2012-12-05T18:14:02.830Z,1354731242.830 [Supervisor](DEBUG): Initializing supervisor.
2012-12-05T18:14:02.832Z,1354731242.832 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-12-05T18:14:02.833Z,1354731242.833 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-12-05T18:14:02.834Z,1354731242.834 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-12-05T18:14:02.838Z,1354731242.838 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-12-05T18:14:02.848Z,1354731242.848 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-12-05T18:14:02.849Z,1354731242.849 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-12-05T18:14:02.850Z,1354731242.850 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-12-05T18:14:02.851Z,1354731242.851 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-12-05T18:14:02.852Z,1354731242.852 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-12-05T18:14:02.853Z,1354731242.853 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-12-05T18:14:03.127Z,1354731243.127 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-12-05T18:14:03.127Z,1354731243.127 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-12-05T18:14:03.312Z,1354731243.312 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-12-05T18:14:03.313Z,1354731243.313 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-12-05T18:14:03.396Z,1354731243.396 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-12-05T18:14:03.397Z,1354731243.397 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-12-05T18:14:03.589Z,1354731243.589 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-12-05T18:14:03.589Z,1354731243.589 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-12-05T18:14:03.720Z,1354731243.720 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-12-05T18:14:03.721Z,1354731243.721 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-12-05T18:14:03.947Z,1354731243.947 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-12-05T18:14:03.948Z,1354731243.948 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-12-05T18:14:04.116Z,1354731244.115 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-12-05T18:14:04.116Z,1354731244.116 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-12-05T18:14:04.364Z,1354731244.364 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-12-05T18:14:04.365Z,1354731244.365 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-12-05T18:14:04.462Z,1354731244.462 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-12-05T18:14:04.462Z,1354731244.462 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-12-05T18:14:04.886Z,1354731244.886 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-12-05T18:14:04.886Z,1354731244.886 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-12-05T18:14:04.999Z,1354731244.999 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-12-05T18:14:04.000Z,1354731245.000 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-12-05T18:14:05.084Z,1354731245.084 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-12-05T18:14:05.085Z,1354731245.085 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-12-05T18:14:05.185Z,1354731245.185 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-12-05T18:14:05.311Z,1354731245.311 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-12-05T18:14:05.396Z,1354731245.396 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-12-05T18:14:05.496Z,1354731245.496 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-12-05T18:14:05.594Z,1354731245.594 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-12-05T18:14:05.711Z,1354731245.711 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-12-05T18:14:05.803Z,1354731245.803 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-12-05T18:14:05.888Z,1354731245.888 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-12-05T18:14:05.919Z,1354731245.918 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-12-05T18:14:06.067Z,1354731246.067 [InternalSim] Loaded
2012-12-05T18:14:06.068Z,1354731246.068 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-12-05T18:14:06.068Z,1354731246.068 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-12-05T18:14:06.069Z,1354731246.069 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-12-05T18:14:06.124Z,1354731246.124 [SBIT](DEBUG): Construct Startup Built In Test.
2012-12-05T18:14:06.152Z,1354731246.152 [SBIT] Loaded
2012-12-05T18:14:06.153Z,1354731246.153 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-12-05T18:14:06.154Z,1354731246.154 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-12-05T18:14:06.182Z,1354731246.182 [IBIT] Loaded
2012-12-05T18:14:06.182Z,1354731246.182 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-12-05T18:14:06.185Z,1354731246.185 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-12-05T18:14:06.304Z,1354731246.304 [CBIT] Loaded
