2012-12-05T18:06:50.675Z,1354730810.675 [Supervisor](DEBUG): Initializing supervisor.
2012-12-05T18:06:50.678Z,1354730810.678 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-12-05T18:06:50.679Z,1354730810.679 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-12-05T18:06:50.680Z,1354730810.680 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-12-05T18:06:50.683Z,1354730810.683 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-12-05T18:06:50.694Z,1354730810.694 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-12-05T18:06:50.695Z,1354730810.695 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-12-05T18:06:50.696Z,1354730810.696 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-12-05T18:06:50.697Z,1354730810.697 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-12-05T18:06:50.698Z,1354730810.698 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-12-05T18:06:50.699Z,1354730810.699 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-12-05T18:06:50.978Z,1354730810.978 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-12-05T18:06:50.979Z,1354730810.979 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-12-05T18:06:51.166Z,1354730811.166 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-12-05T18:06:51.166Z,1354730811.166 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-12-05T18:06:51.250Z,1354730811.250 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-12-05T18:06:51.251Z,1354730811.251 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-12-05T18:06:51.445Z,1354730811.445 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-12-05T18:06:51.446Z,1354730811.446 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-12-05T18:06:51.578Z,1354730811.578 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-12-05T18:06:51.578Z,1354730811.579 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-12-05T18:06:51.814Z,1354730811.814 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-12-05T18:06:51.814Z,1354730811.814 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-12-05T18:06:51.984Z,1354730811.984 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-12-05T18:06:51.985Z,1354730811.985 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-12-05T18:06:52.243Z,1354730812.243 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-12-05T18:06:52.244Z,1354730812.244 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-12-05T18:06:52.341Z,1354730812.341 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-12-05T18:06:52.342Z,1354730812.342 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-12-05T18:06:52.746Z,1354730812.746 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-12-05T18:06:52.746Z,1354730812.746 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-12-05T18:06:52.860Z,1354730812.860 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-12-05T18:06:52.861Z,1354730812.861 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-12-05T18:06:52.945Z,1354730812.945 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-12-05T18:06:52.946Z,1354730812.946 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-12-05T18:06:53.046Z,1354730813.046 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-12-05T18:06:53.175Z,1354730813.175 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-12-05T18:06:53.260Z,1354730813.260 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-12-05T18:06:53.360Z,1354730813.360 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-12-05T18:06:53.460Z,1354730813.460 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-12-05T18:06:53.580Z,1354730813.580 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-12-05T18:06:53.674Z,1354730813.674 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-12-05T18:06:53.765Z,1354730813.765 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-12-05T18:06:53.821Z,1354730813.821 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-12-05T18:06:53.991Z,1354730813.991 [InternalSim] Loaded
2012-12-05T18:06:53.992Z,1354730813.991 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-12-05T18:06:53.992Z,1354730813.992 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-12-05T18:06:53.993Z,1354730813.993 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-12-05T18:06:54.052Z,1354730814.052 [SBIT](DEBUG): Construct Startup Built In Test.
