2013-02-20T00:52:29.280Z,1361321549.280 [Supervisor](DEBUG): Initializing supervisor.
2013-02-20T00:52:29.282Z,1361321549.282 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-02-20T00:52:29.283Z,1361321549.283 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-02-20T00:52:29.284Z,1361321549.284 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-02-20T00:52:29.288Z,1361321549.288 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-02-20T00:52:29.298Z,1361321549.298 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-02-20T00:52:29.299Z,1361321549.299 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-02-20T00:52:29.300Z,1361321549.300 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-02-20T00:52:29.301Z,1361321549.301 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-02-20T00:52:29.302Z,1361321549.302 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-02-20T00:52:29.303Z,1361321549.303 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-02-20T00:52:29.583Z,1361321549.583 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-02-20T00:52:29.584Z,1361321549.583 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-02-20T00:52:29.771Z,1361321549.771 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-02-20T00:52:29.772Z,1361321549.772 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-02-20T00:52:29.856Z,1361321549.856 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-02-20T00:52:29.857Z,1361321549.856 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-02-20T00:52:30.053Z,1361321550.053 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-02-20T00:52:30.054Z,1361321550.053 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-02-20T00:52:30.186Z,1361321550.186 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-02-20T00:52:30.186Z,1361321550.186 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-02-20T00:52:30.418Z,1361321550.418 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-02-20T00:52:30.418Z,1361321550.418 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-02-20T00:52:30.588Z,1361321550.588 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-02-20T00:52:30.589Z,1361321550.589 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-02-20T00:52:30.839Z,1361321550.839 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-02-20T00:52:30.840Z,1361321550.840 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-02-20T00:52:30.938Z,1361321550.938 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-02-20T00:52:30.938Z,1361321550.938 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-02-20T00:52:31.340Z,1361321551.340 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-02-20T00:52:31.341Z,1361321551.341 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-02-20T00:52:31.455Z,1361321551.455 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-02-20T00:52:31.455Z,1361321551.455 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-02-20T00:52:31.540Z,1361321551.540 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-02-20T00:52:31.541Z,1361321551.541 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-02-20T00:52:31.642Z,1361321551.642 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-02-20T00:52:31.770Z,1361321551.770 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-02-20T00:52:31.855Z,1361321551.855 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-02-20T00:52:31.956Z,1361321551.956 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-02-20T00:52:32.056Z,1361321552.056 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-02-20T00:52:32.174Z,1361321552.174 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-02-20T00:52:32.266Z,1361321552.266 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-02-20T00:52:32.352Z,1361321552.352 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-02-20T00:52:32.381Z,1361321552.381 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-02-20T00:52:32.538Z,1361321552.538 [InternalSim] Loaded
2013-02-20T00:52:32.539Z,1361321552.539 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-02-20T00:52:32.539Z,1361321552.539 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-02-20T00:52:32.540Z,1361321552.540 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-02-20T00:52:32.598Z,1361321552.598 [SBIT](DEBUG): Construct Startup Built In Test.
2013-02-20T00:52:32.628Z,1361321552.628 [SBIT] Loaded
2013-02-20T00:52:32.628Z,1361321552.628 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-02-20T00:52:32.629Z,1361321552.629 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-02-20T00:52:32.658Z,1361321552.658 [IBIT] Loaded
2013-02-20T00:52:32.659Z,1361321552.659 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-02-20T00:52:32.662Z,1361321552.662 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-02-20T00:52:32.786Z,1361321552.786 [CBIT] Loaded
