2012-12-05T18:37:32.002Z,1354732652.002 [Supervisor](DEBUG): Initializing supervisor.
2012-12-05T18:37:32.005Z,1354732652.005 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-12-05T18:37:32.005Z,1354732652.005 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-12-05T18:37:32.007Z,1354732652.007 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-12-05T18:37:32.010Z,1354732652.010 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-12-05T18:37:32.021Z,1354732652.021 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-12-05T18:37:32.022Z,1354732652.022 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-12-05T18:37:32.023Z,1354732652.023 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2012-12-05T18:37:32.024Z,1354732652.024 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2012-12-05T18:37:32.024Z,1354732652.024 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-12-05T18:37:32.025Z,1354732652.025 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-12-05T18:37:32.303Z,1354732652.303 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-12-05T18:37:32.304Z,1354732652.304 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-12-05T18:37:32.490Z,1354732652.490 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-12-05T18:37:32.491Z,1354732652.490 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-12-05T18:37:32.574Z,1354732652.574 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-12-05T18:37:32.575Z,1354732652.575 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-12-05T18:37:32.769Z,1354732652.769 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-12-05T18:37:32.770Z,1354732652.770 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-12-05T18:37:32.902Z,1354732652.902 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-12-05T18:37:32.902Z,1354732652.902 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-12-05T18:37:33.136Z,1354732653.136 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-12-05T18:37:33.136Z,1354732653.136 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-12-05T18:37:33.305Z,1354732653.305 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-12-05T18:37:33.306Z,1354732653.306 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-12-05T18:37:33.556Z,1354732653.556 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-12-05T18:37:33.556Z,1354732653.556 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-12-05T18:37:33.654Z,1354732653.654 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-12-05T18:37:33.654Z,1354732653.654 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-12-05T18:37:34.124Z,1354732654.125 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-12-05T18:37:34.125Z,1354732654.125 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-12-05T18:37:34.238Z,1354732654.238 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-12-05T18:37:34.239Z,1354732654.239 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-12-05T18:37:34.323Z,1354732654.323 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-12-05T18:37:34.324Z,1354732654.324 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-12-05T18:37:34.435Z,1354732654.435 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-12-05T18:37:34.567Z,1354732654.567 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-12-05T18:37:34.651Z,1354732654.651 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-12-05T18:37:34.751Z,1354732654.751 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-12-05T18:37:34.850Z,1354732654.850 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-12-05T18:37:34.967Z,1354732654.967 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-12-05T18:37:35.059Z,1354732655.059 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-12-05T18:37:35.167Z,1354732655.167 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-12-05T18:37:35.198Z,1354732655.198 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-12-05T18:37:35.350Z,1354732655.350 [InternalSim] Loaded
2012-12-05T18:37:35.350Z,1354732655.350 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-12-05T18:37:35.351Z,1354732655.351 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-12-05T18:37:35.352Z,1354732655.352 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-12-05T18:37:35.408Z,1354732655.408 [SBIT](DEBUG): Construct Startup Built In Test.
2012-12-05T18:37:35.436Z,1354732655.436 [SBIT] Loaded
2012-12-05T18:37:35.437Z,1354732655.437 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-12-05T18:37:35.438Z,1354732655.438 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-12-05T18:37:35.466Z,1354732655.466 [IBIT] Loaded
2012-12-05T18:37:35.467Z,1354732655.467 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-12-05T18:37:35.470Z,1354732655.470 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-12-05T18:37:35.590Z,1354732655.591 [CBIT] Loaded