2012-12-05T18:06:54.087Z,1354730814.087 [SBIT] Loaded
2012-12-05T18:06:54.087Z,1354730814.087 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-12-05T18:06:54.088Z,1354730814.088 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-12-05T18:06:54.117Z,1354730814.117 [IBIT] Loaded
2012-12-05T18:06:54.117Z,1354730814.118 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-12-05T18:06:54.121Z,1354730814.121 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-12-05T18:06:54.252Z,1354730814.252 [CBIT] Loaded
2012-12-05T18:06:54.252Z,1354730814.252 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-12-05T18:06:54.253Z,1354730814.253 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-12-05T18:06:54.253Z,1354730814.253 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-12-05T18:06:54.403Z,1354730814.403 [BuoyancyServo] Loaded
2012-12-05T18:06:54.403Z,1354730814.404 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-12-05T18:06:54.416Z,1354730814.416 [ElevatorServo] Loaded
2012-12-05T18:06:54.416Z,1354730814.416 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-12-05T18:06:54.428Z,1354730814.428 [MassServo] Loaded
2012-12-05T18:06:54.428Z,1354730814.428 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-12-05T18:06:54.441Z,1354730814.441 [RudderServo] Loaded
2012-12-05T18:06:54.441Z,1354730814.441 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-12-05T18:06:54.454Z,1354730814.454 [ThrusterServo] Loaded
2012-12-05T18:06:54.454Z,1354730814.454 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-12-05T18:06:54.454Z,1354730814.454 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-12-05T18:06:54.455Z,1354730814.455 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-12-05T18:06:54.472Z,1354730814.472 [DepthRateCalculator] Loaded
2012-12-05T18:06:54.472Z,1354730814.472 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-12-05T18:06:57.994Z,1354730817.994 [HFRadarModelCalc] Loaded
2012-12-05T18:06:57.994Z,1354730817.994 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-12-05T18:06:58.011Z,1354730818.011 [NavChart] Loaded
2012-12-05T18:06:58.011Z,1354730818.011 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-12-05T18:06:58.018Z,1354730818.018 [PitchRateCalculator] Loaded
2012-12-05T18:06:58.018Z,1354730818.018 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-12-05T18:06:58.024Z,1354730818.024 [SpeedCalculator] Loaded
2012-12-05T18:06:58.025Z,1354730818.025 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-12-05T18:06:58.040Z,1354730818.040 [TempGradientCalculator] Loaded
2012-12-05T18:06:58.040Z,1354730818.040 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-12-05T18:06:58.046Z,1354730818.046 [YawRateCalculator] Loaded
2012-12-05T18:06:58.047Z,1354730818.047 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-12-05T18:06:58.089Z,1354730818.089 [Navigation] Loaded
2012-12-05T18:06:58.089Z,1354730818.089 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-12-05T18:06:58.089Z,1354730818.089 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-12-05T18:06:58.090Z,1354730818.090 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-12-05T18:06:58.347Z,1354730818.347 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-12-05T18:06:58.347Z,1354730818.347 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-12-05T18:06:58.370Z,1354730818.370 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-12-05T18:06:58.371Z,1354730818.371 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-12-05T18:06:58.412Z,1354730818.412 [VerticalControl](DEBUG): Construct VerticalControl.
2012-12-05T18:06:58.511Z,1354730818.511 [VerticalControl] Loaded
2012-12-05T18:06:58.511Z,1354730818.511 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-12-05T18:06:58.512Z,1354730818.512 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-12-05T18:06:58.570Z,1354730818.570 [HorizontalControl] Loaded
2012-12-05T18:06:58.571Z,1354730818.570 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-12-05T18:06:58.572Z,1354730818.572 [SpeedControl](DEBUG): Construct SpeedControl.
2012-12-05T18:06:58.573Z,1354730818.573 [SpeedControl] Loaded
2012-12-05T18:06:58.574Z,1354730818.574 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-12-05T18:06:58.575Z,1354730818.575 [LoopControl](DEBUG): Construct LoopControl.
2012-12-05T18:06:58.575Z,1354730818.575 [LoopControl] Loaded
2012-12-05T18:06:58.575Z,1354730818.575 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-12-05T18:06:58.576Z,1354730818.576 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-12-05T18:06:58.576Z,1354730818.576 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-12-05T18:06:58.582Z,1354730818.582 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-12-05T18:06:58.587Z,1354730818.587 [AsyncPiEstimator] Loaded