2013-02-20T00:52:32.787Z,1361321552.787 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-02-20T00:52:32.787Z,1361321552.787 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-02-20T00:52:32.788Z,1361321552.788 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-02-20T00:52:32.940Z,1361321552.940 [BuoyancyServo] Loaded
2013-02-20T00:52:32.941Z,1361321552.941 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-02-20T00:52:32.953Z,1361321552.953 [ElevatorServo] Loaded
2013-02-20T00:52:32.953Z,1361321552.954 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-02-20T00:52:32.966Z,1361321552.966 [MassServo] Loaded
2013-02-20T00:52:32.966Z,1361321552.966 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-02-20T00:52:32.978Z,1361321552.978 [RudderServo] Loaded
2013-02-20T00:52:32.979Z,1361321552.979 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-02-20T00:52:32.991Z,1361321552.991 [ThrusterServo] Loaded
2013-02-20T00:52:32.991Z,1361321552.991 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-02-20T00:52:32.992Z,1361321552.992 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-02-20T00:52:32.992Z,1361321552.992 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-02-20T00:52:33.009Z,1361321553.009 [DepthRateCalculator] Loaded
2013-02-20T00:52:33.009Z,1361321553.010 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-02-20T00:52:36.593Z,1361321556.593 [HFRadarModelCalc] Loaded
2013-02-20T00:52:36.593Z,1361321556.593 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-02-20T00:52:36.610Z,1361321556.610 [NavChart] Loaded
2013-02-20T00:52:36.610Z,1361321556.610 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-02-20T00:52:36.616Z,1361321556.616 [PitchRateCalculator] Loaded
2013-02-20T00:52:36.616Z,1361321556.616 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-02-20T00:52:36.623Z,1361321556.623 [SpeedCalculator] Loaded
2013-02-20T00:52:36.623Z,1361321556.623 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-02-20T00:52:36.638Z,1361321556.638 [TempGradientCalculator] Loaded
2013-02-20T00:52:36.638Z,1361321556.638 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-02-20T00:52:36.645Z,1361321556.645 [YawRateCalculator] Loaded
2013-02-20T00:52:36.645Z,1361321556.645 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-02-20T00:52:36.687Z,1361321556.687 [Navigation] Loaded
2013-02-20T00:52:36.687Z,1361321556.687 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-02-20T00:52:36.687Z,1361321556.687 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-02-20T00:52:36.688Z,1361321556.688 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-02-20T00:52:36.916Z,1361321556.916 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-02-20T00:52:36.916Z,1361321556.916 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-02-20T00:52:36.938Z,1361321556.938 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-02-20T00:52:36.939Z,1361321556.939 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-02-20T00:52:36.979Z,1361321556.979 [VerticalControl](DEBUG): Construct VerticalControl.
2013-02-20T00:52:37.076Z,1361321557.076 [VerticalControl] Loaded
2013-02-20T00:52:37.076Z,1361321557.076 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-02-20T00:52:37.077Z,1361321557.077 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-02-20T00:52:37.135Z,1361321557.135 [HorizontalControl] Loaded
2013-02-20T00:52:37.136Z,1361321557.136 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-02-20T00:52:37.137Z,1361321557.136 [SpeedControl](DEBUG): Construct SpeedControl.
2013-02-20T00:52:37.138Z,1361321557.138 [SpeedControl] Loaded
2013-02-20T00:52:37.139Z,1361321557.139 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-02-20T00:52:37.140Z,1361321557.139 [LoopControl](DEBUG): Construct LoopControl.
2013-02-20T00:52:37.140Z,1361321557.140 [LoopControl] Loaded
2013-02-20T00:52:37.140Z,1361321557.140 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-02-20T00:52:37.141Z,1361321557.141 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-02-20T00:52:37.141Z,1361321557.141 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-02-20T00:52:37.147Z,1361321557.147 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-02-20T00:52:37.152Z,1361321557.152 [AsyncPiEstimator] Loaded
2013-02-20T00:52:37.152Z,1361321557.152 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-02-20T00:52:37.153Z,1361321557.153 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-02-20T00:52:37.154Z,1361321557.154 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-02-20T00:52:37.154Z,1361321557.154 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-02-20T00:52:37.285Z,1361321557.284 [AHRS_sp3003D] Loaded
2013-02-20T00:52:37.285Z,1361321557.285 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-02-20T00:52:37.557Z,1361321557.557 [Batt_Ocean_Server] Loaded
2013-02-20T00:52:37.557Z,1361321557.557 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-02-20T00:52:37.571Z,1361321557.571 [Depth_Keller] Loaded
