2012-12-05T18:32:02.030Z,1354732322.030 [Supervisor](DEBUG): Initializing supervisor.
2012-12-05T18:32:02.033Z,1354732322.033 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-12-05T18:32:02.034Z,1354732322.033 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-12-05T18:32:02.034Z,1354732322.034 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-12-05T18:32:02.039Z,1354732322.039 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-12-05T18:32:02.051Z,1354732322.051 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-12-05T18:32:02.052Z,1354732322.052 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-12-05T18:32:02.052Z,1354732322.053 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-12-05T18:32:02.054Z,1354732322.053 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-12-05T18:32:02.054Z,1354732322.054 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-12-05T18:32:02.056Z,1354732322.056 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-12-05T18:32:02.331Z,1354732322.331 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-12-05T18:32:02.332Z,1354732322.332 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-12-05T18:32:02.518Z,1354732322.518 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-12-05T18:32:02.519Z,1354732322.519 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-12-05T18:32:02.602Z,1354732322.602 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-12-05T18:32:02.603Z,1354732322.603 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-12-05T18:32:02.797Z,1354732322.797 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-12-05T18:32:02.797Z,1354732322.797 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-12-05T18:32:02.928Z,1354732322.928 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-12-05T18:32:02.929Z,1354732322.929 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-12-05T18:32:03.155Z,1354732323.155 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-12-05T18:32:03.156Z,1354732323.156 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-12-05T18:32:03.325Z,1354732323.325 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-12-05T18:32:03.326Z,1354732323.326 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-12-05T18:32:03.573Z,1354732323.573 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-12-05T18:32:03.574Z,1354732323.574 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-12-05T18:32:03.672Z,1354732323.672 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-12-05T18:32:03.673Z,1354732323.673 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-12-05T18:32:04.070Z,1354732324.070 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-12-05T18:32:04.070Z,1354732324.070 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-12-05T18:32:04.183Z,1354732324.183 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-12-05T18:32:04.184Z,1354732324.184 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-12-05T18:32:04.269Z,1354732324.269 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-12-05T18:32:04.269Z,1354732324.269 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-12-05T18:32:04.369Z,1354732324.369 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-12-05T18:32:04.496Z,1354732324.496 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-12-05T18:32:04.580Z,1354732324.580 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-12-05T18:32:04.680Z,1354732324.680 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-12-05T18:32:04.793Z,1354732324.793 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-12-05T18:32:04.935Z,1354732324.935 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-12-05T18:32:05.033Z,1354732325.033 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-12-05T18:32:05.119Z,1354732325.119 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-12-05T18:32:05.150Z,1354732325.150 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-12-05T18:32:05.305Z,1354732325.305 [InternalSim] Loaded
2012-12-05T18:32:05.305Z,1354732325.305 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-12-05T18:32:05.306Z,1354732325.306 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-12-05T18:32:05.307Z,1354732325.307 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-12-05T18:32:05.366Z,1354732325.365 [SBIT](DEBUG): Construct Startup Built In Test.