2012-12-05T18:06:58.587Z,1354730818.587 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-12-05T18:06:58.588Z,1354730818.588 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-12-05T18:06:58.589Z,1354730818.589 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-12-05T18:06:58.590Z,1354730818.590 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-12-05T18:06:58.718Z,1354730818.718 [AHRS_sp3003D] Loaded
2012-12-05T18:06:58.719Z,1354730818.719 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-12-05T18:06:58.987Z,1354730818.987 [Batt_Ocean_Server] Loaded
2012-12-05T18:06:58.987Z,1354730818.987 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-12-05T18:06:59.001Z,1354730819.001 [Depth_Keller] Loaded
2012-12-05T18:06:59.001Z,1354730819.001 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-12-05T18:06:59.007Z,1354730819.007 [DropWeight] Loaded
2012-12-05T18:06:59.008Z,1354730819.008 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-12-05T18:06:59.175Z,1354730819.175 [DVL_micro] Loaded
2012-12-05T18:06:59.175Z,1354730819.175 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-12-05T18:06:59.176Z,1354730819.177 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-12-05T18:06:59.262Z,1354730819.262 [NAL9602] Loaded
2012-12-05T18:06:59.262Z,1354730819.262 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-12-05T18:06:59.314Z,1354730819.314 [Onboard] Loaded
2012-12-05T18:06:59.315Z,1354730819.315 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-12-05T18:06:59.322Z,1354730819.322 [Radio_Freewave] Loaded
2012-12-05T18:06:59.322Z,1354730819.322 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-12-05T18:06:59.323Z,1354730819.323 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-12-05T18:06:59.323Z,1354730819.323 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-12-05T18:06:59.402Z,1354730819.402 [CTD_NeilBrown] Loaded
2012-12-05T18:06:59.403Z,1354730819.403 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-12-05T18:06:59.404Z,1354730819.404 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-12-05T18:06:59.421Z,1354730819.421 [PAR_Licor] Loaded
2012-12-05T18:06:59.421Z,1354730819.421 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-12-05T18:06:59.476Z,1354730819.476 [Turbulence_NPS] Loaded
2012-12-05T18:06:59.477Z,1354730819.477 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-12-05T18:06:59.478Z,1354730819.478 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-12-05T18:06:59.509Z,1354730819.509 [WetLabsBB2FL] Loaded
2012-12-05T18:06:59.509Z,1354730819.509 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-12-05T18:06:59.510Z,1354730819.510 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-12-05T18:06:59.511Z,1354730819.511 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-12-05T18:06:59.513Z,1354730819.513 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-12-05T18:06:59.515Z,1354730819.514 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-12-05T18:06:59.521Z,1354730819.521 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-12-05T18:06:59.522Z,1354730819.522 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-12-05T18:06:59.527Z,1354730819.527 [Supervisor](DEBUG): Running supervisor.
2012-12-05T18:06:59.528Z,1354730819.528 [CommandLine](INFO): Thread ID is 1150
2012-12-05T18:06:59.530Z,1354730819.530 [controlThread](INFO): Thread ID is 1149
2012-12-05T18:06:59.531Z,1354730819.531 [controlThread](DEBUG): Initializing ControlThread
2012-12-05T18:06:59.531Z,1354730819.531 [CycleStarter](INFO): Thread ID is 1148
2012-12-05T18:06:59.532Z,1354730819.532 [InternalSim](DEBUG):  InternalSim initializing...
2012-12-05T18:06:59.567Z,1354730819.567 [logger](INFO): Thread ID is 1151
2012-12-05T18:06:59.592Z,1354730819.592 [SBIT](INFO): Initialize SBIT Component.
2012-12-05T18:06:59.592Z,1354730819.592 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10092
2012-12-05T18:06:59.593Z,1354730819.593 [IBIT](INFO): Initialize IBIT Component.
2012-12-05T18:06:59.594Z,1354730819.594 [CBIT](DEBUG): Initialize CBIT Component.
2012-12-05T18:06:59.594Z,1354730819.594 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-12-05T18:06:59.594Z,1354730819.594 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-12-05T18:06:59.607Z,1354730819.607 [AsyncPiEstimator](INFO): Thread ID is 1213
2012-12-05T18:06:59.607Z,1354730819.607 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-12-05T18:06:59.620Z,1354730819.620 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:06:59.620Z,1354730819.620 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-12-05T18:06:59.621Z,1354730819.621 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-12-05T18:06:59.621Z,1354730819.621 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-12-05T18:06:59.621Z,1354730819.621 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-12-05T18:06:59.623Z,1354730819.623 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-12-05T18:06:59.623Z,1354730819.623 [Navigation](DEBUG): Initializing Navigation.