2013-02-20T00:52:37.571Z,1361321557.571 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-02-20T00:52:37.577Z,1361321557.577 [DropWeight] Loaded
2013-02-20T00:52:37.578Z,1361321557.578 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-02-20T00:52:37.744Z,1361321557.744 [DVL_micro] Loaded
2013-02-20T00:52:37.745Z,1361321557.745 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-02-20T00:52:37.746Z,1361321557.746 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-02-20T00:52:37.831Z,1361321557.831 [NAL9602] Loaded
2013-02-20T00:52:37.832Z,1361321557.832 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-02-20T00:52:37.884Z,1361321557.884 [Onboard] Loaded
2013-02-20T00:52:37.884Z,1361321557.884 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-02-20T00:52:37.891Z,1361321557.891 [Radio_Freewave] Loaded
2013-02-20T00:52:37.891Z,1361321557.891 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-02-20T00:52:37.892Z,1361321557.892 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-02-20T00:52:37.893Z,1361321557.893 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-02-20T00:52:37.950Z,1361321557.950 [Aanderaa_O2] Loaded
2013-02-20T00:52:37.951Z,1361321557.951 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-02-20T00:52:37.985Z,1361321557.985 [CTD_NeilBrown] Loaded
2013-02-20T00:52:37.985Z,1361321557.985 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-02-20T00:52:37.986Z,1361321557.986 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-02-20T00:52:38.000Z,1361321558.000 [ISUS] Loaded
2013-02-20T00:52:38.001Z,1361321558.001 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-02-20T00:52:38.017Z,1361321558.017 [PAR_Licor] Loaded
2013-02-20T00:52:38.017Z,1361321558.017 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-02-20T00:52:38.048Z,1361321558.048 [WetLabsBB2FL] Loaded
2013-02-20T00:52:38.049Z,1361321558.049 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-02-20T00:52:38.050Z,1361321558.050 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-02-20T00:52:38.051Z,1361321558.050 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-02-20T00:52:38.053Z,1361321558.053 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-02-20T00:52:38.054Z,1361321558.054 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-02-20T00:52:38.060Z,1361321558.060 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-02-20T00:52:38.062Z,1361321558.062 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-02-20T00:52:38.066Z,1361321558.066 [Supervisor](DEBUG): Running supervisor.
2013-02-20T00:52:38.067Z,1361321558.067 [CommandLine](INFO): Thread ID is 5098
2013-02-20T00:52:38.070Z,1361321558.070 [controlThread](INFO): Thread ID is 5097
2013-02-20T00:52:38.070Z,1361321558.070 [controlThread](DEBUG): Initializing ControlThread
2013-02-20T00:52:38.071Z,1361321558.070 [CycleStarter](INFO): Thread ID is 5096
2013-02-20T00:52:38.071Z,1361321558.071 [InternalSim](DEBUG):  InternalSim initializing...
2013-02-20T00:52:38.103Z,1361321558.103 [logger](INFO): Thread ID is 5099
2013-02-20T00:52:38.131Z,1361321558.131 [SBIT](INFO): Initialize SBIT Component.
2013-02-20T00:52:38.132Z,1361321558.132 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10131
2013-02-20T00:52:38.132Z,1361321558.132 [IBIT](INFO): Initialize IBIT Component.
2013-02-20T00:52:38.133Z,1361321558.133 [CBIT](DEBUG): Initialize CBIT Component.
2013-02-20T00:52:38.133Z,1361321558.133 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-02-20T00:52:38.143Z,1361321558.143 [AsyncPiEstimator](INFO): Thread ID is 5160
2013-02-20T00:52:38.143Z,1361321558.143 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-02-20T00:52:38.157Z,1361321558.157 [DVL_micro](INFO): Thread ID is 5161
2013-02-20T00:52:38.163Z,1361321558.163 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-20T00:52:38.164Z,1361321558.164 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-02-20T00:52:38.164Z,1361321558.164 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-02-20T00:52:38.165Z,1361321558.165 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-02-20T00:52:38.165Z,1361321558.165 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-02-20T00:52:38.167Z,1361321558.167 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-02-20T00:52:38.167Z,1361321558.167 [Navigation](DEBUG): Initializing Navigation.
2013-02-20T00:52:38.168Z,1361321558.168 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-02-20T00:52:38.169Z,1361321558.169 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-02-20T00:52:38.170Z,1361321558.170 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-02-20T00:52:38.171Z,1361321558.171 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-02-20T00:52:38.177Z,1361321558.177 [DVL_micro](INFO): Initializing
2013-02-20T00:52:38.177Z,1361321558.177 [DVL_micro](INFO): start:Powering up
2013-02-20T00:52:38.178Z,1361321558.178 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-20T00:52:38.179Z,1361321558.179 [DVL_micro](INFO): Cycling power to configure device.