2012-12-05T18:32:05.394Z,1354732325.394 [SBIT] Loaded
2012-12-05T18:32:05.394Z,1354732325.394 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-12-05T18:32:05.395Z,1354732325.395 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-12-05T18:32:05.424Z,1354732325.424 [IBIT] Loaded
2012-12-05T18:32:05.424Z,1354732325.424 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-12-05T18:32:05.428Z,1354732325.428 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-12-05T18:32:05.548Z,1354732325.548 [CBIT] Loaded
2012-12-05T18:32:05.549Z,1354732325.549 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-12-05T18:32:05.549Z,1354732325.549 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-12-05T18:32:05.550Z,1354732325.550 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-12-05T18:32:05.699Z,1354732325.699 [BuoyancyServo] Loaded
2012-12-05T18:32:05.699Z,1354732325.699 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-12-05T18:32:05.712Z,1354732325.712 [ElevatorServo] Loaded
2012-12-05T18:32:05.712Z,1354732325.712 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-12-05T18:32:05.724Z,1354732325.724 [MassServo] Loaded
2012-12-05T18:32:05.724Z,1354732325.724 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-12-05T18:32:05.736Z,1354732325.736 [RudderServo] Loaded
2012-12-05T18:32:05.736Z,1354732325.736 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-12-05T18:32:05.748Z,1354732325.748 [ThrusterServo] Loaded
2012-12-05T18:32:05.749Z,1354732325.749 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-12-05T18:32:05.749Z,1354732325.749 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-12-05T18:32:05.750Z,1354732325.750 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-12-05T18:32:05.768Z,1354732325.768 [DepthRateCalculator] Loaded
2012-12-05T18:32:05.769Z,1354732325.769 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-12-05T18:32:08.858Z,1354732328.858 [HFRadarModelCalc] Loaded
2012-12-05T18:32:08.858Z,1354732328.858 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-12-05T18:32:08.874Z,1354732328.874 [NavChart] Loaded
2012-12-05T18:32:08.874Z,1354732328.874 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-12-05T18:32:08.880Z,1354732328.880 [PitchRateCalculator] Loaded
2012-12-05T18:32:08.881Z,1354732328.881 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-12-05T18:32:08.887Z,1354732328.887 [SpeedCalculator] Loaded
2012-12-05T18:32:08.887Z,1354732328.887 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-12-05T18:32:08.902Z,1354732328.902 [TempGradientCalculator] Loaded
2012-12-05T18:32:08.902Z,1354732328.902 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-12-05T18:32:08.908Z,1354732328.908 [YawRateCalculator] Loaded
2012-12-05T18:32:08.908Z,1354732328.908 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-12-05T18:32:08.949Z,1354732328.949 [Navigation] Loaded
2012-12-05T18:32:08.949Z,1354732328.949 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-12-05T18:32:08.950Z,1354732328.950 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-12-05T18:32:08.950Z,1354732328.950 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-12-05T18:32:09.187Z,1354732329.187 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-12-05T18:32:09.188Z,1354732329.188 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-12-05T18:32:09.211Z,1354732329.211 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-12-05T18:32:09.211Z,1354732329.211 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-12-05T18:32:09.253Z,1354732329.253 [VerticalControl](DEBUG): Construct VerticalControl.
2012-12-05T18:32:09.348Z,1354732329.348 [VerticalControl] Loaded
2012-12-05T18:32:09.349Z,1354732329.349 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-12-05T18:32:09.350Z,1354732329.350 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-12-05T18:32:09.406Z,1354732329.406 [HorizontalControl] Loaded
2012-12-05T18:32:09.406Z,1354732329.406 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-12-05T18:32:09.407Z,1354732329.407 [SpeedControl](DEBUG): Construct SpeedControl.
2012-12-05T18:32:09.409Z,1354732329.409 [SpeedControl] Loaded
2012-12-05T18:32:09.409Z,1354732329.409 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-12-05T18:32:09.410Z,1354732329.410 [LoopControl](DEBUG): Construct LoopControl.