2012-12-05T18:06:59.624Z,1354730819.624 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-12-05T18:06:59.625Z,1354730819.625 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-12-05T18:06:59.626Z,1354730819.626 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-12-05T18:06:59.627Z,1354730819.627 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-12-05T18:06:59.632Z,1354730819.632 [DVL_micro](INFO): Thread ID is 1214
2012-12-05T18:06:59.641Z,1354730819.641 [DVL_micro](INFO): Initializing
2012-12-05T18:06:59.641Z,1354730819.641 [DVL_micro](INFO): start:Powering up
2012-12-05T18:06:59.642Z,1354730819.642 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:06:59.643Z,1354730819.643 [DVL_micro](INFO): Cycling power to configure device.
2012-12-05T18:06:59.656Z,1354730819.656 [CTD_NeilBrown](INFO): Thread ID is 1215
2012-12-05T18:06:59.656Z,1354730819.657 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-12-05T18:06:59.663Z,1354730819.663 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-12-05T18:06:59.680Z,1354730819.680 [Turbulence_NPS](INFO): Thread ID is 1216
2012-12-05T18:06:59.680Z,1354730819.680 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-12-05T18:06:59.681Z,1354730819.681 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-12-05T18:06:59.695Z,1354730819.695 [WetLabsBB2FL](INFO): Thread ID is 1217
2012-12-05T18:06:59.696Z,1354730819.696 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:06:59.725Z,1354730819.725 [NavChartDb](INFO): Thread ID is 1218
2012-12-05T18:06:59.728Z,1354730819.728 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-12-05T18:06:59.728Z,1354730819.728 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-12-05T18:06:59.729Z,1354730819.729 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-12-05T18:06:59.729Z,1354730819.729 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-12-05T18:06:59.729Z,1354730819.729 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-12-05T18:06:59.751Z,1354730819.751 [Turbulence_NPS](INFO): Pause powering down
2012-12-05T18:07:01.214Z,1354730821.214 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-12-05T18:07:01.245Z,1354730821.245 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-12-05T18:07:01.264Z,1354730821.264 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:07:01.298Z,1354730821.298 [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>


2012-12-05T18:07:01.299Z,1354730821.299 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-12-05T18:07:01.364Z,1354730821.364 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-12-05T18:07:01.366Z,1354730821.366 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:07:01.369Z,1354730821.369 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:07:01.409Z,1354730821.409 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:07:01.424Z,1354730821.424 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:07:01.443Z,1354730821.443 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-12-05T18:07:01.464Z,1354730821.464 [Default:D.SetSpeed](DEBUG): Construct.
2012-12-05T18:07:01.467Z,1354730821.467 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:07:01.503Z,1354730821.503 [Default:F.Wait](DEBUG): Construct Wait.
2012-12-05T18:07:01.507Z,1354730821.507 [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>


2012-12-05T18:07:01.517Z,1354730821.517 [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,
2012-12-05T18:07:01.558Z,1354730821.558 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-12-05T18:07:01.703Z,1354730821.703 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:07:01.703Z,1354730821.703 [DVL_micro](INFO): Querying output modes
2012-12-05T18:07:01.703Z,1354730821.704 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-12-05T18:07:01.715Z,1354730821.714 [DVL_micro](DEBUG): cmdResponse: 01
2012-12-05T18:07:01.715Z,1354730821.715 [DVL_micro](INFO): NQ1 output enabled
2012-12-05T18:07:01.715Z,1354730821.715 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-12-05T18:07:01.727Z,1354730821.727 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-12-05T18:07:01.731Z,1354730821.731 [DVL_micro](INFO): pause:Powering down
2012-12-05T18:07:01.767Z,1354730821.767 [Radio_Freewave](INFO): Powering up
2012-12-05T18:07:02.106Z,1354730822.106 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:07:02.115Z,1354730822.115 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-12-05T18:07:02.121Z,1354730822.121 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:07:02.127Z,1354730822.127 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-12-05T18:07:02.137Z,1354730822.137 [MassServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:07:02.143Z,1354730822.143 [MassServo](DEBUG): Initializing MassServo.
2012-12-05T18:07:02.148Z,1354730822.148 [RudderServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:07:02.155Z,1354730822.155 [RudderServo](DEBUG): Initializing RudderServo.
