2012-12-05T18:03:25.789Z,1354730605.789 [controlThread](DEBUG): Initializing ControlThread
2012-12-05T18:03:25.789Z,1354730605.789 [CycleStarter](INFO): Thread ID is 960
2012-12-05T18:03:25.790Z,1354730605.790 [InternalSim](DEBUG):  InternalSim initializing...
2012-12-05T18:03:25.823Z,1354730605.823 [logger](INFO): Thread ID is 963
2012-12-05T18:03:25.850Z,1354730605.850 [SBIT](INFO): Initialize SBIT Component.
2012-12-05T18:03:25.850Z,1354730605.850 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10092
2012-12-05T18:03:25.851Z,1354730605.851 [IBIT](INFO): Initialize IBIT Component.
2012-12-05T18:03:25.852Z,1354730605.852 [CBIT](DEBUG): Initialize CBIT Component.
2012-12-05T18:03:25.852Z,1354730605.852 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-12-05T18:03:25.863Z,1354730605.863 [AsyncPiEstimator](INFO): Thread ID is 1024
2012-12-05T18:03:25.863Z,1354730605.863 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-12-05T18:03:25.878Z,1354730605.878 [DVL_micro](INFO): Thread ID is 1025
2012-12-05T18:03:25.884Z,1354730605.884 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:03:25.884Z,1354730605.884 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-12-05T18:03:25.885Z,1354730605.885 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-12-05T18:03:25.885Z,1354730605.885 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-12-05T18:03:25.885Z,1354730605.885 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-12-05T18:03:25.887Z,1354730605.887 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-12-05T18:03:25.887Z,1354730605.888 [Navigation](DEBUG): Initializing Navigation.
2012-12-05T18:03:25.888Z,1354730605.888 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-12-05T18:03:25.890Z,1354730605.890 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-12-05T18:03:25.890Z,1354730605.890 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-12-05T18:03:25.891Z,1354730605.891 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-12-05T18:03:25.898Z,1354730605.898 [DVL_micro](INFO): Initializing
2012-12-05T18:03:25.898Z,1354730605.898 [DVL_micro](INFO): start:Powering up
2012-12-05T18:03:25.899Z,1354730605.899 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:03:25.899Z,1354730605.899 [DVL_micro](INFO): Cycling power to configure device.
2012-12-05T18:03:25.919Z,1354730605.919 [CTD_NeilBrown](INFO): Thread ID is 1026
2012-12-05T18:03:25.919Z,1354730605.920 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-12-05T18:03:25.922Z,1354730605.922 [Turbulence_NPS](INFO): Thread ID is 1027
2012-12-05T18:03:25.923Z,1354730605.923 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-12-05T18:03:25.924Z,1354730605.924 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-12-05T18:03:25.939Z,1354730605.939 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-12-05T18:03:25.955Z,1354730605.955 [WetLabsBB2FL](INFO): Thread ID is 1028
2012-12-05T18:03:25.956Z,1354730605.956 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:03:25.982Z,1354730605.982 [NavChartDb](INFO): Thread ID is 1029
2012-12-05T18:03:25.984Z,1354730605.984 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-12-05T18:03:25.985Z,1354730605.985 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-12-05T18:03:25.985Z,1354730605.985 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-12-05T18:03:25.985Z,1354730605.985 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-12-05T18:03:25.985Z,1354730605.986 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-12-05T18:03:26.007Z,1354730606.007 [Turbulence_NPS](INFO): Pause powering down
2012-12-05T18:03:27.299Z,1354730607.299 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-12-05T18:03:27.351Z,1354730607.351 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-12-05T18:03:27.378Z,1354730607.378 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:03:27.404Z,1354730607.404 [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>


2012-12-05T18:03:27.405Z,1354730607.405 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-12-05T18:03:27.491Z,1354730607.491 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-12-05T18:03:27.493Z,1354730607.493 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:03:27.496Z,1354730607.496 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:03:27.516Z,1354730607.516 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:03:27.519Z,1354730607.519 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:03:27.557Z,1354730607.557 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-12-05T18:03:27.581Z,1354730607.580 [Default:D.SetSpeed](DEBUG): Construct.
2012-12-05T18:03:27.596Z,1354730607.596 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:03:27.601Z,1354730607.601 [Default:F.Wait](DEBUG): Construct Wait.