2012-12-05T18:32:09.411Z,1354732329.411 [LoopControl] Loaded
2012-12-05T18:32:09.411Z,1354732329.411 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-12-05T18:32:09.412Z,1354732329.412 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-12-05T18:32:09.412Z,1354732329.412 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-12-05T18:32:09.418Z,1354732329.418 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-12-05T18:32:09.423Z,1354732329.423 [AsyncPiEstimator] Loaded
2012-12-05T18:32:09.423Z,1354732329.423 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-12-05T18:32:09.424Z,1354732329.424 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-12-05T18:32:09.425Z,1354732329.425 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-12-05T18:32:09.425Z,1354732329.425 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-12-05T18:32:09.555Z,1354732329.555 [AHRS_sp3003D] Loaded
2012-12-05T18:32:09.556Z,1354732329.556 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-12-05T18:32:09.818Z,1354732329.818 [Batt_Ocean_Server] Loaded
2012-12-05T18:32:09.818Z,1354732329.818 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-12-05T18:32:09.831Z,1354732329.832 [Depth_Keller] Loaded
2012-12-05T18:32:09.832Z,1354732329.832 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-12-05T18:32:09.837Z,1354732329.838 [DropWeight] Loaded
2012-12-05T18:32:09.838Z,1354732329.838 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-12-05T18:32:09.999Z,1354732329.999 [DVL_micro] Loaded
2012-12-05T18:32:09.000Z,1354732330.000 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-12-05T18:32:10.001Z,1354732330.001 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-12-05T18:32:10.083Z,1354732330.083 [NAL9602] Loaded
2012-12-05T18:32:10.084Z,1354732330.084 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-12-05T18:32:10.134Z,1354732330.134 [Onboard] Loaded
2012-12-05T18:32:10.135Z,1354732330.135 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-12-05T18:32:10.141Z,1354732330.141 [Radio_Freewave] Loaded
2012-12-05T18:32:10.141Z,1354732330.141 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-12-05T18:32:10.142Z,1354732330.142 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-12-05T18:32:10.143Z,1354732330.143 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-12-05T18:32:10.232Z,1354732330.232 [CTD_NeilBrown] Loaded
2012-12-05T18:32:10.233Z,1354732330.233 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-12-05T18:32:10.234Z,1354732330.234 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-12-05T18:32:10.250Z,1354732330.250 [PAR_Licor] Loaded
2012-12-05T18:32:10.251Z,1354732330.251 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-12-05T18:32:10.304Z,1354732330.304 [Turbulence_NPS] Loaded
2012-12-05T18:32:10.304Z,1354732330.304 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-12-05T18:32:10.305Z,1354732330.305 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-12-05T18:32:10.335Z,1354732330.335 [WetLabsBB2FL] Loaded
2012-12-05T18:32:10.336Z,1354732330.336 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-12-05T18:32:10.337Z,1354732330.337 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-12-05T18:32:10.337Z,1354732330.337 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-12-05T18:32:10.340Z,1354732330.340 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-12-05T18:32:10.341Z,1354732330.341 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-12-05T18:32:10.348Z,1354732330.348 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-12-05T18:32:10.349Z,1354732330.349 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-12-05T18:32:10.354Z,1354732330.353 [Supervisor](DEBUG): Running supervisor.
2012-12-05T18:32:10.355Z,1354732330.355 [CommandLine](INFO): Thread ID is 1914
2012-12-05T18:32:10.357Z,1354732330.357 [controlThread](INFO): Thread ID is 1913
2012-12-05T18:32:10.357Z,1354732330.358 [controlThread](DEBUG): Initializing ControlThread
2012-12-05T18:32:10.358Z,1354732330.358 [CycleStarter](INFO): Thread ID is 1912
2012-12-05T18:32:10.359Z,1354732330.359 [InternalSim](DEBUG):  InternalSim initializing...
2012-12-05T18:32:10.395Z,1354732330.395 [logger](INFO): Thread ID is 1915
2012-12-05T18:32:10.420Z,1354732330.420 [SBIT](INFO): Initialize SBIT Component.
2012-12-05T18:32:10.421Z,1354732330.421 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10097
2012-12-05T18:32:10.421Z,1354732330.421 [IBIT](INFO): Initialize IBIT Component.
2012-12-05T18:32:10.422Z,1354732330.422 [CBIT](DEBUG): Initialize CBIT Component.
2012-12-05T18:32:10.423Z,1354732330.423 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-12-05T18:32:10.431Z,1354732330.431 [AsyncPiEstimator](INFO): Thread ID is 1976
2012-12-05T18:32:10.431Z,1354732330.431 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-12-05T18:32:10.450Z,1354732330.450 [DVL_micro](INFO): Thread ID is 1977
2012-12-05T18:32:10.452Z,1354732330.452 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:32:10.453Z,1354732330.453 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-12-05T18:32:10.453Z,1354732330.453 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-12-05T18:32:10.453Z,1354732330.453 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-12-05T18:32:10.454Z,1354732330.454 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-12-05T18:32:10.455Z,1354732330.455 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-12-05T18:32:10.456Z,1354732330.456 [Navigation](DEBUG): Initializing Navigation.
