2012-12-05T18:35:21.684Z,1354732521.684 [Supervisor](DEBUG): Initializing supervisor.
2012-12-05T18:35:21.688Z,1354732521.688 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-12-05T18:35:21.688Z,1354732521.688 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-12-05T18:35:21.689Z,1354732521.689 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-12-05T18:35:21.694Z,1354732521.694 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-12-05T18:35:21.705Z,1354732521.705 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-12-05T18:35:21.706Z,1354732521.706 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-12-05T18:35:21.707Z,1354732521.707 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-12-05T18:35:21.708Z,1354732521.708 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-12-05T18:35:21.709Z,1354732521.709 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-12-05T18:35:21.710Z,1354732521.710 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-12-05T18:35:21.989Z,1354732521.989 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-12-05T18:35:21.990Z,1354732521.990 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-12-05T18:35:22.181Z,1354732522.181 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-12-05T18:35:22.181Z,1354732522.181 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-12-05T18:35:22.265Z,1354732522.265 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-12-05T18:35:22.266Z,1354732522.266 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-12-05T18:35:22.460Z,1354732522.460 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-12-05T18:35:22.461Z,1354732522.461 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-12-05T18:35:22.592Z,1354732522.592 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-12-05T18:35:22.593Z,1354732522.593 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-12-05T18:35:22.820Z,1354732522.820 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-12-05T18:35:22.820Z,1354732522.820 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-12-05T18:35:22.988Z,1354732522.988 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-12-05T18:35:22.989Z,1354732522.989 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-12-05T18:35:23.237Z,1354732523.237 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-12-05T18:35:23.237Z,1354732523.237 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-12-05T18:35:23.335Z,1354732523.335 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-12-05T18:35:23.335Z,1354732523.335 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-12-05T18:35:23.731Z,1354732523.731 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-12-05T18:35:23.732Z,1354732523.731 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-12-05T18:35:23.868Z,1354732523.868 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-12-05T18:35:23.868Z,1354732523.868 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-12-05T18:35:23.961Z,1354732523.961 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-12-05T18:35:23.961Z,1354732523.961 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-12-05T18:35:24.061Z,1354732524.061 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-12-05T18:35:24.188Z,1354732524.188 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-12-05T18:35:24.272Z,1354732524.272 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-12-05T18:35:24.371Z,1354732524.372 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-12-05T18:35:24.470Z,1354732524.470 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-12-05T18:35:24.587Z,1354732524.587 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-12-05T18:35:24.678Z,1354732524.678 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-12-05T18:35:24.764Z,1354732524.764 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-12-05T18:35:24.795Z,1354732524.795 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-12-05T18:35:24.949Z,1354732524.949 [InternalSim] Loaded
2012-12-05T18:35:24.949Z,1354732524.949 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-12-05T18:35:24.950Z,1354732524.950 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-12-05T18:35:24.951Z,1354732524.951 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-12-05T18:35:25.010Z,1354732525.010 [SBIT](DEBUG): Construct Startup Built In Test.
