2013-02-20T00:42:52.444Z,1361320972.444 [Supervisor](DEBUG): Initializing supervisor.
2013-02-20T00:42:52.447Z,1361320972.447 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-02-20T00:42:52.448Z,1361320972.448 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-02-20T00:42:52.449Z,1361320972.449 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-02-20T00:42:52.453Z,1361320972.453 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-02-20T00:42:52.464Z,1361320972.464 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-02-20T00:42:52.465Z,1361320972.465 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-02-20T00:42:52.466Z,1361320972.466 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-02-20T00:42:52.467Z,1361320972.467 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-02-20T00:42:52.467Z,1361320972.467 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-02-20T00:42:52.469Z,1361320972.469 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-02-20T00:42:52.751Z,1361320972.751 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-02-20T00:42:52.752Z,1361320972.752 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-02-20T00:42:52.940Z,1361320972.940 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-02-20T00:42:52.941Z,1361320972.941 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-02-20T00:42:53.025Z,1361320973.025 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-02-20T00:42:53.026Z,1361320973.026 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-02-20T00:42:53.222Z,1361320973.222 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-02-20T00:42:53.223Z,1361320973.223 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-02-20T00:42:53.360Z,1361320973.360 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-02-20T00:42:53.361Z,1361320973.361 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-02-20T00:42:53.593Z,1361320973.593 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-02-20T00:42:53.593Z,1361320973.593 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-02-20T00:42:53.764Z,1361320973.764 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-02-20T00:42:53.765Z,1361320973.765 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-02-20T00:42:54.016Z,1361320974.016 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-02-20T00:42:54.016Z,1361320974.016 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-02-20T00:42:54.114Z,1361320974.114 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-02-20T00:42:54.115Z,1361320974.115 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-02-20T00:42:54.523Z,1361320974.523 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-02-20T00:42:54.524Z,1361320974.523 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-02-20T00:42:54.638Z,1361320974.638 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-02-20T00:42:54.638Z,1361320974.638 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-02-20T00:42:54.723Z,1361320974.723 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-02-20T00:42:54.724Z,1361320974.724 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-02-20T00:42:54.825Z,1361320974.825 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-02-20T00:42:54.953Z,1361320974.953 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-02-20T00:42:55.038Z,1361320975.038 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-02-20T00:42:55.140Z,1361320975.140 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-02-20T00:42:55.240Z,1361320975.240 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-02-20T00:42:55.359Z,1361320975.359 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-02-20T00:42:55.451Z,1361320975.451 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-02-20T00:42:55.537Z,1361320975.537 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-02-20T00:42:55.567Z,1361320975.567 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-02-20T00:42:55.729Z,1361320975.730 [InternalSim] Loaded
2013-02-20T00:42:55.730Z,1361320975.730 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-02-20T00:42:55.731Z,1361320975.731 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-02-20T00:42:55.731Z,1361320975.731 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-02-20T00:42:55.792Z,1361320975.792 [SBIT](DEBUG): Construct Startup Built In Test.
