2013-02-27T16:52:27.738Z,1361983947.739 [Supervisor](DEBUG): Initializing supervisor.
2013-02-27T16:52:27.741Z,1361983947.741 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-02-27T16:52:27.742Z,1361983947.742 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-02-27T16:52:27.743Z,1361983947.743 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-02-27T16:52:27.747Z,1361983947.747 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-02-27T16:52:27.758Z,1361983947.758 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-02-27T16:52:27.759Z,1361983947.759 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-02-27T16:52:27.760Z,1361983947.760 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-02-27T16:52:27.761Z,1361983947.761 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-02-27T16:52:27.762Z,1361983947.761 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-02-27T16:52:27.763Z,1361983947.763 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-02-27T16:52:28.046Z,1361983948.046 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-02-27T16:52:28.047Z,1361983948.047 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-02-27T16:52:28.236Z,1361983948.236 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-02-27T16:52:28.236Z,1361983948.237 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-02-27T16:52:28.321Z,1361983948.321 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-02-27T16:52:28.322Z,1361983948.322 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-02-27T16:52:28.520Z,1361983948.520 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-02-27T16:52:28.520Z,1361983948.520 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-02-27T16:52:28.657Z,1361983948.657 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-02-27T16:52:28.658Z,1361983948.658 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-02-27T16:52:28.890Z,1361983948.890 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-02-27T16:52:28.890Z,1361983948.890 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-02-27T16:52:29.062Z,1361983949.062 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-02-27T16:52:29.062Z,1361983949.062 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-02-27T16:52:29.319Z,1361983949.319 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-02-27T16:52:29.319Z,1361983949.319 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-02-27T16:52:29.428Z,1361983949.428 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-02-27T16:52:29.429Z,1361983949.429 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-02-27T16:52:29.834Z,1361983949.834 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-02-27T16:52:29.835Z,1361983949.835 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-02-27T16:52:29.949Z,1361983949.949 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-02-27T16:52:29.950Z,1361983949.950 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-02-27T16:52:30.035Z,1361983950.035 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-02-27T16:52:30.036Z,1361983950.036 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-02-27T16:52:30.137Z,1361983950.137 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-02-27T16:52:30.266Z,1361983950.266 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-02-27T16:52:30.351Z,1361983950.351 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-02-27T16:52:30.451Z,1361983950.451 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-02-27T16:52:30.551Z,1361983950.551 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-02-27T16:52:30.669Z,1361983950.669 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-02-27T16:52:30.762Z,1361983950.762 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-02-27T16:52:30.848Z,1361983950.848 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-02-27T16:52:30.878Z,1361983950.878 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-02-27T16:52:31.041Z,1361983951.041 [InternalSim] Loaded
2013-02-27T16:52:31.041Z,1361983951.042 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-02-27T16:52:31.042Z,1361983951.042 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-02-27T16:52:31.043Z,1361983951.043 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-02-27T16:52:31.103Z,1361983951.103 [SBIT](DEBUG): Construct Startup Built In Test.
2013-02-27T16:52:31.134Z,1361983951.134 [SBIT] Loaded
2013-02-27T16:52:31.134Z,1361983951.134 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-02-27T16:52:31.135Z,1361983951.135 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-02-27T16:52:31.165Z,1361983951.165 [IBIT] Loaded
2013-02-27T16:52:31.166Z,1361983951.166 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-02-27T16:52:31.169Z,1361983951.169 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-02-27T16:52:31.296Z,1361983951.296 [CBIT] Loaded
2013-02-27T16:52:31.296Z,1361983951.296 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-02-27T16:52:31.297Z,1361983951.297 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-02-27T16:52:31.298Z,1361983951.297 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-02-27T16:52:31.455Z,1361983951.455 [BuoyancyServo] Loaded
2013-02-27T16:52:31.455Z,1361983951.455 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-02-27T16:52:31.468Z,1361983951.468 [ElevatorServo] Loaded
2013-02-27T16:52:31.468Z,1361983951.468 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-02-27T16:52:31.481Z,1361983951.481 [MassServo] Loaded
2013-02-27T16:52:31.481Z,1361983951.481 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-02-27T16:52:31.494Z,1361983951.494 [RudderServo] Loaded
2013-02-27T16:52:31.494Z,1361983951.494 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-02-27T16:52:31.507Z,1361983951.507 [ThrusterServo] Loaded
2013-02-27T16:52:31.507Z,1361983951.507 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-02-27T16:52:31.507Z,1361983951.507 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-02-27T16:52:31.508Z,1361983951.508 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-02-27T16:52:31.525Z,1361983951.525 [DepthRateCalculator] Loaded
2013-02-27T16:52:31.525Z,1361983951.525 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-02-27T16:52:34.885Z,1361983954.885 [HFRadarModelCalc] Loaded