2012-12-05T18:35:25.038Z,1354732525.038 [SBIT] Loaded
2012-12-05T18:35:25.038Z,1354732525.038 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-12-05T18:35:25.039Z,1354732525.039 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-12-05T18:35:25.068Z,1354732525.068 [IBIT] Loaded
2012-12-05T18:35:25.068Z,1354732525.068 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-12-05T18:35:25.071Z,1354732525.071 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-12-05T18:35:25.191Z,1354732525.191 [CBIT] Loaded
2012-12-05T18:35:25.191Z,1354732525.191 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-12-05T18:35:25.192Z,1354732525.192 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-12-05T18:35:25.192Z,1354732525.192 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-12-05T18:35:25.343Z,1354732525.343 [BuoyancyServo] Loaded
2012-12-05T18:35:25.343Z,1354732525.343 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-12-05T18:35:25.356Z,1354732525.356 [ElevatorServo] Loaded
2012-12-05T18:35:25.356Z,1354732525.356 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-12-05T18:35:25.368Z,1354732525.368 [MassServo] Loaded
2012-12-05T18:35:25.368Z,1354732525.368 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-12-05T18:35:25.380Z,1354732525.380 [RudderServo] Loaded
2012-12-05T18:35:25.380Z,1354732525.380 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-12-05T18:35:25.392Z,1354732525.392 [ThrusterServo] Loaded
2012-12-05T18:35:25.393Z,1354732525.393 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-12-05T18:35:25.393Z,1354732525.393 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-12-05T18:35:25.394Z,1354732525.394 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-12-05T18:35:25.412Z,1354732525.412 [DepthRateCalculator] Loaded
2012-12-05T18:35:25.412Z,1354732525.412 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-12-05T18:35:28.500Z,1354732528.500 [HFRadarModelCalc] Loaded
2012-12-05T18:35:28.501Z,1354732528.501 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-12-05T18:35:28.517Z,1354732528.517 [NavChart] Loaded
2012-12-05T18:35:28.517Z,1354732528.517 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-12-05T18:35:28.523Z,1354732528.523 [PitchRateCalculator] Loaded
2012-12-05T18:35:28.524Z,1354732528.523 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-12-05T18:35:28.530Z,1354732528.530 [SpeedCalculator] Loaded
2012-12-05T18:35:28.530Z,1354732528.530 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-12-05T18:35:28.545Z,1354732528.545 [TempGradientCalculator] Loaded
2012-12-05T18:35:28.545Z,1354732528.545 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-12-05T18:35:28.551Z,1354732528.551 [YawRateCalculator] Loaded
2012-12-05T18:35:28.552Z,1354732528.552 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-12-05T18:35:28.592Z,1354732528.592 [Navigation] Loaded
2012-12-05T18:35:28.592Z,1354732528.592 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-12-05T18:35:28.593Z,1354732528.593 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-12-05T18:35:28.593Z,1354732528.593 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-12-05T18:35:28.815Z,1354732528.815 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-12-05T18:35:28.816Z,1354732528.816 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-12-05T18:35:28.839Z,1354732528.839 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-12-05T18:35:28.840Z,1354732528.839 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-12-05T18:35:28.882Z,1354732528.882 [VerticalControl](DEBUG): Construct VerticalControl.
2012-12-05T18:35:28.976Z,1354732528.976 [VerticalControl] Loaded
2012-12-05T18:35:28.977Z,1354732528.977 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-12-05T18:35:28.978Z,1354732528.978 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-12-05T18:35:29.034Z,1354732529.034 [HorizontalControl] Loaded
2012-12-05T18:35:29.034Z,1354732529.034 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-12-05T18:35:29.035Z,1354732529.035 [SpeedControl](DEBUG): Construct SpeedControl.
2012-12-05T18:35:29.037Z,1354732529.037 [SpeedControl] Loaded
2012-12-05T18:35:29.037Z,1354732529.037 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-12-05T18:35:29.038Z,1354732529.038 [LoopControl](DEBUG): Construct LoopControl.