2012-12-05T18:03:27.604Z,1354730607.605 [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>


2012-12-05T18:03:27.618Z,1354730607.618 [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,
2012-12-05T18:03:27.671Z,1354730607.671 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-12-05T18:03:27.888Z,1354730607.888 [Radio_Freewave](INFO): Powering up
2012-12-05T18:03:27.923Z,1354730607.923 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:03:27.923Z,1354730607.923 [DVL_micro](INFO): Querying output modes
2012-12-05T18:03:27.924Z,1354730607.924 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-12-05T18:03:27.934Z,1354730607.934 [DVL_micro](DEBUG): cmdResponse: 01
2012-12-05T18:03:27.935Z,1354730607.935 [DVL_micro](INFO): NQ1 output enabled
2012-12-05T18:03:27.935Z,1354730607.935 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-12-05T18:03:27.947Z,1354730607.947 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-12-05T18:03:27.951Z,1354730607.951 [DVL_micro](INFO): pause:Powering down
2012-12-05T18:03:28.159Z,1354730608.159 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:03:28.167Z,1354730608.167 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-12-05T18:03:28.187Z,1354730608.187 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:03:28.195Z,1354730608.195 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-12-05T18:03:28.203Z,1354730608.203 [MassServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:03:28.211Z,1354730608.211 [MassServo](DEBUG): Initializing MassServo.
2012-12-05T18:03:28.216Z,1354730608.216 [RudderServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:03:28.223Z,1354730608.223 [RudderServo](DEBUG): Initializing RudderServo.
2012-12-05T18:03:28.248Z,1354730608.248 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:03:28.255Z,1354730608.255 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:03:30.633Z,1354730610.633 [NAL9602](INFO): Powering up NAL9602
2012-12-05T18:03:41.167Z,1354730621.167 [NAL9602](INFO): NAL9602 initialized
2012-12-05T18:03:41.254Z,1354730621.254 [SBIT](IMPORTANT): Beginning Startup BIT
2012-12-05T18:03:41.257Z,1354730621.257 [CBIT](IMPORTANT): Beginning GF scan
2012-12-05T18:03:51.567Z,1354730631.567 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 300.000000 revolution_per_minute
2012-12-05T18:03:51.569Z,1354730631.569 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-12-05T18:03:51.864Z,1354730631.864 [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,
2012-12-05T18:04:02.983Z,1354730642.983 [ThrusterServo](FAULT): Overload Error
2012-12-05T18:04:02.983Z,1354730642.983 [ThrusterServo] Hardware Fault, FailCount= 1
2012-12-05T18:04:02.983Z,1354730642.983 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T18:04:02.986Z,1354730642.986 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T18:04:03.312Z,1354730643.312 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:04:03.312Z,1354730643.312 [ThrusterServo](INFO): Powering down
2012-12-05T18:04:03.315Z,1354730643.315 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:04:03.315Z,1354730643.315 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T18:04:04.092Z,1354730644.092 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:04:04.211Z,1354730644.211 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:04:07.726Z,1354730647.726 [CBIT](IMPORTANT): No ground fault detected
2012-12-05T18:04:14.899Z,1354730654.898 [ThrusterServo](FAULT): Overload Error
2012-12-05T18:04:14.899Z,1354730654.899 [ThrusterServo] Hardware Fault, FailCount= 2
2012-12-05T18:04:14.899Z,1354730654.899 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T18:04:14.902Z,1354730654.902 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T18:04:15.253Z,1354730655.253 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:04:15.253Z,1354730655.253 [ThrusterServo](INFO): Powering down
2012-12-05T18:04:15.257Z,1354730655.257 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:04:15.257Z,1354730655.257 [ThrusterServo] No Fault, FailCount= 2
2012-12-05T18:04:16.061Z,1354730656.061 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:04:16.179Z,1354730656.179 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:04:25.839Z,1354730665.839 [CommandLine](IMPORTANT): got command get platform_battery_voltage
2012-12-05T18:04:25.840Z,1354730665.840 [CommandLine](IMPORTANT): platform_battery_voltage 16.337124 volt
2012-12-05T18:04:34.807Z,1354730674.807 [SBIT](IMPORTANT): SBIT PASSED
2012-12-05T18:04:35.174Z,1354730675.174 [MissionManager](IMPORTANT): Started mission Startup
2012-12-05T18:04:35.174Z,1354730675.174 [Startup] Running Loop=1
2012-12-05T18:04:35.174Z,1354730675.174 [Startup](INFO): Aggregate::initialize Startup
2012-12-05T18:04:35.174Z,1354730675.174 [Startup:A.GoToSurface] Running Loop=1