2012-12-05T18:14:06.304Z,1354731246.304 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-12-05T18:14:06.305Z,1354731246.305 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-12-05T18:14:06.305Z,1354731246.305 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-12-05T18:14:06.451Z,1354731246.451 [BuoyancyServo] Loaded
2012-12-05T18:14:06.451Z,1354731246.451 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-12-05T18:14:06.463Z,1354731246.463 [ElevatorServo] Loaded
2012-12-05T18:14:06.463Z,1354731246.463 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-12-05T18:14:06.475Z,1354731246.475 [MassServo] Loaded
2012-12-05T18:14:06.475Z,1354731246.475 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-12-05T18:14:06.487Z,1354731246.487 [RudderServo] Loaded
2012-12-05T18:14:06.487Z,1354731246.487 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-12-05T18:14:06.499Z,1354731246.499 [ThrusterServo] Loaded
2012-12-05T18:14:06.499Z,1354731246.499 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-12-05T18:14:06.500Z,1354731246.500 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-12-05T18:14:06.500Z,1354731246.500 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-12-05T18:14:06.517Z,1354731246.517 [DepthRateCalculator] Loaded
2012-12-05T18:14:06.517Z,1354731246.517 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-12-05T18:14:09.567Z,1354731249.567 [HFRadarModelCalc] Loaded
2012-12-05T18:14:09.567Z,1354731249.567 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-12-05T18:14:09.583Z,1354731249.583 [NavChart] Loaded
2012-12-05T18:14:09.583Z,1354731249.583 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-12-05T18:14:09.589Z,1354731249.589 [PitchRateCalculator] Loaded
2012-12-05T18:14:09.589Z,1354731249.589 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-12-05T18:14:09.596Z,1354731249.596 [SpeedCalculator] Loaded
2012-12-05T18:14:09.596Z,1354731249.596 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-12-05T18:14:09.611Z,1354731249.611 [TempGradientCalculator] Loaded
2012-12-05T18:14:09.611Z,1354731249.611 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-12-05T18:14:09.617Z,1354731249.617 [YawRateCalculator] Loaded
2012-12-05T18:14:09.617Z,1354731249.617 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-12-05T18:14:09.657Z,1354731249.657 [Navigation] Loaded
2012-12-05T18:14:09.657Z,1354731249.657 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-12-05T18:14:09.658Z,1354731249.658 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-12-05T18:14:09.658Z,1354731249.658 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-12-05T18:14:09.873Z,1354731249.873 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-12-05T18:14:09.873Z,1354731249.874 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-12-05T18:14:09.895Z,1354731249.895 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-12-05T18:14:09.896Z,1354731249.895 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-12-05T18:14:09.949Z,1354731249.949 [VerticalControl](DEBUG): Construct VerticalControl.
2012-12-05T18:14:10.054Z,1354731250.054 [VerticalControl] Loaded
2012-12-05T18:14:10.054Z,1354731250.054 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-12-05T18:14:10.055Z,1354731250.055 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-12-05T18:14:10.111Z,1354731250.111 [HorizontalControl] Loaded
2012-12-05T18:14:10.111Z,1354731250.111 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-12-05T18:14:10.112Z,1354731250.112 [SpeedControl](DEBUG): Construct SpeedControl.
2012-12-05T18:14:10.114Z,1354731250.114 [SpeedControl] Loaded
2012-12-05T18:14:10.114Z,1354731250.114 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-12-05T18:14:10.115Z,1354731250.115 [LoopControl](DEBUG): Construct LoopControl.
2012-12-05T18:14:10.116Z,1354731250.115 [LoopControl] Loaded
2012-12-05T18:14:10.116Z,1354731250.116 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-12-05T18:14:10.116Z,1354731250.116 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-12-05T18:14:10.117Z,1354731250.117 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-12-05T18:14:10.122Z,1354731250.122 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-12-05T18:14:10.127Z,1354731250.127 [AsyncPiEstimator] Loaded
2012-12-05T18:14:10.127Z,1354731250.127 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-12-05T18:14:10.128Z,1354731250.128 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-12-05T18:14:10.129Z,1354731250.129 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-12-05T18:14:10.130Z,1354731250.129 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-12-05T18:14:10.252Z,1354731250.252 [AHRS_sp3003D] Loaded
2012-12-05T18:14:10.253Z,1354731250.253 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-12-05T18:14:10.509Z,1354731250.509 [Batt_Ocean_Server] Loaded
2012-12-05T18:14:10.510Z,1354731250.510 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-12-05T18:14:10.523Z,1354731250.523 [Depth_Keller] Loaded