2013-02-27T16:52:34.885Z,1361983954.885 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-02-27T16:52:34.902Z,1361983954.902 [NavChart] Loaded
2013-02-27T16:52:34.903Z,1361983954.903 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-02-27T16:52:34.909Z,1361983954.909 [PitchRateCalculator] Loaded
2013-02-27T16:52:34.909Z,1361983954.909 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-02-27T16:52:34.916Z,1361983954.916 [SpeedCalculator] Loaded
2013-02-27T16:52:34.916Z,1361983954.916 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-02-27T16:52:34.932Z,1361983954.932 [TempGradientCalculator] Loaded
2013-02-27T16:52:34.933Z,1361983954.933 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-02-27T16:52:34.939Z,1361983954.939 [YawRateCalculator] Loaded
2013-02-27T16:52:34.939Z,1361983954.939 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-02-27T16:52:34.982Z,1361983954.982 [Navigation] Loaded
2013-02-27T16:52:34.983Z,1361983954.983 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-02-27T16:52:34.983Z,1361983954.983 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-02-27T16:52:34.984Z,1361983954.984 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-02-27T16:52:35.223Z,1361983955.223 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-02-27T16:52:35.223Z,1361983955.224 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-02-27T16:52:35.246Z,1361983955.246 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-02-27T16:52:35.247Z,1361983955.247 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-02-27T16:52:35.288Z,1361983955.288 [VerticalControl](DEBUG): Construct VerticalControl.
2013-02-27T16:52:35.388Z,1361983955.388 [VerticalControl] Loaded
2013-02-27T16:52:35.388Z,1361983955.388 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-02-27T16:52:35.389Z,1361983955.389 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-02-27T16:52:35.449Z,1361983955.449 [HorizontalControl] Loaded
2013-02-27T16:52:35.450Z,1361983955.450 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-02-27T16:52:35.451Z,1361983955.451 [SpeedControl](DEBUG): Construct SpeedControl.
2013-02-27T16:52:35.452Z,1361983955.453 [SpeedControl] Loaded
2013-02-27T16:52:35.453Z,1361983955.453 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-02-27T16:52:35.454Z,1361983955.454 [LoopControl](DEBUG): Construct LoopControl.
2013-02-27T16:52:35.454Z,1361983955.454 [LoopControl] Loaded
2013-02-27T16:52:35.455Z,1361983955.455 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-02-27T16:52:35.455Z,1361983955.455 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-02-27T16:52:35.456Z,1361983955.456 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-02-27T16:52:35.461Z,1361983955.461 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-02-27T16:52:35.466Z,1361983955.466 [AsyncPiEstimator] Loaded
2013-02-27T16:52:35.466Z,1361983955.466 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-02-27T16:52:35.468Z,1361983955.468 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-02-27T16:52:35.468Z,1361983955.468 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-02-27T16:52:35.469Z,1361983955.469 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-02-27T16:52:35.603Z,1361983955.603 [AHRS_sp3003D] Loaded
2013-02-27T16:52:35.603Z,1361983955.603 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-02-27T16:52:35.881Z,1361983955.881 [Batt_Ocean_Server] Loaded
2013-02-27T16:52:35.881Z,1361983955.881 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-02-27T16:52:35.895Z,1361983955.895 [Depth_Keller] Loaded
2013-02-27T16:52:35.896Z,1361983955.895 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-02-27T16:52:35.902Z,1361983955.902 [DropWeight] Loaded
2013-02-27T16:52:35.902Z,1361983955.902 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-02-27T16:52:36.073Z,1361983956.073 [DVL_micro] Loaded
2013-02-27T16:52:36.073Z,1361983956.073 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-02-27T16:52:36.075Z,1361983956.075 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-02-27T16:52:36.162Z,1361983956.162 [NAL9602] Loaded
2013-02-27T16:52:36.163Z,1361983956.163 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-02-27T16:52:36.217Z,1361983956.217 [Onboard] Loaded
2013-02-27T16:52:36.217Z,1361983956.217 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-02-27T16:52:36.224Z,1361983956.224 [Radio_Freewave] Loaded
2013-02-27T16:52:36.225Z,1361983956.225 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-02-27T16:52:36.226Z,1361983956.226 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-02-27T16:52:36.226Z,1361983956.226 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-02-27T16:52:36.285Z,1361983956.285 [Aanderaa_O2] Loaded
2013-02-27T16:52:36.286Z,1361983956.286 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-02-27T16:52:36.321Z,1361983956.321 [CTD_NeilBrown] Loaded
2013-02-27T16:52:36.321Z,1361983956.321 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-02-27T16:52:36.322Z,1361983956.322 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-02-27T16:52:36.337Z,1361983956.337 [ISUS] Loaded
2013-02-27T16:52:36.337Z,1361983956.337 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-02-27T16:52:36.354Z,1361983956.354 [PAR_Licor] Loaded
2013-02-27T16:52:36.354Z,1361983956.354 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-02-27T16:52:36.386Z,1361983956.386 [WetLabsBB2FL] Loaded
2013-02-27T16:52:36.386Z,1361983956.386 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-02-27T16:52:36.387Z,1361983956.387 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-02-27T16:52:36.388Z,1361983956.388 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-02-27T16:52:36.390Z,1361983956.390 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-02-27T16:52:36.391Z,1361983956.391 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-02-27T16:52:36.398Z,1361983956.398 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-02-27T16:52:36.399Z,1361983956.399 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-02-27T16:52:36.404Z,1361983956.404 [Supervisor](DEBUG): Running supervisor.