2012-12-05T18:35:29.038Z,1354732529.039 [LoopControl] Loaded
2012-12-05T18:35:29.039Z,1354732529.039 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-12-05T18:35:29.039Z,1354732529.039 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-12-05T18:35:29.040Z,1354732529.040 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-12-05T18:35:29.052Z,1354732529.052 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-12-05T18:35:29.057Z,1354732529.057 [AsyncPiEstimator] Loaded
2012-12-05T18:35:29.057Z,1354732529.057 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-12-05T18:35:29.059Z,1354732529.059 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-12-05T18:35:29.061Z,1354732529.061 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-12-05T18:35:29.061Z,1354732529.061 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-12-05T18:35:29.200Z,1354732529.200 [AHRS_sp3003D] Loaded
2012-12-05T18:35:29.201Z,1354732529.201 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-12-05T18:35:29.460Z,1354732529.460 [Batt_Ocean_Server] Loaded
2012-12-05T18:35:29.461Z,1354732529.461 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-12-05T18:35:29.474Z,1354732529.474 [Depth_Keller] Loaded
2012-12-05T18:35:29.474Z,1354732529.474 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-12-05T18:35:29.480Z,1354732529.480 [DropWeight] Loaded
2012-12-05T18:35:29.480Z,1354732529.480 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-12-05T18:35:29.642Z,1354732529.642 [DVL_micro] Loaded
2012-12-05T18:35:29.642Z,1354732529.642 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-12-05T18:35:29.643Z,1354732529.643 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-12-05T18:35:29.726Z,1354732529.726 [NAL9602] Loaded
2012-12-05T18:35:29.726Z,1354732529.726 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-12-05T18:35:29.777Z,1354732529.777 [Onboard] Loaded
2012-12-05T18:35:29.777Z,1354732529.777 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-12-05T18:35:29.784Z,1354732529.784 [Radio_Freewave] Loaded
2012-12-05T18:35:29.784Z,1354732529.784 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-12-05T18:35:29.785Z,1354732529.785 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-12-05T18:35:29.786Z,1354732529.786 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-12-05T18:35:29.861Z,1354732529.861 [CTD_NeilBrown] Loaded
2012-12-05T18:35:29.861Z,1354732529.861 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-12-05T18:35:29.862Z,1354732529.862 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-12-05T18:35:29.879Z,1354732529.879 [PAR_Licor] Loaded
2012-12-05T18:35:29.879Z,1354732529.879 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-12-05T18:35:29.931Z,1354732529.931 [Turbulence_NPS] Loaded
2012-12-05T18:35:29.932Z,1354732529.932 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-12-05T18:35:29.933Z,1354732529.933 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-12-05T18:35:29.963Z,1354732529.963 [WetLabsBB2FL] Loaded
2012-12-05T18:35:29.963Z,1354732529.963 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-12-05T18:35:29.964Z,1354732529.964 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-12-05T18:35:29.965Z,1354732529.965 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-12-05T18:35:29.967Z,1354732529.967 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-12-05T18:35:29.969Z,1354732529.969 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-12-05T18:35:29.975Z,1354732529.976 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-12-05T18:35:29.977Z,1354732529.977 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-12-05T18:35:29.981Z,1354732529.981 [Supervisor](DEBUG): Running supervisor.
2012-12-05T18:35:29.982Z,1354732529.982 [CommandLine](INFO): Thread ID is 2110
2012-12-05T18:35:29.985Z,1354732529.985 [controlThread](INFO): Thread ID is 2109
2012-12-05T18:35:29.985Z,1354732529.985 [controlThread](DEBUG): Initializing ControlThread
2012-12-05T18:35:29.986Z,1354732529.986 [CycleStarter](INFO): Thread ID is 2108
2012-12-05T18:35:29.986Z,1354732529.986 [InternalSim](DEBUG):  InternalSim initializing...
2012-12-05T18:35:30.019Z,1354732530.019 [logger](INFO): Thread ID is 2111
2012-12-05T18:35:30.047Z,1354732530.047 [SBIT](INFO): Initialize SBIT Component.
2012-12-05T18:35:30.048Z,1354732530.048 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10097
2012-12-05T18:35:30.048Z,1354732530.048 [IBIT](INFO): Initialize IBIT Component.
2012-12-05T18:35:30.049Z,1354732530.049 [CBIT](DEBUG): Initialize CBIT Component.
2012-12-05T18:35:30.049Z,1354732530.049 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-12-05T18:35:30.059Z,1354732530.059 [AsyncPiEstimator](INFO): Thread ID is 2172
2012-12-05T18:35:30.059Z,1354732530.059 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-12-05T18:35:30.074Z,1354732530.074 [DVL_micro](INFO): Thread ID is 2173
2012-12-05T18:35:30.080Z,1354732530.080 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:35:30.080Z,1354732530.080 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-12-05T18:35:30.081Z,1354732530.081 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-12-05T18:35:30.081Z,1354732530.081 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-12-05T18:35:30.081Z,1354732530.081 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-12-05T18:35:30.083Z,1354732530.083 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-12-05T18:35:30.084Z,1354732530.084 [Navigation](DEBUG): Initializing Navigation.