2012-12-05T18:14:10.523Z,1354731250.523 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-12-05T18:14:10.529Z,1354731250.529 [DropWeight] Loaded
2012-12-05T18:14:10.529Z,1354731250.529 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-12-05T18:14:10.688Z,1354731250.688 [DVL_micro] Loaded
2012-12-05T18:14:10.688Z,1354731250.688 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-12-05T18:14:10.690Z,1354731250.690 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-12-05T18:14:10.771Z,1354731250.771 [NAL9602] Loaded
2012-12-05T18:14:10.771Z,1354731250.771 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-12-05T18:14:10.821Z,1354731250.821 [Onboard] Loaded
2012-12-05T18:14:10.821Z,1354731250.821 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-12-05T18:14:10.828Z,1354731250.828 [Radio_Freewave] Loaded
2012-12-05T18:14:10.828Z,1354731250.828 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-12-05T18:14:10.829Z,1354731250.829 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-12-05T18:14:10.829Z,1354731250.829 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-12-05T18:14:10.901Z,1354731250.901 [CTD_NeilBrown] Loaded
2012-12-05T18:14:10.901Z,1354731250.901 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-12-05T18:14:10.903Z,1354731250.903 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-12-05T18:14:10.919Z,1354731250.919 [PAR_Licor] Loaded
2012-12-05T18:14:10.919Z,1354731250.919 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-12-05T18:14:10.971Z,1354731250.971 [Turbulence_NPS] Loaded
2012-12-05T18:14:10.971Z,1354731250.971 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-12-05T18:14:10.973Z,1354731250.973 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-12-05T18:14:11.002Z,1354731251.002 [WetLabsBB2FL] Loaded
2012-12-05T18:14:11.003Z,1354731251.003 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-12-05T18:14:11.004Z,1354731251.004 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-12-05T18:14:11.004Z,1354731251.004 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-12-05T18:14:11.007Z,1354731251.007 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-12-05T18:14:11.008Z,1354731251.008 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-12-05T18:14:11.014Z,1354731251.014 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-12-05T18:14:11.015Z,1354731251.015 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-12-05T18:14:11.020Z,1354731251.020 [Supervisor](DEBUG): Running supervisor.
2012-12-05T18:14:11.021Z,1354731251.021 [CommandLine](INFO): Thread ID is 1415
2012-12-05T18:14:11.023Z,1354731251.023 [controlThread](INFO): Thread ID is 1414
2012-12-05T18:14:11.023Z,1354731251.023 [controlThread](DEBUG): Initializing ControlThread
2012-12-05T18:14:11.024Z,1354731251.024 [CycleStarter](INFO): Thread ID is 1413
2012-12-05T18:14:11.024Z,1354731251.024 [InternalSim](DEBUG):  InternalSim initializing...
2012-12-05T18:14:11.059Z,1354731251.059 [logger](INFO): Thread ID is 1416
2012-12-05T18:14:11.085Z,1354731251.085 [SBIT](INFO): Initialize SBIT Component.
2012-12-05T18:14:11.086Z,1354731251.086 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10092
2012-12-05T18:14:11.086Z,1354731251.086 [IBIT](INFO): Initialize IBIT Component.
2012-12-05T18:14:11.087Z,1354731251.087 [CBIT](DEBUG): Initialize CBIT Component.
2012-12-05T18:14:11.087Z,1354731251.087 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-12-05T18:14:11.099Z,1354731251.099 [AsyncPiEstimator](INFO): Thread ID is 1477
2012-12-05T18:14:11.099Z,1354731251.099 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-12-05T18:14:11.112Z,1354731251.112 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:14:11.112Z,1354731251.112 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-12-05T18:14:11.113Z,1354731251.113 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-12-05T18:14:11.113Z,1354731251.113 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-12-05T18:14:11.113Z,1354731251.113 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-12-05T18:14:11.115Z,1354731251.115 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-12-05T18:14:11.115Z,1354731251.115 [Navigation](DEBUG): Initializing Navigation.
2012-12-05T18:14:11.116Z,1354731251.116 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-12-05T18:14:11.117Z,1354731251.117 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-12-05T18:14:11.118Z,1354731251.118 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-12-05T18:14:11.119Z,1354731251.119 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-12-05T18:14:11.124Z,1354731251.124 [DVL_micro](INFO): Thread ID is 1478
2012-12-05T18:14:11.133Z,1354731251.133 [DVL_micro](INFO): Initializing
2012-12-05T18:14:11.133Z,1354731251.133 [DVL_micro](INFO): start:Powering up
2012-12-05T18:14:11.134Z,1354731251.135 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:14:11.135Z,1354731251.135 [DVL_micro](INFO): Cycling power to configure device.