2013-02-27T16:52:36.405Z,1361983956.405 [CommandLine](INFO): Thread ID is 4899
2013-02-27T16:52:36.407Z,1361983956.408 [controlThread](INFO): Thread ID is 4898
2013-02-27T16:52:36.408Z,1361983956.408 [controlThread](DEBUG): Initializing ControlThread
2013-02-27T16:52:36.408Z,1361983956.408 [CycleStarter](INFO): Thread ID is 4897
2013-02-27T16:52:36.409Z,1361983956.409 [InternalSim](DEBUG):  InternalSim initializing...
2013-02-27T16:52:36.445Z,1361983956.445 [logger](INFO): Thread ID is 4900
2013-02-27T16:52:36.469Z,1361983956.469 [SBIT](INFO): Initialize SBIT Component.
2013-02-27T16:52:36.469Z,1361983956.469 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10150
2013-02-27T16:52:36.470Z,1361983956.470 [IBIT](INFO): Initialize IBIT Component.
2013-02-27T16:52:36.471Z,1361983956.471 [CBIT](DEBUG): Initialize CBIT Component.
2013-02-27T16:52:36.471Z,1361983956.471 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-02-27T16:52:36.481Z,1361983956.481 [AsyncPiEstimator](INFO): Thread ID is 4961
2013-02-27T16:52:36.481Z,1361983956.481 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-02-27T16:52:36.499Z,1361983956.499 [DVL_micro](INFO): Thread ID is 4962
2013-02-27T16:52:36.501Z,1361983956.501 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-27T16:52:36.502Z,1361983956.502 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-02-27T16:52:36.502Z,1361983956.502 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-02-27T16:52:36.503Z,1361983956.503 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-02-27T16:52:36.503Z,1361983956.503 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-02-27T16:52:36.505Z,1361983956.505 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-02-27T16:52:36.505Z,1361983956.505 [Navigation](DEBUG): Initializing Navigation.
2013-02-27T16:52:36.506Z,1361983956.506 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-02-27T16:52:36.507Z,1361983956.507 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-02-27T16:52:36.516Z,1361983956.516 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-02-27T16:52:36.517Z,1361983956.517 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-02-27T16:52:36.519Z,1361983956.519 [DVL_micro](INFO): Initializing
2013-02-27T16:52:36.519Z,1361983956.519 [DVL_micro](INFO): start:Powering up
2013-02-27T16:52:36.520Z,1361983956.520 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-27T16:52:36.521Z,1361983956.521 [DVL_micro](INFO): Cycling power to configure device.