2012-12-05T18:32:10.456Z,1354732330.456 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-12-05T18:32:10.458Z,1354732330.458 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-12-05T18:32:10.467Z,1354732330.467 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-12-05T18:32:10.467Z,1354732330.467 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-12-05T18:32:10.470Z,1354732330.470 [DVL_micro](INFO): Initializing
2012-12-05T18:32:10.471Z,1354732330.471 [DVL_micro](INFO): start:Powering up
2012-12-05T18:32:10.471Z,1354732330.471 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:32:10.472Z,1354732330.472 [DVL_micro](INFO): Cycling power to configure device.
2012-12-05T18:32:10.476Z,1354732330.476 [CTD_NeilBrown](INFO): Thread ID is 1978
2012-12-05T18:32:10.476Z,1354732330.476 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-12-05T18:32:10.479Z,1354732330.479 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-12-05T18:32:10.488Z,1354732330.488 [Turbulence_NPS](INFO): Thread ID is 1979
2012-12-05T18:32:10.489Z,1354732330.489 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-12-05T18:32:10.489Z,1354732330.489 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-12-05T18:32:10.523Z,1354732330.523 [WetLabsBB2FL](INFO): Thread ID is 1980
2012-12-05T18:32:10.524Z,1354732330.524 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:32:10.559Z,1354732330.559 [NavChartDb](INFO): Thread ID is 1981
2012-12-05T18:32:10.562Z,1354732330.562 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-12-05T18:32:10.563Z,1354732330.563 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-12-05T18:32:10.563Z,1354732330.563 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-12-05T18:32:10.563Z,1354732330.563 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-12-05T18:32:10.564Z,1354732330.564 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-12-05T18:32:10.567Z,1354732330.567 [Turbulence_NPS](INFO): Pause powering down
2012-12-05T18:32:12.179Z,1354732332.179 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-12-05T18:32:12.230Z,1354732332.230 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-12-05T18:32:12.258Z,1354732332.258 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:32:12.281Z,1354732332.281 [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>


2012-12-05T18:32:12.282Z,1354732332.282 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-12-05T18:32:12.377Z,1354732332.377 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-12-05T18:32:12.391Z,1354732332.391 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:32:12.395Z,1354732332.395 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:32:12.427Z,1354732332.427 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:32:12.430Z,1354732332.430 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:32:12.458Z,1354732332.458 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-12-05T18:32:12.479Z,1354732332.479 [Default:D.SetSpeed](DEBUG): Construct.
2012-12-05T18:32:12.482Z,1354732332.482 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:32:12.487Z,1354732332.487 [Default:F.Wait](DEBUG): Construct Wait.
2012-12-05T18:32:12.490Z,1354732332.490 [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>


2012-12-05T18:32:12.535Z,1354732332.535 [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,
2012-12-05T18:32:12.563Z,1354732332.563 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:32:12.563Z,1354732332.563 [DVL_micro](INFO): Querying output modes
2012-12-05T18:32:12.563Z,1354732332.563 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-12-05T18:32:12.575Z,1354732332.575 [DVL_micro](DEBUG): cmdResponse: 01
2012-12-05T18:32:12.575Z,1354732332.575 [DVL_micro](INFO): NQ1 output enabled
2012-12-05T18:32:12.575Z,1354732332.575 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-12-05T18:32:12.576Z,1354732332.576 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-12-05T18:32:12.587Z,1354732332.587 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-12-05T18:32:12.592Z,1354732332.592 [DVL_micro](INFO): pause:Powering down
2012-12-05T18:32:12.791Z,1354732332.791 [Radio_Freewave](INFO): Powering up
2012-12-05T18:32:13.040Z,1354732333.040 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:32:13.047Z,1354732333.047 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-12-05T18:32:13.057Z,1354732333.057 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:32:13.063Z,1354732333.063 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-12-05T18:32:13.069Z,1354732333.069 [MassServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:32:13.075Z,1354732333.075 [MassServo](DEBUG): Initializing MassServo.