2012-12-05T18:14:11.148Z,1354731251.148 [CTD_NeilBrown](INFO): Thread ID is 1479
2012-12-05T18:14:11.148Z,1354731251.148 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-12-05T18:14:11.151Z,1354731251.151 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-12-05T18:14:11.160Z,1354731251.160 [Turbulence_NPS](INFO): Thread ID is 1480
2012-12-05T18:14:11.160Z,1354731251.160 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-12-05T18:14:11.161Z,1354731251.161 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-12-05T18:14:11.184Z,1354731251.184 [WetLabsBB2FL](INFO): Thread ID is 1481
2012-12-05T18:14:11.184Z,1354731251.184 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:14:11.218Z,1354731251.218 [NavChartDb](INFO): Thread ID is 1482
2012-12-05T18:14:11.220Z,1354731251.220 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-12-05T18:14:11.221Z,1354731251.221 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-12-05T18:14:11.221Z,1354731251.221 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-12-05T18:14:11.222Z,1354731251.222 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-12-05T18:14:11.222Z,1354731251.222 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-12-05T18:14:11.239Z,1354731251.239 [Turbulence_NPS](INFO): Pause powering down
2012-12-05T18:14:12.736Z,1354731252.736 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-12-05T18:14:12.783Z,1354731252.783 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-12-05T18:14:12.810Z,1354731252.810 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:14:12.829Z,1354731252.829 [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>


2012-12-05T18:14:12.830Z,1354731252.830 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-12-05T18:14:12.919Z,1354731252.919 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-12-05T18:14:12.921Z,1354731252.921 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:14:12.925Z,1354731252.925 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:14:12.945Z,1354731252.945 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:14:12.948Z,1354731252.948 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:14:12.986Z,1354731252.986 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-12-05T18:14:13.011Z,1354731253.011 [Default:D.SetSpeed](DEBUG): Construct.
2012-12-05T18:14:13.014Z,1354731253.014 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:14:13.029Z,1354731253.029 [Default:F.Wait](DEBUG): Construct Wait.
2012-12-05T18:14:13.032Z,1354731253.032 [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>


2012-12-05T18:14:13.042Z,1354731253.042 [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,
2012-12-05T18:14:13.110Z,1354731253.110 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-12-05T18:14:13.215Z,1354731253.215 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:14:13.215Z,1354731253.215 [DVL_micro](INFO): Querying output modes
2012-12-05T18:14:13.215Z,1354731253.216 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-12-05T18:14:13.227Z,1354731253.227 [DVL_micro](DEBUG): cmdResponse: 01
2012-12-05T18:14:13.227Z,1354731253.227 [DVL_micro](INFO): NQ1 output enabled
2012-12-05T18:14:13.227Z,1354731253.227 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-12-05T18:14:13.239Z,1354731253.239 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-12-05T18:14:13.244Z,1354731253.244 [DVL_micro](INFO): pause:Powering down
2012-12-05T18:14:13.339Z,1354731253.339 [Radio_Freewave](INFO): Powering up
2012-12-05T18:14:13.651Z,1354731253.651 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:14:13.659Z,1354731253.659 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-12-05T18:14:13.677Z,1354731253.677 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:14:13.683Z,1354731253.683 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-12-05T18:14:13.711Z,1354731253.711 [MassServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:14:13.715Z,1354731253.715 [MassServo](DEBUG): Initializing MassServo.
2012-12-05T18:14:13.733Z,1354731253.733 [RudderServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:14:13.739Z,1354731253.739 [RudderServo](DEBUG): Initializing RudderServo.