2013-02-20T00:42:55.822Z,1361320975.822 [SBIT] Loaded
2013-02-20T00:42:55.822Z,1361320975.822 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-02-20T00:42:55.823Z,1361320975.823 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-02-20T00:42:55.854Z,1361320975.854 [IBIT] Loaded
2013-02-20T00:42:55.854Z,1361320975.854 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-02-20T00:42:55.858Z,1361320975.858 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-02-20T00:42:55.984Z,1361320975.984 [CBIT] Loaded
2013-02-20T00:42:55.985Z,1361320975.985 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-02-20T00:42:55.985Z,1361320975.985 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-02-20T00:42:55.986Z,1361320975.986 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-02-20T00:42:56.141Z,1361320976.141 [BuoyancyServo] Loaded
2013-02-20T00:42:56.141Z,1361320976.141 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-02-20T00:42:56.154Z,1361320976.154 [ElevatorServo] Loaded
2013-02-20T00:42:56.154Z,1361320976.154 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-02-20T00:42:56.167Z,1361320976.167 [MassServo] Loaded
2013-02-20T00:42:56.167Z,1361320976.167 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-02-20T00:42:56.180Z,1361320976.180 [RudderServo] Loaded
2013-02-20T00:42:56.180Z,1361320976.180 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-02-20T00:42:56.192Z,1361320976.192 [ThrusterServo] Loaded
2013-02-20T00:42:56.193Z,1361320976.193 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-02-20T00:42:56.193Z,1361320976.193 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-02-20T00:42:56.194Z,1361320976.194 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-02-20T00:42:56.211Z,1361320976.211 [DepthRateCalculator] Loaded
2013-02-20T00:42:56.211Z,1361320976.211 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-02-20T00:42:59.653Z,1361320979.653 [HFRadarModelCalc] Loaded
2013-02-20T00:42:59.653Z,1361320979.653 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-02-20T00:42:59.670Z,1361320979.670 [NavChart] Loaded
2013-02-20T00:42:59.670Z,1361320979.670 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-02-20T00:42:59.689Z,1361320979.689 [PitchRateCalculator] Loaded
2013-02-20T00:42:59.689Z,1361320979.690 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-02-20T00:42:59.716Z,1361320979.716 [SpeedCalculator] Loaded
2013-02-20T00:42:59.716Z,1361320979.716 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-02-20T00:42:59.732Z,1361320979.732 [TempGradientCalculator] Loaded
2013-02-20T00:42:59.732Z,1361320979.732 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-02-20T00:42:59.738Z,1361320979.738 [YawRateCalculator] Loaded
2013-02-20T00:42:59.739Z,1361320979.739 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-02-20T00:42:59.782Z,1361320979.782 [Navigation] Loaded
2013-02-20T00:42:59.782Z,1361320979.782 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-02-20T00:42:59.783Z,1361320979.783 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-02-20T00:42:59.783Z,1361320979.783 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-02-20T00:43:00.022Z,1361320980.022 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-02-20T00:43:00.023Z,1361320980.023 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-02-20T00:43:00.045Z,1361320980.046 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-02-20T00:43:00.046Z,1361320980.046 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-02-20T00:43:00.088Z,1361320980.088 [VerticalControl](DEBUG): Construct VerticalControl.
2013-02-20T00:43:00.187Z,1361320980.187 [VerticalControl] Loaded
2013-02-20T00:43:00.188Z,1361320980.188 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-02-20T00:43:00.189Z,1361320980.189 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-02-20T00:43:00.249Z,1361320980.249 [HorizontalControl] Loaded
2013-02-20T00:43:00.249Z,1361320980.249 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-02-20T00:43:00.250Z,1361320980.250 [SpeedControl](DEBUG): Construct SpeedControl.
2013-02-20T00:43:00.252Z,1361320980.252 [SpeedControl] Loaded
2013-02-20T00:43:00.252Z,1361320980.252 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-02-20T00:43:00.253Z,1361320980.253 [LoopControl](DEBUG): Construct LoopControl.