2012-12-05T18:32:13.081Z,1354732333.081 [RudderServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:32:13.087Z,1354732333.087 [RudderServo](DEBUG): Initializing RudderServo.
2012-12-05T18:32:13.093Z,1354732333.092 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:32:13.123Z,1354732333.123 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:32:14.102Z,1354732334.102 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-12-05T18:32:14.103Z,1354732334.103 [ThrusterServo](FAULT): Thruster failed to initialize
2012-12-05T18:32:14.103Z,1354732334.103 [ThrusterServo] Communications Fault, FailCount= 1
2012-12-05T18:32:14.103Z,1354732334.103 [ThrusterServo](ERROR): Communications Fault
2012-12-05T18:32:14.105Z,1354732334.105 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-12-05T18:32:14.372Z,1354732334.372 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:32:14.373Z,1354732334.373 [ThrusterServo](INFO): Powering down
2012-12-05T18:32:14.446Z,1354732334.446 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:32:14.446Z,1354732334.446 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T18:32:15.087Z,1354732335.087 [NAL9602](INFO): Powering up NAL9602
2012-12-05T18:32:15.153Z,1354732335.153 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:32:15.271Z,1354732335.271 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:32:16.115Z,1354732336.115 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-12-05T18:32:16.115Z,1354732336.115 [ThrusterServo](FAULT): Thruster failed to initialize
2012-12-05T18:32:16.115Z,1354732336.115 [ThrusterServo] Communications Fault, FailCount= 2
2012-12-05T18:32:16.115Z,1354732336.115 [ThrusterServo](ERROR): Communications Fault
2012-12-05T18:32:16.117Z,1354732336.117 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-12-05T18:32:16.632Z,1354732336.632 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:32:16.632Z,1354732336.632 [ThrusterServo](INFO): Powering down
2012-12-05T18:32:16.635Z,1354732336.635 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:32:16.635Z,1354732336.635 [ThrusterServo] No Fault, FailCount= 2
2012-12-05T18:32:17.672Z,1354732337.672 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:32:17.787Z,1354732337.787 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:32:22.587Z,1354732342.587 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 300.000000 revolution_per_minute
2012-12-05T18:32:22.589Z,1354732342.589 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-12-05T18:32:22.983Z,1354732342.983 [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,
2012-12-05T18:32:25.611Z,1354732345.611 [NAL9602](INFO): NAL9602 initialized
2012-12-05T18:32:26.076Z,1354732346.076 [SBIT](IMPORTANT): Beginning Startup BIT
2012-12-05T18:32:26.079Z,1354732346.079 [CBIT](IMPORTANT): Beginning GF scan
2012-12-05T18:32:43.103Z,1354732363.103 [ThrusterServo](FAULT): Overload Error
2012-12-05T18:32:43.103Z,1354732363.103 [ThrusterServo] Hardware Fault, FailCount= 1
2012-12-05T18:32:43.103Z,1354732363.103 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T18:32:43.107Z,1354732363.107 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T18:32:43.408Z,1354732363.408 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:32:43.408Z,1354732363.408 [ThrusterServo](INFO): Powering down
2012-12-05T18:32:43.411Z,1354732363.411 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:32:43.411Z,1354732363.411 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T18:32:44.219Z,1354732364.219 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:32:44.339Z,1354732364.339 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:32:45.202Z,1354732365.202 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-12-05T18:32:45.203Z,1354732365.203 [ThrusterServo](FAULT): Thruster failed to initialize
2012-12-05T18:32:45.203Z,1354732365.203 [ThrusterServo] Communications Fault, FailCount= 2
2012-12-05T18:32:45.203Z,1354732365.203 [ThrusterServo](ERROR): Communications Fault
2012-12-05T18:32:45.206Z,1354732365.206 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-12-05T18:32:45.523Z,1354732365.523 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:32:45.523Z,1354732365.523 [ThrusterServo](INFO): Powering down
2012-12-05T18:32:45.527Z,1354732365.527 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:32:45.527Z,1354732365.527 [ThrusterServo] No Fault, FailCount= 2