2012-12-05T18:37:35.591Z,1354732655.591 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-12-05T18:37:35.591Z,1354732655.591 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-12-05T18:37:35.592Z,1354732655.592 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-12-05T18:37:35.739Z,1354732655.739 [BuoyancyServo] Loaded
2012-12-05T18:37:35.739Z,1354732655.739 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-12-05T18:37:35.752Z,1354732655.752 [ElevatorServo] Loaded
2012-12-05T18:37:35.752Z,1354732655.752 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-12-05T18:37:35.764Z,1354732655.764 [MassServo] Loaded
2012-12-05T18:37:35.764Z,1354732655.764 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-12-05T18:37:35.777Z,1354732655.777 [RudderServo] Loaded
2012-12-05T18:37:35.777Z,1354732655.777 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-12-05T18:37:35.789Z,1354732655.789 [ThrusterServo] Loaded
2012-12-05T18:37:35.790Z,1354732655.790 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-12-05T18:37:35.790Z,1354732655.790 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-12-05T18:37:35.791Z,1354732655.791 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-12-05T18:37:35.807Z,1354732655.807 [DepthRateCalculator] Loaded
2012-12-05T18:37:35.808Z,1354732655.808 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-12-05T18:37:38.907Z,1354732658.907 [HFRadarModelCalc] Loaded
2012-12-05T18:37:38.908Z,1354732658.908 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-12-05T18:37:38.924Z,1354732658.924 [NavChart] Loaded
2012-12-05T18:37:38.924Z,1354732658.924 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-12-05T18:37:38.930Z,1354732658.930 [PitchRateCalculator] Loaded
2012-12-05T18:37:38.931Z,1354732658.931 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-12-05T18:37:38.937Z,1354732658.937 [SpeedCalculator] Loaded
2012-12-05T18:37:38.937Z,1354732658.937 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-12-05T18:37:38.952Z,1354732658.952 [TempGradientCalculator] Loaded
2012-12-05T18:37:38.952Z,1354732658.952 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-12-05T18:37:38.958Z,1354732658.958 [YawRateCalculator] Loaded
2012-12-05T18:37:38.959Z,1354732658.958 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-12-05T18:37:38.999Z,1354732658.999 [Navigation] Loaded
2012-12-05T18:37:38.000Z,1354732659.000 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-12-05T18:37:39.000Z,1354732659.000 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-12-05T18:37:39.001Z,1354732659.001 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-12-05T18:37:39.222Z,1354732659.223 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-12-05T18:37:39.223Z,1354732659.223 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-12-05T18:37:39.245Z,1354732659.245 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-12-05T18:37:39.245Z,1354732659.246 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-12-05T18:37:39.286Z,1354732659.286 [VerticalControl](DEBUG): Construct VerticalControl.
2012-12-05T18:37:39.381Z,1354732659.381 [VerticalControl] Loaded
2012-12-05T18:37:39.381Z,1354732659.381 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-12-05T18:37:39.382Z,1354732659.382 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-12-05T18:37:39.440Z,1354732659.440 [HorizontalControl] Loaded
2012-12-05T18:37:39.440Z,1354732659.440 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-12-05T18:37:39.441Z,1354732659.441 [SpeedControl](DEBUG): Construct SpeedControl.
2012-12-05T18:37:39.443Z,1354732659.443 [SpeedControl] Loaded
2012-12-05T18:37:39.443Z,1354732659.443 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-12-05T18:37:39.444Z,1354732659.444 [LoopControl](DEBUG): Construct LoopControl.
2012-12-05T18:37:39.444Z,1354732659.444 [LoopControl] Loaded
2012-12-05T18:37:39.445Z,1354732659.445 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-12-05T18:37:39.445Z,1354732659.445 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-12-05T18:37:39.446Z,1354732659.446 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-12-05T18:37:39.451Z,1354732659.451 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-12-05T18:37:39.456Z,1354732659.456 [AsyncPiEstimator] Loaded
2012-12-05T18:37:39.456Z,1354732659.456 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-12-05T18:37:39.458Z,1354732659.457 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A14E0
2012-12-05T18:37:39.458Z,1354732659.458 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-12-05T18:37:39.459Z,1354732659.459 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-12-05T18:37:39.584Z,1354732659.584 [AHRS_sp3003D] Loaded
2012-12-05T18:37:39.585Z,1354732659.585 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-12-05T18:37:39.848Z,1354732659.848 [Batt_Ocean_Server] Loaded
2012-12-05T18:37:39.848Z,1354732659.848 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-12-05T18:37:39.861Z,1354732659.861 [Depth_Keller] Loaded