2012-12-05T18:07:02.161Z,1354730822.161 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:07:02.167Z,1354730822.167 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:07:04.602Z,1354730824.602 [NAL9602](INFO): Powering up NAL9602
2012-12-05T18:07:15.135Z,1354730835.135 [NAL9602](INFO): NAL9602 initialized
2012-12-05T18:07:15.220Z,1354730835.220 [SBIT](IMPORTANT): Beginning Startup BIT
2012-12-05T18:07:15.223Z,1354730835.223 [CBIT](IMPORTANT): Beginning GF scan
2012-12-05T18:07:26.535Z,1354730846.535 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 300.000000 revolution_per_minute
2012-12-05T18:07:26.537Z,1354730846.537 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-12-05T18:07:26.985Z,1354730846.985 [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,
2012-12-05T18:07:28.562Z,1354730848.562 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-12-05T18:07:28.563Z,1354730848.563 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-12-05T18:07:28.563Z,1354730848.563 [ThrusterServo] Communications Fault, FailCount= 1
2012-12-05T18:07:28.563Z,1354730848.563 [ThrusterServo](ERROR): Communications Fault
2012-12-05T18:07:28.566Z,1354730848.566 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-12-05T18:07:28.787Z,1354730848.787 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:07:28.787Z,1354730848.787 [ThrusterServo](INFO): Powering down
2012-12-05T18:07:28.791Z,1354730848.791 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:07:28.791Z,1354730848.791 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T18:07:29.592Z,1354730849.592 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:07:29.711Z,1354730849.711 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:07:41.938Z,1354730861.938 [CBIT](IMPORTANT): No ground fault detected
2012-12-05T18:07:44.723Z,1354730864.723 [ThrusterServo](FAULT): Overload Error
2012-12-05T18:07:44.723Z,1354730864.723 [ThrusterServo] Hardware Fault, FailCount= 1
2012-12-05T18:07:44.723Z,1354730864.723 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T18:07:44.726Z,1354730864.726 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T18:07:45.168Z,1354730865.168 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:07:45.168Z,1354730865.168 [ThrusterServo](INFO): Powering down
2012-12-05T18:07:45.171Z,1354730865.171 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:07:45.171Z,1354730865.171 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T18:07:45.849Z,1354730865.849 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:07:45.963Z,1354730865.963 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:07:56.695Z,1354730876.694 [ThrusterServo](FAULT): Overload Error
2012-12-05T18:07:56.695Z,1354730876.695 [ThrusterServo] Hardware Fault, FailCount= 2
2012-12-05T18:07:56.695Z,1354730876.695 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T18:07:56.698Z,1354730876.698 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T18:07:57.273Z,1354730877.273 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:07:57.273Z,1354730877.273 [ThrusterServo](INFO): Powering down
2012-12-05T18:07:57.276Z,1354730877.276 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:07:57.276Z,1354730877.276 [ThrusterServo] No Fault, FailCount= 2
2012-12-05T18:07:58.491Z,1354730878.491 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:07:58.614Z,1354730878.614 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:08:08.191Z,1354730888.191 [ThrusterServo](FAULT): Overload Error
2012-12-05T18:08:08.191Z,1354730888.191 [ThrusterServo] Hardware Fault, FailCount= 3
2012-12-05T18:08:08.191Z,1354730888.191 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T18:08:08.194Z,1354730888.194 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T18:08:08.560Z,1354730888.560 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:08:08.560Z,1354730888.560 [ThrusterServo](INFO): Powering down
2012-12-05T18:08:08.564Z,1354730888.564 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:08:08.564Z,1354730888.564 [ThrusterServo] No Fault, FailCount= 3
2012-12-05T18:08:08.963Z,1354730888.963 [SBIT](IMPORTANT): SBIT PASSED
2012-12-05T18:08:09.331Z,1354730889.330 [MissionManager](IMPORTANT): Started mission Startup
2012-12-05T18:08:09.331Z,1354730889.331 [Startup] Running Loop=1
2012-12-05T18:08:09.331Z,1354730889.331 [Startup](INFO): Aggregate::initialize Startup
2012-12-05T18:08:09.331Z,1354730889.331 [Startup:A.GoToSurface] Running Loop=1
2012-12-05T18:08:09.331Z,1354730889.331 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-12-05T18:08:09.337Z,1354730889.337 [Startup:StartupSatComms] Running Loop=1
2012-12-05T18:08:09.337Z,1354730889.337 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-12-05T18:08:09.337Z,1354730889.337 [Startup:StartupSatComms:A] Running Loop=1
2012-12-05T18:08:09.345Z,1354730889.345 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:08:09.463Z,1354730889.464 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:08:09.735Z,1354730889.735 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-12-05T18:08:13.571Z,1354730893.571 [CommandLine](IMPORTANT): got command failComponent
2012-12-05T18:08:13.578Z,1354730893.578 [CommandLine](IMPORTANT): Failed components:
2012-12-05T18:08:13.578Z,1354730893.578 [CommandLine](IMPORTANT): No failed Components.