2013-02-20T00:52:38.187Z,1361321558.187 [CTD_NeilBrown](INFO): Thread ID is 5162
2013-02-20T00:52:38.187Z,1361321558.187 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-02-20T00:52:38.203Z,1361321558.203 [WetLabsBB2FL](INFO): Thread ID is 5163
2013-02-20T00:52:38.203Z,1361321558.203 [WetLabsBB2FL](INFO): Powering down
2013-02-20T00:52:38.245Z,1361321558.245 [NavChartDb](INFO): Thread ID is 5164
2013-02-20T00:52:38.248Z,1361321558.248 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2013-02-20T00:52:38.252Z,1361321558.252 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-02-20T00:52:38.254Z,1361321558.254 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2013-02-20T00:52:38.255Z,1361321558.256 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2013-02-20T00:52:38.257Z,1361321558.257 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2013-02-20T00:52:38.259Z,1361321558.259 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2013-02-20T00:52:38.261Z,1361321558.261 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2013-02-20T00:52:38.264Z,1361321558.264 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2013-02-20T00:52:38.267Z,1361321558.267 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2013-02-20T00:52:38.268Z,1361321558.268 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2013-02-20T00:52:38.454Z,1361321558.454 [NavChartDb](INFO): Setup scan of Resources/US5CA62M.000
2013-02-20T00:52:38.594Z,1361321558.594 [CTD_NeilBrown](ERROR): Salinity reading out of range: 0.000000 psu
2013-02-20T00:52:39.514Z,1361321559.514 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-02-20T00:52:39.514Z,1361321559.514 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-02-20T00:52:39.515Z,1361321559.514 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2013-02-20T00:52:39.515Z,1361321559.515 [Batt_Ocean_Server](ERROR): Communications Fault
2013-02-20T00:52:39.531Z,1361321559.531 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-02-20T00:52:39.553Z,1361321559.553 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-20T00:52:39.569Z,1361321559.569 [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>


2013-02-20T00:52:39.571Z,1361321559.570 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-02-20T00:52:39.599Z,1361321559.599 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-02-20T00:52:39.601Z,1361321559.601 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-02-20T00:52:39.604Z,1361321559.604 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-20T00:52:39.641Z,1361321559.641 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-02-20T00:52:39.644Z,1361321559.644 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-20T00:52:39.650Z,1361321559.650 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-02-20T00:52:39.664Z,1361321559.664 [Default:D.SetSpeed](DEBUG): Construct.
2013-02-20T00:52:39.667Z,1361321559.667 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-20T00:52:39.672Z,1361321559.672 [Default:F.Wait](DEBUG): Construct Wait.
2013-02-20T00:52:39.675Z,1361321559.675 [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>


2013-02-20T00:52:39.680Z,1361321559.680 [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,
2013-02-20T00:52:39.700Z,1361321559.700 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-20T00:52:39.729Z,1361321559.729 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-02-20T00:52:39.771Z,1361321559.771 [Radio_Freewave](INFO): Powering up
2013-02-20T00:52:39.993Z,1361321559.993 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-02-20T00:52:39.995Z,1361321559.995 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-02-20T00:52:40.001Z,1361321560.001 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-20T00:52:40.002Z,1361321560.002 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-20T00:52:40.040Z,1361321560.040 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-20T00:52:40.046Z,1361321560.046 [MassServo](DEBUG): Initializing MassServo.
2013-02-20T00:52:40.052Z,1361321560.052 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-20T00:52:40.058Z,1361321560.058 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-20T00:52:40.064Z,1361321560.063 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-02-20T00:52:40.068Z,1361321560.068 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-02-20T00:52:40.085Z,1361321560.085 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-02-20T00:52:40.085Z,1361321560.085 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-02-20T00:52:40.085Z,1361321560.085 [Batt_Ocean_Server] No Fault, FailCount= 1
2013-02-20T00:52:40.246Z,1361321560.246 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-20T00:52:40.247Z,1361321560.247 [DVL_micro](INFO): Querying output modes
2013-02-20T00:52:40.247Z,1361321560.247 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-20T00:52:40.258Z,1361321560.258 [DVL_micro](DEBUG): cmdResponse: 01
2013-02-20T00:52:40.258Z,1361321560.258 [DVL_micro](INFO): NQ1 output enabled