2012-12-05T18:37:39.862Z,1354732659.862 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-12-05T18:37:39.867Z,1354732659.867 [DropWeight] Loaded
2012-12-05T18:37:39.868Z,1354732659.868 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-12-05T18:37:40.030Z,1354732660.030 [DVL_micro] Loaded
2012-12-05T18:37:40.031Z,1354732660.031 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-12-05T18:37:40.032Z,1354732660.032 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407234E0
2012-12-05T18:37:40.115Z,1354732660.115 [NAL9602] Loaded
2012-12-05T18:37:40.116Z,1354732660.115 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-12-05T18:37:40.166Z,1354732660.166 [Onboard] Loaded
2012-12-05T18:37:40.167Z,1354732660.167 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-12-05T18:37:40.173Z,1354732660.173 [Radio_Freewave] Loaded
2012-12-05T18:37:40.174Z,1354732660.174 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-12-05T18:37:40.175Z,1354732660.174 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-12-05T18:37:40.175Z,1354732660.175 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-12-05T18:37:40.248Z,1354732660.248 [CTD_NeilBrown] Loaded
2012-12-05T18:37:40.249Z,1354732660.249 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-12-05T18:37:40.250Z,1354732660.250 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077C4E0
2012-12-05T18:37:40.266Z,1354732660.266 [PAR_Licor] Loaded
2012-12-05T18:37:40.267Z,1354732660.267 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-12-05T18:37:40.321Z,1354732660.321 [Turbulence_NPS] Loaded
2012-12-05T18:37:40.321Z,1354732660.321 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-12-05T18:37:40.322Z,1354732660.322 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407AC4E0
2012-12-05T18:37:40.353Z,1354732660.353 [WetLabsBB2FL] Loaded
2012-12-05T18:37:40.353Z,1354732660.353 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-12-05T18:37:40.354Z,1354732660.354 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407DC4E0
2012-12-05T18:37:40.355Z,1354732660.355 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-12-05T18:37:40.357Z,1354732660.357 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-12-05T18:37:40.359Z,1354732660.359 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-12-05T18:37:40.365Z,1354732660.365 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-12-05T18:37:40.366Z,1354732660.366 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4080C4E0
2012-12-05T18:37:40.371Z,1354732660.371 [Supervisor](DEBUG): Running supervisor.
2012-12-05T18:37:40.372Z,1354732660.372 [CommandLine](INFO): Thread ID is 2217
2012-12-05T18:37:40.374Z,1354732660.374 [controlThread](INFO): Thread ID is 2216
2012-12-05T18:37:40.374Z,1354732660.374 [controlThread](DEBUG): Initializing ControlThread
2012-12-05T18:37:40.375Z,1354732660.375 [CycleStarter](INFO): Thread ID is 2215
2012-12-05T18:37:40.375Z,1354732660.375 [InternalSim](DEBUG):  InternalSim initializing...
2012-12-05T18:37:40.411Z,1354732660.411 [logger](INFO): Thread ID is 2218
2012-12-05T18:37:40.436Z,1354732660.436 [SBIT](INFO): Initialize SBIT Component.
2012-12-05T18:37:40.437Z,1354732660.437 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10097
2012-12-05T18:37:40.437Z,1354732660.437 [IBIT](INFO): Initialize IBIT Component.
2012-12-05T18:37:40.438Z,1354732660.438 [CBIT](DEBUG): Initialize CBIT Component.
2012-12-05T18:37:40.439Z,1354732660.439 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-12-05T18:37:40.451Z,1354732660.451 [AsyncPiEstimator](INFO): Thread ID is 2279
2012-12-05T18:37:40.451Z,1354732660.451 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-12-05T18:37:40.464Z,1354732660.464 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:37:40.464Z,1354732660.464 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-12-05T18:37:40.465Z,1354732660.465 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-12-05T18:37:40.465Z,1354732660.465 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-12-05T18:37:40.465Z,1354732660.465 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-12-05T18:37:40.467Z,1354732660.467 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-12-05T18:37:40.467Z,1354732660.467 [Navigation](DEBUG): Initializing Navigation.
2012-12-05T18:37:40.468Z,1354732660.468 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-12-05T18:37:40.470Z,1354732660.470 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-12-05T18:37:40.470Z,1354732660.470 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-12-05T18:37:40.471Z,1354732660.471 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-12-05T18:37:40.476Z,1354732660.476 [DVL_micro](INFO): Thread ID is 2280
2012-12-05T18:37:40.485Z,1354732660.485 [DVL_micro](INFO): Initializing
2012-12-05T18:37:40.485Z,1354732660.485 [DVL_micro](INFO): start:Powering up
2012-12-05T18:37:40.486Z,1354732660.486 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:37:40.487Z,1354732660.487 [DVL_micro](INFO): Cycling power to configure device.