2013-02-20T00:43:00.254Z,1361320980.253 [LoopControl] Loaded
2013-02-20T00:43:00.254Z,1361320980.254 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-02-20T00:43:00.254Z,1361320980.254 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-02-20T00:43:00.255Z,1361320980.255 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-02-20T00:43:00.260Z,1361320980.260 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-02-20T00:43:00.265Z,1361320980.265 [AsyncPiEstimator] Loaded
2013-02-20T00:43:00.266Z,1361320980.266 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-02-20T00:43:00.267Z,1361320980.267 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-02-20T00:43:00.268Z,1361320980.268 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-02-20T00:43:00.268Z,1361320980.268 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-02-20T00:43:00.403Z,1361320980.403 [AHRS_sp3003D] Loaded
2013-02-20T00:43:00.403Z,1361320980.403 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-02-20T00:43:00.692Z,1361320980.693 [Batt_Ocean_Server] Loaded
2013-02-20T00:43:00.693Z,1361320980.693 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-02-20T00:43:00.707Z,1361320980.707 [Depth_Keller] Loaded
2013-02-20T00:43:00.707Z,1361320980.707 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-02-20T00:43:00.714Z,1361320980.714 [DropWeight] Loaded
2013-02-20T00:43:00.714Z,1361320980.714 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-02-20T00:43:00.885Z,1361320980.885 [DVL_micro] Loaded
2013-02-20T00:43:00.885Z,1361320980.885 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-02-20T00:43:00.887Z,1361320980.886 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-02-20T00:43:00.974Z,1361320980.974 [NAL9602] Loaded
2013-02-20T00:43:00.975Z,1361320980.974 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-02-20T00:43:01.028Z,1361320981.028 [Onboard] Loaded
2013-02-20T00:43:01.029Z,1361320981.029 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-02-20T00:43:01.036Z,1361320981.036 [Radio_Freewave] Loaded
2013-02-20T00:43:01.036Z,1361320981.036 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-02-20T00:43:01.037Z,1361320981.037 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-02-20T00:43:01.038Z,1361320981.037 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-02-20T00:43:01.097Z,1361320981.097 [Aanderaa_O2] Loaded
2013-02-20T00:43:01.097Z,1361320981.097 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-02-20T00:43:01.132Z,1361320981.132 [CTD_NeilBrown] Loaded
2013-02-20T00:43:01.132Z,1361320981.132 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-02-20T00:43:01.133Z,1361320981.134 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-02-20T00:43:01.148Z,1361320981.148 [ISUS] Loaded
2013-02-20T00:43:01.148Z,1361320981.148 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-02-20T00:43:01.165Z,1361320981.165 [PAR_Licor] Loaded
2013-02-20T00:43:01.165Z,1361320981.165 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-02-20T00:43:01.197Z,1361320981.197 [WetLabsBB2FL] Loaded
2013-02-20T00:43:01.197Z,1361320981.197 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-02-20T00:43:01.198Z,1361320981.198 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-02-20T00:43:01.199Z,1361320981.199 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-02-20T00:43:01.201Z,1361320981.201 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-02-20T00:43:01.202Z,1361320981.202 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-02-20T00:43:01.209Z,1361320981.209 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-02-20T00:43:01.210Z,1361320981.210 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-02-20T00:43:01.215Z,1361320981.215 [Supervisor](DEBUG): Running supervisor.
2013-02-20T00:43:01.216Z,1361320981.216 [CommandLine](INFO): Thread ID is 4414
2013-02-20T00:43:01.218Z,1361320981.218 [controlThread](INFO): Thread ID is 4413
2013-02-20T00:43:01.219Z,1361320981.218 [controlThread](DEBUG): Initializing ControlThread
2013-02-20T00:43:01.219Z,1361320981.219 [CycleStarter](INFO): Thread ID is 4412
2013-02-20T00:43:01.219Z,1361320981.219 [InternalSim](DEBUG):  InternalSim initializing...
2013-02-20T00:43:01.255Z,1361320981.255 [logger](INFO): Thread ID is 4415
2013-02-20T00:43:01.280Z,1361320981.280 [SBIT](INFO): Initialize SBIT Component.
2013-02-20T00:43:01.280Z,1361320981.280 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10131
2013-02-20T00:43:01.280Z,1361320981.280 [IBIT](INFO): Initialize IBIT Component.
2013-02-20T00:43:01.281Z,1361320981.281 [CBIT](DEBUG): Initialize CBIT Component.
2013-02-20T00:43:01.282Z,1361320981.282 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-02-20T00:43:01.295Z,1361320981.295 [AsyncPiEstimator](INFO): Thread ID is 4476
2013-02-20T00:43:01.295Z,1361320981.295 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-02-20T00:43:01.307Z,1361320981.307 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-20T00:43:01.308Z,1361320981.308 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-02-20T00:43:01.308Z,1361320981.308 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-02-20T00:43:01.309Z,1361320981.309 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-02-20T00:43:01.309Z,1361320981.309 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-02-20T00:43:01.310Z,1361320981.310 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-02-20T00:43:01.311Z,1361320981.311 [Navigation](DEBUG): Initializing Navigation.