2012-12-05T18:32:46.347Z,1354732366.347 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:32:46.467Z,1354732366.467 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:32:47.350Z,1354732367.350 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2012-12-05T18:32:47.351Z,1354732367.351 [ThrusterServo](FAULT): Thruster failed to initialize
2012-12-05T18:32:47.351Z,1354732367.351 [ThrusterServo] Communications Fault, FailCount= 3
2012-12-05T18:32:47.351Z,1354732367.351 [ThrusterServo](ERROR): Communications Fault
2012-12-05T18:32:47.354Z,1354732367.354 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-12-05T18:32:47.596Z,1354732367.596 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:32:47.596Z,1354732367.596 [ThrusterServo](INFO): Powering down
2012-12-05T18:32:47.615Z,1354732367.615 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:32:47.616Z,1354732367.616 [ThrusterServo] No Fault, FailCount= 3
2012-12-05T18:32:48.464Z,1354732368.464 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:32:48.579Z,1354732368.579 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:32:52.858Z,1354732372.858 [CBIT](IMPORTANT): No ground fault detected
2012-12-05T18:32:58.759Z,1354732378.759 [CommandLine](IMPORTANT): got command quit
2012-12-05T18:32:59.810Z,1354732379.810 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-12-05T18:32:59.811Z,1354732379.810 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-12-05T18:33:00.050Z,1354732380.050 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-12-05T18:33:00.255Z,1354732380.255 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:33:00.274Z,1354732380.274 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-12-05T18:33:00.307Z,1354732380.307 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-12-05T18:33:00.314Z,1354732380.314 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-12-05T18:33:00.375Z,1354732380.375 [CTD_NeilBrown](INFO): Powering down
2012-12-05T18:33:00.395Z,1354732380.395 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-12-05T18:33:00.711Z,1354732380.711 [DVL_micro](INFO): uninitialize:Powering down
2012-12-05T18:33:00.723Z,1354732380.723 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-12-05T18:33:00.767Z,1354732380.767 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-12-05T18:33:00.783Z,1354732380.783 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-12-05T18:33:00.807Z,1354732380.807 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-12-05T18:33:00.809Z,1354732380.809 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-12-05T18:33:00.819Z,1354732380.819 [controlThread](DEBUG): Uninitializing ControlThread
2012-12-05T18:33:00.819Z,1354732380.819 [AHRS_sp3003D](INFO): Powering down
2012-12-05T18:33:00.908Z,1354732380.908 [NAL9602](INFO): Powering down
2012-12-05T18:33:00.910Z,1354732380.909 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:33:00.910Z,1354732380.910 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-12-05T18:33:00.915Z,1354732380.915 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-12-05T18:33:00.916Z,1354732380.916 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-12-05T18:33:00.916Z,1354732380.916 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-12-05T18:33:00.916Z,1354732380.916 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-12-05T18:33:00.917Z,1354732380.917 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-12-05T18:33:00.917Z,1354732380.917 [BuoyancyServo](INFO): Powering down
2012-12-05T18:33:00.930Z,1354732380.931 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-12-05T18:33:00.931Z,1354732380.931 [ElevatorServo](INFO): Powering down
2012-12-05T18:33:00.931Z,1354732380.931 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-12-05T18:33:00.932Z,1354732380.931 [MassServo](INFO): Powering down
2012-12-05T18:33:00.932Z,1354732380.932 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-12-05T18:33:00.932Z,1354732380.932 [RudderServo](INFO): Powering down
2012-12-05T18:33:00.933Z,1354732380.933 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:33:00.933Z,1354732380.933 [ThrusterServo](INFO): Powering down
2012-12-05T18:33:00.934Z,1354732380.934 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-12-05T18:33:00.935Z,1354732380.935 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-12-05T18:33:00.935Z,1354732380.935 [CBIT](DEBUG): Uninitialize CBIT Component.