2012-12-05T18:37:40.500Z,1354732660.500 [CTD_NeilBrown](INFO): Thread ID is 2281
2012-12-05T18:37:40.500Z,1354732660.500 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-12-05T18:37:40.503Z,1354732660.503 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-12-05T18:37:40.512Z,1354732660.512 [Turbulence_NPS](INFO): Thread ID is 2282
2012-12-05T18:37:40.512Z,1354732660.513 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-12-05T18:37:40.513Z,1354732660.513 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-12-05T18:37:40.543Z,1354732660.543 [WetLabsBB2FL](INFO): Thread ID is 2283
2012-12-05T18:37:40.544Z,1354732660.544 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:37:40.570Z,1354732660.570 [NavChartDb](INFO): Thread ID is 2284
2012-12-05T18:37:40.572Z,1354732660.572 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-12-05T18:37:40.573Z,1354732660.573 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-12-05T18:37:40.573Z,1354732660.573 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-12-05T18:37:40.574Z,1354732660.574 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-12-05T18:37:40.574Z,1354732660.574 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-12-05T18:37:40.599Z,1354732660.599 [Turbulence_NPS](INFO): Pause powering down
2012-12-05T18:37:41.907Z,1354732661.907 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-12-05T18:37:41.942Z,1354732661.942 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-12-05T18:37:41.969Z,1354732661.968 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:37:41.999Z,1354732661.999 [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>


2012-12-05T18:37:41.000Z,1354732662.000 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-12-05T18:37:42.090Z,1354732662.090 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-12-05T18:37:42.092Z,1354732662.092 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:37:42.095Z,1354732662.095 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:37:42.103Z,1354732662.103 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-12-05T18:37:42.142Z,1354732662.142 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:37:42.149Z,1354732662.149 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-12-05T18:37:42.175Z,1354732662.175 [Default:D.SetSpeed](DEBUG): Construct.
2012-12-05T18:37:42.178Z,1354732662.178 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-12-05T18:37:42.199Z,1354732662.199 [Default:F.Wait](DEBUG): Construct Wait.
2012-12-05T18:37:42.203Z,1354732662.203 [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>


2012-12-05T18:37:42.207Z,1354732662.207 [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,
2012-12-05T18:37:42.272Z,1354732662.272 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-12-05T18:37:42.487Z,1354732662.487 [Radio_Freewave](INFO): Powering up
2012-12-05T18:37:42.571Z,1354732662.571 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-12-05T18:37:42.571Z,1354732662.571 [DVL_micro](INFO): Querying output modes
2012-12-05T18:37:42.572Z,1354732662.572 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-12-05T18:37:42.582Z,1354732662.582 [DVL_micro](DEBUG): cmdResponse: 01
2012-12-05T18:37:42.583Z,1354732662.583 [DVL_micro](INFO): NQ1 output enabled
2012-12-05T18:37:42.583Z,1354732662.583 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-12-05T18:37:42.595Z,1354732662.595 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-12-05T18:37:42.600Z,1354732662.600 [DVL_micro](INFO): pause:Powering down
2012-12-05T18:37:42.756Z,1354732662.756 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:37:42.763Z,1354732662.763 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-12-05T18:37:42.785Z,1354732662.785 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:37:42.791Z,1354732662.791 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-12-05T18:37:42.797Z,1354732662.797 [MassServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:37:42.803Z,1354732662.803 [MassServo](DEBUG): Initializing MassServo.
2012-12-05T18:37:42.808Z,1354732662.809 [RudderServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:37:42.839Z,1354732662.839 [RudderServo](DEBUG): Initializing RudderServo.