2012-12-05T18:35:30.084Z,1354732530.084 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-12-05T18:35:30.086Z,1354732530.086 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-12-05T18:35:30.087Z,1354732530.087 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-12-05T18:35:30.087Z,1354732530.087 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-12-05T18:35:30.094Z,1354732530.094 [DVL_micro](INFO): Initializing
2012-12-05T18:35:30.094Z,1354732530.094 [DVL_micro](INFO): start:Powering up
2012-12-05T18:35:30.095Z,1354732530.095 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:35:30.096Z,1354732530.096 [DVL_micro](INFO): Cycling power to configure device.
2012-12-05T18:35:30.099Z,1354732530.099 [CTD_NeilBrown](INFO): Thread ID is 2174
2012-12-05T18:35:30.100Z,1354732530.100 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-12-05T18:35:30.104Z,1354732530.104 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-12-05T18:35:30.112Z,1354732530.112 [Turbulence_NPS](INFO): Thread ID is 2175
2012-12-05T18:35:30.112Z,1354732530.112 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-12-05T18:35:30.113Z,1354732530.113 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-12-05T18:35:30.143Z,1354732530.143 [WetLabsBB2FL](INFO): Thread ID is 2176
2012-12-05T18:35:30.147Z,1354732530.147 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:35:30.171Z,1354732530.171 [NavChartDb](INFO): Thread ID is 2177
2012-12-05T18:35:30.174Z,1354732530.174 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-12-05T18:35:30.175Z,1354732530.175 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-12-05T18:35:30.175Z,1354732530.175 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-12-05T18:35:30.175Z,1354732530.175 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-12-05T18:35:30.176Z,1354732530.175 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-12-05T18:35:30.192Z,1354732530.192 [Turbulence_NPS](INFO): Pause powering down
2012-12-05T18:35:31.455Z,1354732531.455 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2012-12-05T18:35:31.455Z,1354732531.455 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2012-12-05T18:35:31.455Z,1354732531.455 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2012-12-05T18:35:31.455Z,1354732531.455 [Batt_Ocean_Server](ERROR): Communications Fault
2012-12-05T18:35:31.463Z,1354732531.463 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-12-05T18:35:31.489Z,1354732531.489 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:35:31.516Z,1354732531.516 [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>


2012-12-05T18:35:31.516Z,1354732531.516 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-12-05T18:35:31.601Z,1354732531.601 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-12-05T18:35:31.603Z,1354732531.603 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:35:31.606Z,1354732531.606 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:35:31.634Z,1354732531.634 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:35:31.637Z,1354732531.637 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:35:31.660Z,1354732531.660 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-12-05T18:35:31.681Z,1354732531.681 [Default:D.SetSpeed](DEBUG): Construct.
2012-12-05T18:35:31.704Z,1354732531.704 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:35:31.709Z,1354732531.709 [Default:F.Wait](DEBUG): Construct Wait.
2012-12-05T18:35:31.712Z,1354732531.712 [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>


2012-12-05T18:35:31.717Z,1354732531.717 [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,
2012-12-05T18:35:31.782Z,1354732531.782 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-12-05T18:35:31.967Z,1354732531.967 [Radio_Freewave](INFO): Powering up
2012-12-05T18:35:32.176Z,1354732532.176 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:35:32.183Z,1354732532.183 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-12-05T18:35:32.189Z,1354732532.189 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:35:32.195Z,1354732532.195 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-12-05T18:35:32.201Z,1354732532.201 [MassServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:35:32.207Z,1354732532.207 [MassServo](DEBUG): Initializing MassServo.