2013-02-20T00:52:40.259Z,1361321560.259 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-20T00:52:40.270Z,1361321560.270 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-02-20T00:52:40.275Z,1361321560.276 [DVL_micro](INFO): pause:Powering down
2013-02-20T00:52:42.085Z,1361321562.085 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-02-20T00:52:53.868Z,1361321573.868 [SBIT](IMPORTANT): Beginning Startup BIT
2013-02-20T00:52:53.870Z,1361321573.870 [CBIT](IMPORTANT): Beginning GF scan
2013-02-20T00:53:20.436Z,1361321600.436 [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): 0.340139
OPEN: 0.000765
Full Scale Calc: 0.392
2013-02-20T00:53:47.634Z,1361321627.634 [CommandLine](IMPORTANT): got command quit
2013-02-20T00:53:47.766Z,1361321627.766 [SBIT](IMPORTANT): SBIT PASSED
2013-02-20T00:53:48.199Z,1361321628.199 [MissionManager](IMPORTANT): Started mission Startup
2013-02-20T00:53:48.199Z,1361321628.199 [Startup] Running Loop=1
2013-02-20T00:53:48.199Z,1361321628.199 [Startup](INFO): Aggregate::initialize Startup
2013-02-20T00:53:48.199Z,1361321628.199 [Startup:A.GoToSurface] Running Loop=1
2013-02-20T00:53:48.199Z,1361321628.199 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-02-20T00:53:48.205Z,1361321628.205 [Startup:StartupSatComms] Running Loop=1
2013-02-20T00:53:48.205Z,1361321628.205 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-02-20T00:53:48.205Z,1361321628.205 [Startup:StartupSatComms:A] Running Loop=1
2013-02-20T00:53:48.559Z,1361321628.559 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-02-20T00:53:48.762Z,1361321628.762 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-02-20T00:53:48.762Z,1361321628.762 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-02-20T00:53:48.862Z,1361321628.862 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-02-20T00:53:48.986Z,1361321628.986 [WetLabsBB2FL](INFO): Powering down
2013-02-20T00:53:49.002Z,1361321629.002 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-02-20T00:53:49.382Z,1361321629.382 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-02-20T00:53:49.403Z,1361321629.403 [DVL_micro](INFO): uninitialize:Powering down
2013-02-20T00:53:49.422Z,1361321629.422 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-02-20T00:53:49.478Z,1361321629.478 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-02-20T00:53:49.487Z,1361321629.487 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-02-20T00:53:49.527Z,1361321629.527 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-02-20T00:53:49.528Z,1361321629.528 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-02-20T00:53:49.566Z,1361321629.566 [controlThread](DEBUG): Uninitializing ControlThread
2013-02-20T00:53:49.567Z,1361321629.567 [AHRS_sp3003D](INFO): Powering down
2013-02-20T00:53:49.655Z,1361321629.655 [NAL9602](INFO): Powering down
2013-02-20T00:53:49.657Z,1361321629.657 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-20T00:53:49.658Z,1361321629.658 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-02-20T00:53:49.662Z,1361321629.662 [Startup] Stopped
2013-02-20T00:53:49.662Z,1361321629.662 [Startup](INFO): Aggregate::uninitialize Startup
2013-02-20T00:53:49.663Z,1361321629.662 [Startup:A.GoToSurface] Stopped
2013-02-20T00:53:49.663Z,1361321629.663 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-02-20T00:53:49.663Z,1361321629.663 [Startup:StartupSatComms] Stopped
2013-02-20T00:53:49.663Z,1361321629.663 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-02-20T00:53:49.663Z,1361321629.663 [Startup:StartupSatComms:A] Stopped
2013-02-20T00:53:49.664Z,1361321629.664 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-02-20T00:53:49.664Z,1361321629.664 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-02-20T00:53:49.665Z,1361321629.665 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-02-20T00:53:49.665Z,1361321629.665 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-02-20T00:53:49.665Z,1361321629.665 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-02-20T00:53:49.666Z,1361321629.666 [BuoyancyServo](INFO): Powering down
2013-02-20T00:53:49.678Z,1361321629.678 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-02-20T00:53:49.678Z,1361321629.678 [ElevatorServo](INFO): Powering down
2013-02-20T00:53:49.679Z,1361321629.679 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-20T00:53:49.679Z,1361321629.679 [MassServo](INFO): Powering down
2013-02-20T00:53:49.680Z,1361321629.680 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-02-20T00:53:49.680Z,1361321629.680 [RudderServo](INFO): Powering down
2013-02-20T00:53:49.681Z,1361321629.681 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-02-20T00:53:49.681Z,1361321629.681 [ThrusterServo](INFO): Powering down
2013-02-20T00:53:49.682Z,1361321629.682 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-02-20T00:53:49.682Z,1361321629.682 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-02-20T00:53:49.683Z,1361321629.683 [CBIT](DEBUG): Uninitialize CBIT Component.