2012-12-05T18:37:42.845Z,1354732662.845 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:37:42.851Z,1354732662.851 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:37:45.281Z,1354732665.281 [NAL9602](INFO): Powering up NAL9602
2012-12-05T18:37:54.579Z,1354732674.579 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 300.000000 revolution_per_minute
2012-12-05T18:37:54.581Z,1354732674.581 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-12-05T18:37:54.811Z,1354732674.811 [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,
2012-12-05T18:37:55.959Z,1354732675.959 [NAL9602](INFO): NAL9602 initialized
2012-12-05T18:37:56.168Z,1354732676.168 [SBIT](IMPORTANT): Beginning Startup BIT
2012-12-05T18:37:56.170Z,1354732676.170 [CBIT](IMPORTANT): Beginning GF scan
2012-12-05T18:38:03.023Z,1354732683.023 [ThrusterServo](FAULT): Overload Error
2012-12-05T18:38:03.023Z,1354732683.023 [ThrusterServo] Hardware Fault, FailCount= 1
2012-12-05T18:38:03.023Z,1354732683.023 [ThrusterServo](ERROR): Hardware Fault
2012-12-05T18:38:03.026Z,1354732683.026 [CBIT](ERROR): Hardware Fault in component: ThrusterServo
2012-12-05T18:38:03.396Z,1354732683.396 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:38:03.396Z,1354732683.396 [ThrusterServo](INFO): Powering down
2012-12-05T18:38:03.399Z,1354732683.399 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:38:03.399Z,1354732683.399 [ThrusterServo] No Fault, FailCount= 1
2012-12-05T18:38:04.192Z,1354732684.192 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:38:04.311Z,1354732684.311 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:38:10.706Z,1354732690.707 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-12-05T18:38:10.707Z,1354732690.707 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-12-05T18:38:10.707Z,1354732690.707 [ThrusterServo] Communications Fault, FailCount= 2
2012-12-05T18:38:10.707Z,1354732690.707 [ThrusterServo](ERROR): Communications Fault
2012-12-05T18:38:10.710Z,1354732690.710 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-12-05T18:38:10.972Z,1354732690.972 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:38:10.972Z,1354732690.972 [ThrusterServo](INFO): Powering down
2012-12-05T18:38:10.976Z,1354732690.976 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-12-05T18:38:10.976Z,1354732690.976 [ThrusterServo] No Fault, FailCount= 2
2012-12-05T18:38:12.367Z,1354732692.367 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-12-05T18:38:12.487Z,1354732692.487 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-12-05T18:38:23.007Z,1354732703.007 [CBIT](IMPORTANT): No ground fault detected
2012-12-05T18:38:37.751Z,1354732717.751 [CommandLine](IMPORTANT): got command quit
2012-12-05T18:38:38.834Z,1354732718.834 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-12-05T18:38:38.835Z,1354732718.835 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-12-05T18:38:38.894Z,1354732718.894 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-12-05T18:38:39.195Z,1354732719.195 [WetLabsBB2FL](INFO): Powering down
2012-12-05T18:38:39.216Z,1354732719.216 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-12-05T18:38:39.259Z,1354732719.259 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-12-05T18:38:39.262Z,1354732719.263 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-12-05T18:38:39.435Z,1354732719.435 [CTD_NeilBrown](INFO): Powering down
2012-12-05T18:38:39.447Z,1354732719.447 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-12-05T18:38:39.572Z,1354732719.572 [DVL_micro](INFO): uninitialize:Powering down
2012-12-05T18:38:39.591Z,1354732719.591 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-12-05T18:38:39.787Z,1354732719.787 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-12-05T18:38:39.795Z,1354732719.795 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2012-12-05T18:38:39.835Z,1354732719.835 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-12-05T18:38:39.846Z,1354732719.846 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-12-05T18:38:39.963Z,1354732719.963 [controlThread](DEBUG): Uninitializing ControlThread
2012-12-05T18:38:39.963Z,1354732719.963 [AHRS_sp3003D](INFO): Powering down
2012-12-05T18:38:40.052Z,1354732720.052 [NAL9602](INFO): Powering down
2012-12-05T18:38:40.054Z,1354732720.053 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-12-05T18:38:40.054Z,1354732720.054 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-12-05T18:38:40.059Z,1354732720.059 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-12-05T18:38:40.060Z,1354732720.060 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-12-05T18:38:40.060Z,1354732720.060 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-12-05T18:38:40.060Z,1354732720.060 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-12-05T18:38:40.061Z,1354732720.061 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-12-05T18:38:40.061Z,1354732720.061 [BuoyancyServo](INFO): Powering down
2012-12-05T18:38:40.075Z,1354732720.075 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-12-05T18:38:40.075Z,1354732720.075 [ElevatorServo](INFO): Powering down
2012-12-05T18:38:40.075Z,1354732720.076 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-12-05T18:38:40.076Z,1354732720.076 [MassServo](INFO): Powering down
2012-12-05T18:38:40.076Z,1354732720.076 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-12-05T18:38:40.076Z,1354732720.076 [RudderServo](INFO): Powering down
2012-12-05T18:38:40.077Z,1354732720.077 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-12-05T18:38:40.077Z,1354732720.077 [ThrusterServo](INFO): Powering down
2012-12-05T18:38:40.078Z,1354732720.078 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-12-05T18:38:40.079Z,1354732720.079 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-12-05T18:38:40.079Z,1354732720.079 [CBIT](DEBUG): Uninitialize CBIT Component.