2013-02-20T00:43:01.311Z,1361320981.311 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-02-20T00:43:01.313Z,1361320981.313 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-02-20T00:43:01.314Z,1361320981.314 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-02-20T00:43:01.315Z,1361320981.315 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-02-20T00:43:01.321Z,1361320981.321 [DVL_micro](INFO): Thread ID is 4477
2013-02-20T00:43:01.330Z,1361320981.330 [DVL_micro](INFO): Initializing
2013-02-20T00:43:01.330Z,1361320981.330 [DVL_micro](INFO): start:Powering up
2013-02-20T00:43:01.331Z,1361320981.331 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-20T00:43:01.331Z,1361320981.332 [DVL_micro](INFO): Cycling power to configure device.
2013-02-20T00:43:01.339Z,1361320981.339 [CTD_NeilBrown](INFO): Thread ID is 4478
2013-02-20T00:43:01.339Z,1361320981.339 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-02-20T00:43:01.375Z,1361320981.375 [WetLabsBB2FL](INFO): Thread ID is 4479
2013-02-20T00:43:01.375Z,1361320981.375 [WetLabsBB2FL](INFO): Powering down
2013-02-20T00:43:01.410Z,1361320981.410 [NavChartDb](INFO): Thread ID is 4480
2013-02-20T00:43:01.413Z,1361320981.413 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2013-02-20T00:43:01.417Z,1361320981.417 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-02-20T00:43:01.418Z,1361320981.418 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2013-02-20T00:43:01.420Z,1361320981.420 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2013-02-20T00:43:01.421Z,1361320981.421 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2013-02-20T00:43:01.423Z,1361320981.423 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2013-02-20T00:43:01.425Z,1361320981.425 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2013-02-20T00:43:01.427Z,1361320981.427 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2013-02-20T00:43:01.428Z,1361320981.428 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2013-02-20T00:43:01.430Z,1361320981.430 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2013-02-20T00:43:01.618Z,1361320981.618 [NavChartDb](INFO): Setup scan of Resources/US5CA62M.000
2013-02-20T00:43:01.746Z,1361320981.746 [CTD_NeilBrown](ERROR): Salinity reading out of range: 0.000000 psu
2013-02-20T00:43:03.015Z,1361320983.015 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-02-20T00:43:03.043Z,1361320983.043 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-02-20T00:43:03.053Z,1361320983.053 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-20T00:43:03.076Z,1361320983.076 [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>


2013-02-20T00:43:03.077Z,1361320983.077 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-02-20T00:43:03.125Z,1361320983.125 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-02-20T00:43:03.128Z,1361320983.128 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-02-20T00:43:03.131Z,1361320983.131 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-20T00:43:03.139Z,1361320983.139 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-02-20T00:43:03.142Z,1361320983.142 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-20T00:43:03.149Z,1361320983.149 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-02-20T00:43:03.157Z,1361320983.157 [Default:D.SetSpeed](DEBUG): Construct.
2013-02-20T00:43:03.183Z,1361320983.183 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-20T00:43:03.188Z,1361320983.188 [Default:F.Wait](DEBUG): Construct Wait.
2013-02-20T00:43:03.208Z,1361320983.208 [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>


2013-02-20T00:43:03.213Z,1361320983.213 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,Aanderaa_O2,ISUS,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,
2013-02-20T00:43:03.280Z,1361320983.280 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-20T00:43:03.386Z,1361320983.386 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-20T00:43:03.387Z,1361320983.387 [DVL_micro](INFO): Querying output modes
2013-02-20T00:43:03.387Z,1361320983.387 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-20T00:43:03.398Z,1361320983.398 [DVL_micro](DEBUG): cmdResponse: 01
2013-02-20T00:43:03.398Z,1361320983.398 [DVL_micro](INFO): NQ1 output enabled
2013-02-20T00:43:03.399Z,1361320983.399 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-20T00:43:03.410Z,1361320983.410 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-02-20T00:43:03.416Z,1361320983.416 [DVL_micro](INFO): pause:Powering down
2013-02-20T00:43:03.435Z,1361320983.435 [Radio_Freewave](INFO): Powering up
2013-02-20T00:43:03.720Z,1361320983.720 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-02-20T00:43:03.721Z,1361320983.721 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-02-20T00:43:03.728Z,1361320983.728 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-20T00:43:03.729Z,1361320983.729 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-20T00:43:03.735Z,1361320983.735 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-20T00:43:03.736Z,1361320983.736 [MassServo](DEBUG): Initializing MassServo.