2012-12-05T18:08:37.947Z,1354730917.947 [CommandLine](IMPORTANT): got command quit
2012-12-05T18:08:38.967Z,1354730918.967 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-12-05T18:08:38.968Z,1354730918.968 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-12-05T18:08:39.006Z,1354730919.006 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-12-05T18:08:39.159Z,1354730919.159 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:08:39.170Z,1354730919.171 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-12-05T18:08:39.231Z,1354730919.231 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-12-05T18:08:39.234Z,1354730919.234 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-12-05T18:08:39.295Z,1354730919.295 [CTD_NeilBrown](INFO): Powering down
2012-12-05T18:08:39.314Z,1354730919.314 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-12-05T18:08:39.543Z,1354730919.543 [DVL_micro](INFO): uninitialize:Powering down
2012-12-05T18:08:39.545Z,1354730919.545 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-12-05T18:08:39.611Z,1354730919.611 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-12-05T18:08:39.615Z,1354730919.615 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-12-05T18:08:39.675Z,1354730919.675 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-12-05T18:08:39.677Z,1354730919.677 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-12-05T18:08:39.842Z,1354730919.842 [controlThread](DEBUG): Uninitializing ControlThread
2012-12-05T18:08:39.843Z,1354730919.843 [AHRS_sp3003D](INFO): Powering down
2012-12-05T18:08:39.932Z,1354730919.932 [NAL9602](INFO): Powering down
2012-12-05T18:08:39.933Z,1354730919.934 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:08:39.934Z,1354730919.934 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-12-05T18:08:39.938Z,1354730919.938 [Startup] Stopped
2012-12-05T18:08:39.938Z,1354730919.938 [Startup](INFO): Aggregate::uninitialize Startup
2012-12-05T18:08:39.939Z,1354730919.939 [Startup:A.GoToSurface] Stopped
2012-12-05T18:08:39.939Z,1354730919.939 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-12-05T18:08:39.939Z,1354730919.939 [Startup:StartupSatComms] Stopped
2012-12-05T18:08:39.939Z,1354730919.939 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-12-05T18:08:39.939Z,1354730919.939 [Startup:StartupSatComms:A] Stopped
2012-12-05T18:08:39.940Z,1354730919.940 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-12-05T18:08:39.941Z,1354730919.941 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-12-05T18:08:39.941Z,1354730919.941 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-12-05T18:08:39.941Z,1354730919.941 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-12-05T18:08:39.942Z,1354730919.941 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-12-05T18:08:39.942Z,1354730919.942 [BuoyancyServo](INFO): Powering down
2012-12-05T18:08:39.955Z,1354730919.955 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-12-05T18:08:39.955Z,1354730919.955 [ElevatorServo](INFO): Powering down
2012-12-05T18:08:39.956Z,1354730919.955 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-12-05T18:08:39.956Z,1354730919.956 [MassServo](INFO): Powering down
2012-12-05T18:08:39.956Z,1354730919.956 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-12-05T18:08:39.956Z,1354730919.957 [RudderServo](INFO): Powering down
2012-12-05T18:08:39.957Z,1354730919.957 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:08:39.957Z,1354730919.957 [ThrusterServo](INFO): Powering down
2012-12-05T18:08:39.958Z,1354730919.958 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-12-05T18:08:39.959Z,1354730919.959 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-12-05T18:08:39.959Z,1354730919.959 [CBIT](DEBUG): Uninitialize CBIT Component.