2012-12-05T18:04:35.174Z,1354730675.174 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-12-05T18:04:35.180Z,1354730675.180 [Startup:StartupSatComms] Running Loop=1
2012-12-05T18:04:35.180Z,1354730675.180 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-12-05T18:04:35.180Z,1354730675.180 [Startup:StartupSatComms:A] Running Loop=1
2012-12-05T18:04:35.575Z,1354730675.575 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-12-05T18:05:35.195Z,1354730735.195 [Startup:StartupSatComms:A](INFO): Timed out from 2012-12-05T18:04:35.2Z
2012-12-05T18:05:35.195Z,1354730735.195 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2012-12-05T18:05:35.196Z,1354730735.195 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2012-12-05T18:05:35.196Z,1354730735.196 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2012-12-05T18:05:35.196Z,1354730735.196 [Startup:StartupSatComms:A] Stopped
2012-12-05T18:05:35.196Z,1354730735.196 [Startup:StartupSatComms:B] Running Loop=1
2012-12-05T18:05:35.631Z,1354730735.631 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2012-12-05T18:06:10.619Z,1354730770.619 [CommandLine](IMPORTANT): got command quit
2012-12-05T18:06:11.806Z,1354730771.806 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-12-05T18:06:11.807Z,1354730771.807 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-12-05T18:06:12.086Z,1354730772.086 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-12-05T18:06:12.099Z,1354730772.099 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:06:12.106Z,1354730772.106 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-12-05T18:06:12.151Z,1354730772.151 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-12-05T18:06:12.166Z,1354730772.166 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-12-05T18:06:12.271Z,1354730772.271 [CTD_NeilBrown](INFO): Powering down
2012-12-05T18:06:12.287Z,1354730772.286 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-12-05T18:06:12.487Z,1354730772.487 [DVL_micro](INFO): uninitialize:Powering down
2012-12-05T18:06:12.491Z,1354730772.491 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-12-05T18:06:12.531Z,1354730772.531 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-12-05T18:06:12.551Z,1354730772.551 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-12-05T18:06:12.651Z,1354730772.651 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-12-05T18:06:12.653Z,1354730772.653 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-12-05T18:06:12.836Z,1354730772.836 [controlThread](DEBUG): Uninitializing ControlThread
2012-12-05T18:06:12.836Z,1354730772.836 [AHRS_sp3003D](INFO): Powering down
2012-12-05T18:06:12.924Z,1354730772.924 [NAL9602](INFO): Powering down
2012-12-05T18:06:12.926Z,1354730772.926 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:06:12.927Z,1354730772.927 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-12-05T18:06:12.931Z,1354730772.931 [Startup] Stopped
2012-12-05T18:06:12.931Z,1354730772.931 [Startup](INFO): Aggregate::uninitialize Startup
2012-12-05T18:06:12.931Z,1354730772.931 [Startup:A.GoToSurface] Stopped
2012-12-05T18:06:12.931Z,1354730772.931 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-12-05T18:06:12.931Z,1354730772.931 [Startup:StartupSatComms] Stopped
2012-12-05T18:06:12.932Z,1354730772.931 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-12-05T18:06:12.932Z,1354730772.932 [Startup:StartupSatComms:B] Stopped
2012-12-05T18:06:12.933Z,1354730772.933 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-12-05T18:06:12.933Z,1354730772.933 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-12-05T18:06:12.933Z,1354730772.933 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-12-05T18:06:12.934Z,1354730772.934 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-12-05T18:06:12.934Z,1354730772.934 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-12-05T18:06:12.934Z,1354730772.934 [BuoyancyServo](INFO): Powering down
2012-12-05T18:06:12.947Z,1354730772.947 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-12-05T18:06:12.947Z,1354730772.947 [ElevatorServo](INFO): Powering down
2012-12-05T18:06:12.948Z,1354730772.948 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-12-05T18:06:12.948Z,1354730772.948 [MassServo](INFO): Powering down
2012-12-05T18:06:12.949Z,1354730772.949 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-12-05T18:06:12.949Z,1354730772.949 [RudderServo](INFO): Powering down
2012-12-05T18:06:12.950Z,1354730772.950 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:06:12.950Z,1354730772.950 [ThrusterServo](INFO): Powering down
2012-12-05T18:06:12.952Z,1354730772.952 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-12-05T18:06:12.952Z,1354730772.952 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-12-05T18:06:12.952Z,1354730772.953 [CBIT](DEBUG): Uninitialize CBIT Component.