2012-12-05T18:35:32.212Z,1354732532.212 [RudderServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:35:32.219Z,1354732532.219 [RudderServo](DEBUG): Initializing RudderServo.
2012-12-05T18:35:32.244Z,1354732532.244 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:35:32.251Z,1354732532.251 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:35:32.267Z,1354732532.267 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:35:32.267Z,1354732532.267 [DVL_micro](INFO): Querying output modes
2012-12-05T18:35:32.268Z,1354732532.267 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-12-05T18:35:32.278Z,1354732532.279 [DVL_micro](DEBUG): cmdResponse: 01
2012-12-05T18:35:32.279Z,1354732532.279 [DVL_micro](INFO): NQ1 output enabled
2012-12-05T18:35:32.279Z,1354732532.279 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-12-05T18:35:32.289Z,1354732532.289 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2012-12-05T18:35:32.289Z,1354732532.289 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2012-12-05T18:35:32.290Z,1354732532.290 [Batt_Ocean_Server] No Fault, FailCount= 1
2012-12-05T18:35:32.291Z,1354732532.291 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-12-05T18:35:32.296Z,1354732532.296 [DVL_micro](INFO): pause:Powering down
2012-12-05T18:35:34.194Z,1354732534.194 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-12-05T18:35:34.887Z,1354732534.887 [NAL9602](INFO): Powering up NAL9602
2012-12-05T18:35:45.519Z,1354732545.519 [NAL9602](INFO): NAL9602 initialized
2012-12-05T18:35:45.673Z,1354732545.673 [SBIT](IMPORTANT): Beginning Startup BIT
2012-12-05T18:35:45.675Z,1354732545.675 [CBIT](IMPORTANT): Beginning GF scan
2012-12-05T18:35:53.391Z,1354732553.391 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 300.000000 revolution_per_minute
2012-12-05T18:35:53.393Z,1354732553.393 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-12-05T18:35:53.600Z,1354732553.600 [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,
2012-12-05T18:36:05.191Z,1354732565.191 [ThrusterServo](FAULT): Overload Error
2012-12-05T18:36:05.191Z,1354732565.191 [ThrusterServo] Hardware Fault, FailCount= 1
2012-12-05T18:36:05.191Z,1354732565.191 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T18:36:05.194Z,1354732565.194 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T18:36:05.503Z,1354732565.503 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:36:05.504Z,1354732565.504 [ThrusterServo](INFO): Powering down
2012-12-05T18:36:05.507Z,1354732565.507 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:36:05.507Z,1354732565.507 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T18:36:06.380Z,1354732566.379 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:36:06.499Z,1354732566.499 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:36:12.506Z,1354732572.506 [CBIT](IMPORTANT): No ground fault detected
2012-12-05T18:36:22.470Z,1354732582.470 [ThrusterServo](FAULT): Overload Error
2012-12-05T18:36:22.471Z,1354732582.471 [ThrusterServo] Hardware Fault, FailCount= 1
2012-12-05T18:36:22.471Z,1354732582.471 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T18:36:22.474Z,1354732582.474 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T18:36:22.845Z,1354732582.845 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:36:22.845Z,1354732582.845 [ThrusterServo](INFO): Powering down
2012-12-05T18:36:22.849Z,1354732582.849 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:36:22.849Z,1354732582.849 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T18:36:23.661Z,1354732583.661 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:36:23.775Z,1354732583.776 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:36:35.251Z,1354732595.251 [CommandLine](IMPORTANT): got command maintain clear
2012-12-05T18:36:35.642Z,1354732595.642 [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,
2012-12-05T18:36:39.136Z,1354732599.136 [SBIT](IMPORTANT): SBIT PASSED
2012-12-05T18:36:39.503Z,1354732599.503 [MissionManager](IMPORTANT): Started mission Startup
2012-12-05T18:36:39.503Z,1354732599.503 [Startup] Running Loop=1
2012-12-05T18:36:39.503Z,1354732599.503 [Startup](INFO): Aggregate::initialize Startup
2012-12-05T18:36:39.503Z,1354732599.503 [Startup:A.GoToSurface] Running Loop=1