2013-02-20T00:43:03.742Z,1361320983.742 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-20T00:43:03.743Z,1361320983.743 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-20T00:43:03.749Z,1361320983.749 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-02-20T00:43:03.749Z,1361320983.750 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-02-20T00:43:16.777Z,1361320996.777 [SBIT](IMPORTANT): Beginning Startup BIT
2013-02-20T00:43:16.780Z,1361320996.780 [CBIT](IMPORTANT): Beginning GF scan
2013-02-20T00:43:43.275Z,1361321023.275 [CBIT](FAULT): Low side GF detected
mA:
CHAN 5 (24V): 0.391695
CHAN 4 (Batt): 0.391695
CHAN 2 (12V): 0.391695
CHAN 1 (5V): 0.391695
CHAN 0 (3.3V): 0.338322
OPEN: 0.000765
Full Scale Calc: 0.392
2013-02-20T00:43:51.746Z,1361321031.746 [CommandLine](IMPORTANT): got command quit
2013-02-20T00:43:52.919Z,1361321032.919 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-02-20T00:43:52.919Z,1361321032.919 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-02-20T00:43:53.038Z,1361321033.038 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-02-20T00:43:53.150Z,1361321033.150 [WetLabsBB2FL](INFO): Powering down
2013-02-20T00:43:53.162Z,1361321033.162 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-02-20T00:43:53.494Z,1361321033.494 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-02-20T00:43:53.542Z,1361321033.542 [DVL_micro](INFO): uninitialize:Powering down
2013-02-20T00:43:53.554Z,1361321033.554 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-02-20T00:43:53.630Z,1361321033.630 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-02-20T00:43:53.635Z,1361321033.635 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-02-20T00:43:53.675Z,1361321033.675 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-02-20T00:43:53.676Z,1361321033.676 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-02-20T00:43:53.826Z,1361321033.826 [controlThread](DEBUG): Uninitializing ControlThread
2013-02-20T00:43:53.827Z,1361321033.827 [AHRS_sp3003D](INFO): Powering down
2013-02-20T00:43:53.915Z,1361321033.915 [NAL9602](INFO): Powering down
2013-02-20T00:43:53.917Z,1361321033.917 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-20T00:43:53.918Z,1361321033.918 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-02-20T00:43:53.923Z,1361321033.923 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-02-20T00:43:53.923Z,1361321033.923 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-02-20T00:43:53.924Z,1361321033.924 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-02-20T00:43:53.924Z,1361321033.924 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-02-20T00:43:53.924Z,1361321033.924 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-02-20T00:43:53.925Z,1361321033.925 [BuoyancyServo](INFO): Powering down
2013-02-20T00:43:53.938Z,1361321033.938 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-02-20T00:43:53.938Z,1361321033.938 [ElevatorServo](INFO): Powering down
2013-02-20T00:43:53.939Z,1361321033.939 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-20T00:43:53.939Z,1361321033.939 [MassServo](INFO): Powering down
2013-02-20T00:43:53.940Z,1361321033.940 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-02-20T00:43:53.940Z,1361321033.940 [RudderServo](INFO): Powering down
2013-02-20T00:43:53.941Z,1361321033.941 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-02-20T00:43:53.941Z,1361321033.941 [ThrusterServo](INFO): Powering down
2013-02-20T00:43:53.942Z,1361321033.942 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-02-20T00:43:53.942Z,1361321033.942 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-02-20T00:43:53.943Z,1361321033.943 [CBIT](DEBUG): Uninitialize CBIT Component.