2012-12-05T18:14:13.745Z,1354731253.745 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:14:13.751Z,1354731253.751 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:14:16.189Z,1354731256.189 [NAL9602](INFO): Powering up NAL9602
2012-12-05T18:14:26.707Z,1354731266.707 [NAL9602](INFO): NAL9602 initialized
2012-12-05T18:14:26.821Z,1354731266.821 [SBIT](IMPORTANT): Beginning Startup BIT
2012-12-05T18:14:26.824Z,1354731266.824 [CBIT](IMPORTANT): Beginning GF scan
2012-12-05T18:14:27.607Z,1354731267.607 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 300.000000 revolution_per_minute
2012-12-05T18:14:27.609Z,1354731267.609 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-12-05T18:14:28.004Z,1354731268.004 [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,
2012-12-05T18:14:40.691Z,1354731280.691 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-12-05T18:14:40.691Z,1354731280.691 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-12-05T18:14:40.691Z,1354731280.691 [ThrusterServo] Communications Fault, FailCount= 1
2012-12-05T18:14:40.691Z,1354731280.691 [ThrusterServo](ERROR): Communications Fault
2012-12-05T18:14:40.694Z,1354731280.694 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-12-05T18:14:40.895Z,1354731280.895 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:14:40.895Z,1354731280.895 [ThrusterServo](INFO): Powering down
2012-12-05T18:14:40.899Z,1354731280.899 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:14:40.899Z,1354731280.899 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T18:14:41.751Z,1354731281.751 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:14:41.867Z,1354731281.867 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:14:48.498Z,1354731288.498 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-12-05T18:14:48.499Z,1354731288.499 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-12-05T18:14:48.499Z,1354731288.499 [ThrusterServo] Communications Fault, FailCount= 2
2012-12-05T18:14:48.499Z,1354731288.499 [ThrusterServo](ERROR): Communications Fault
2012-12-05T18:14:48.502Z,1354731288.502 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-12-05T18:14:48.940Z,1354731288.940 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:14:48.940Z,1354731288.940 [ThrusterServo](INFO): Powering down
2012-12-05T18:14:48.943Z,1354731288.943 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:14:48.943Z,1354731288.944 [ThrusterServo] No Fault, FailCount= 2
2012-12-05T18:14:49.620Z,1354731289.620 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:14:49.735Z,1354731289.736 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:14:52.731Z,1354731292.731 [CommandLine](IMPORTANT): got command quit
2012-12-05T18:14:53.715Z,1354731293.715 [CBIT](IMPORTANT): No ground fault detected
2012-12-05T18:14:53.926Z,1354731293.926 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-12-05T18:14:53.927Z,1354731293.927 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-12-05T18:14:54.231Z,1354731294.231 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-12-05T18:14:54.483Z,1354731294.483 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:14:54.490Z,1354731294.490 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-12-05T18:14:54.527Z,1354731294.527 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-12-05T18:14:54.530Z,1354731294.530 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-12-05T18:14:54.719Z,1354731294.719 [CTD_NeilBrown](INFO): Powering down
2012-12-05T18:14:54.730Z,1354731294.730 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-12-05T18:14:54.895Z,1354731294.895 [DVL_micro](INFO): uninitialize:Powering down
2012-12-05T18:14:54.911Z,1354731294.911 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-12-05T18:14:55.103Z,1354731295.103 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-12-05T18:14:55.111Z,1354731295.111 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-12-05T18:14:55.171Z,1354731295.171 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-12-05T18:14:55.183Z,1354731295.183 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-12-05T18:14:55.287Z,1354731295.287 [controlThread](DEBUG): Uninitializing ControlThread
2012-12-05T18:14:55.287Z,1354731295.287 [AHRS_sp3003D](INFO): Powering down
2012-12-05T18:14:55.376Z,1354731295.376 [NAL9602](INFO): Powering down
2012-12-05T18:14:55.377Z,1354731295.378 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:14:55.378Z,1354731295.378 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-12-05T18:14:55.383Z,1354731295.383 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-12-05T18:14:55.383Z,1354731295.383 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-12-05T18:14:55.384Z,1354731295.384 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-12-05T18:14:55.384Z,1354731295.384 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-12-05T18:14:55.384Z,1354731295.384 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-12-05T18:14:55.384Z,1354731295.384 [BuoyancyServo](INFO): Powering down
2012-12-05T18:14:55.398Z,1354731295.398 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-12-05T18:14:55.399Z,1354731295.399 [ElevatorServo](INFO): Powering down
2012-12-05T18:14:55.400Z,1354731295.399 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-12-05T18:14:55.400Z,1354731295.400 [MassServo](INFO): Powering down
2012-12-05T18:14:55.400Z,1354731295.400 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-12-05T18:14:55.400Z,1354731295.401 [RudderServo](INFO): Powering down
2012-12-05T18:14:55.401Z,1354731295.401 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:14:55.401Z,1354731295.401 [ThrusterServo](INFO): Powering down
2012-12-05T18:14:55.402Z,1354731295.402 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-12-05T18:14:55.403Z,1354731295.402 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-12-05T18:14:55.403Z,1354731295.403 [CBIT](DEBUG): Uninitialize CBIT Component.