2012-12-05T18:36:39.503Z,1354732599.503 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-12-05T18:36:39.509Z,1354732599.509 [Startup:StartupSatComms] Running Loop=1
2012-12-05T18:36:39.510Z,1354732599.510 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-12-05T18:36:39.510Z,1354732599.510 [Startup:StartupSatComms:A] Running Loop=1
2012-12-05T18:36:39.946Z,1354732599.946 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-12-05T18:37:28.811Z,1354732648.811 [CommandLine](IMPORTANT): got command restart application
2012-12-05T18:37:29.906Z,1354732649.906 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-12-05T18:37:29.907Z,1354732649.907 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-12-05T18:37:30.158Z,1354732650.158 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-12-05T18:37:30.267Z,1354732650.267 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:37:30.283Z,1354732650.283 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-12-05T18:37:30.307Z,1354732650.307 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-12-05T18:37:30.308Z,1354732650.308 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-12-05T18:37:30.427Z,1354732650.427 [CTD_NeilBrown](INFO): Powering down
2012-12-05T18:37:30.431Z,1354732650.431 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-12-05T18:37:30.759Z,1354732650.759 [DVL_micro](INFO): uninitialize:Powering down
2012-12-05T18:37:30.775Z,1354732650.775 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-12-05T18:37:31.063Z,1354732651.063 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-12-05T18:37:31.076Z,1354732651.076 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-12-05T18:37:31.127Z,1354732651.127 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-12-05T18:37:31.129Z,1354732651.129 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-12-05T18:37:31.170Z,1354732651.170 [controlThread](DEBUG): Uninitializing ControlThread
2012-12-05T18:37:31.171Z,1354732651.171 [AHRS_sp3003D](INFO): Powering down
2012-12-05T18:37:31.259Z,1354732651.260 [NAL9602](INFO): Powering down
2012-12-05T18:37:31.261Z,1354732651.261 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:37:31.262Z,1354732651.262 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-12-05T18:37:31.266Z,1354732651.266 [Startup] Stopped
2012-12-05T18:37:31.266Z,1354732651.266 [Startup](INFO): Aggregate::uninitialize Startup
2012-12-05T18:37:31.266Z,1354732651.266 [Startup:A.GoToSurface] Stopped
2012-12-05T18:37:31.267Z,1354732651.267 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2012-12-05T18:37:31.267Z,1354732651.267 [Startup:StartupSatComms] Stopped
2012-12-05T18:37:31.267Z,1354732651.267 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2012-12-05T18:37:31.267Z,1354732651.267 [Startup:StartupSatComms:A] Stopped
2012-12-05T18:37:31.268Z,1354732651.268 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-12-05T18:37:31.269Z,1354732651.269 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-12-05T18:37:31.269Z,1354732651.269 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-12-05T18:37:31.269Z,1354732651.269 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-12-05T18:37:31.269Z,1354732651.269 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-12-05T18:37:31.269Z,1354732651.269 [BuoyancyServo](INFO): Powering down
2012-12-05T18:37:31.282Z,1354732651.283 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-12-05T18:37:31.283Z,1354732651.283 [ElevatorServo](INFO): Powering down
2012-12-05T18:37:31.283Z,1354732651.283 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-12-05T18:37:31.283Z,1354732651.283 [MassServo](INFO): Powering down
2012-12-05T18:37:31.284Z,1354732651.284 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-12-05T18:37:31.284Z,1354732651.284 [RudderServo](INFO): Powering down
2012-12-05T18:37:31.285Z,1354732651.285 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:37:31.285Z,1354732651.285 [ThrusterServo](INFO): Powering down
2012-12-05T18:37:31.286Z,1354732651.286 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-12-05T18:37:31.287Z,1354732651.287 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-12-05T18:37:31.287Z,1354732651.287 [CBIT](DEBUG): Uninitialize CBIT Component.