2013-02-27T16:52:36.525Z,1361983956.525 [CTD_NeilBrown](INFO): Thread ID is 4963
2013-02-27T16:52:36.525Z,1361983956.525 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-02-27T16:52:36.528Z,1361983956.528 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-02-27T16:52:36.538Z,1361983956.538 [WetLabsBB2FL](INFO): Thread ID is 4964
2013-02-27T16:52:36.538Z,1361983956.538 [WetLabsBB2FL](INFO): Powering down
2013-02-27T16:52:36.581Z,1361983956.581 [NavChartDb](INFO): Thread ID is 4965
2013-02-27T16:52:36.583Z,1361983956.583 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2013-02-27T16:52:36.587Z,1361983956.587 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-02-27T16:52:36.589Z,1361983956.589 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2013-02-27T16:52:36.591Z,1361983956.591 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2013-02-27T16:52:36.593Z,1361983956.593 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2013-02-27T16:52:36.594Z,1361983956.594 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2013-02-27T16:52:36.596Z,1361983956.596 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2013-02-27T16:52:36.598Z,1361983956.598 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2013-02-27T16:52:36.600Z,1361983956.600 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2013-02-27T16:52:36.602Z,1361983956.602 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2013-02-27T16:52:36.788Z,1361983956.788 [NavChartDb](INFO): Setup scan of Resources/US5CA62M.000
2013-02-27T16:52:38.503Z,1361983958.503 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-02-27T16:52:38.534Z,1361983958.534 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-02-27T16:52:38.544Z,1361983958.545 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-27T16:52:38.563Z,1361983958.563 [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>


2013-02-27T16:52:38.568Z,1361983958.568 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-02-27T16:52:38.615Z,1361983958.615 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-02-27T16:52:38.618Z,1361983958.618 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-02-27T16:52:38.621Z,1361983958.621 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-27T16:52:38.624Z,1361983958.625 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-27T16:52:38.625Z,1361983958.625 [DVL_micro](INFO): Querying output modes
2013-02-27T16:52:38.625Z,1361983958.625 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-27T16:52:38.631Z,1361983958.631 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-02-27T16:52:38.634Z,1361983958.634 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-27T16:52:38.636Z,1361983958.636 [DVL_micro](DEBUG): cmdResponse: 01
2013-02-27T16:52:38.636Z,1361983958.636 [DVL_micro](INFO): NQ1 output enabled
2013-02-27T16:52:38.637Z,1361983958.637 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-27T16:52:38.642Z,1361983958.642 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-02-27T16:52:38.648Z,1361983958.648 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-02-27T16:52:38.660Z,1361983958.660 [DVL_micro](INFO): pause:Powering down
2013-02-27T16:52:38.675Z,1361983958.675 [Default:D.SetSpeed](DEBUG): Construct.
2013-02-27T16:52:38.678Z,1361983958.678 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-27T16:52:38.683Z,1361983958.683 [Default:F.Wait](DEBUG): Construct Wait.
2013-02-27T16:52:38.703Z,1361983958.703 [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>


2013-02-27T16:52:38.708Z,1361983958.708 [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,
2013-02-27T16:52:38.730Z,1361983958.730 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-27T16:52:38.744Z,1361983958.744 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-02-27T16:52:38.810Z,1361983958.810 [Radio_Freewave](INFO): Powering up
2013-02-27T16:52:39.034Z,1361983959.034 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-02-27T16:52:39.035Z,1361983959.035 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-02-27T16:52:39.043Z,1361983959.043 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-27T16:52:39.044Z,1361983959.044 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-27T16:52:39.079Z,1361983959.079 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-27T16:52:39.084Z,1361983959.084 [MassServo](DEBUG): Initializing MassServo.
2013-02-27T16:52:39.091Z,1361983959.091 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-27T16:52:39.096Z,1361983959.096 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-27T16:52:39.102Z,1361983959.102 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-02-27T16:52:39.105Z,1361983959.105 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-02-27T16:52:41.204Z,1361983961.204 [Aanderaa_O2](INFO): Powering down
2013-02-27T16:52:41.749Z,1361983961.749 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2013-02-27T16:52:41.749Z,1361983961.749 [MassServo] Communications Fault, FailCount= 1
2013-02-27T16:52:41.749Z,1361983961.749 [MassServo](ERROR): Communications Fault
2013-02-27T16:52:41.752Z,1361983961.752 [CBIT](ERROR): Communications Fault in component: MassServo
2013-02-27T16:52:41.983Z,1361983961.983 [NAL9602](INFO): Powering up NAL9602
2013-02-27T16:52:42.069Z,1361983962.069 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-27T16:52:42.069Z,1361983962.069 [MassServo](INFO): Powering down
2013-02-27T16:52:42.834Z,1361983962.834 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-27T16:52:42.950Z,1361983962.950 [MassServo](DEBUG): Initializing MassServo.
2013-02-27T16:52:43.047Z,1361983963.047 [CBIT](INFO): Clearing failed state for component MassServo
2013-02-27T16:52:43.047Z,1361983963.047 [MassServo] No Fault, FailCount= 1
2013-02-27T16:52:45.549Z,1361983965.549 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2013-02-27T16:52:45.550Z,1361983965.550 [MassServo] Communications Fault, FailCount= 2
2013-02-27T16:52:45.550Z,1361983965.550 [MassServo](ERROR): Communications Fault
2013-02-27T16:52:45.623Z,1361983965.623 [CBIT](ERROR): Communications Fault in component: MassServo
2013-02-27T16:52:45.832Z,1361983965.832 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-27T16:52:45.832Z,1361983965.832 [MassServo](INFO): Powering down
2013-02-27T16:52:46.625Z,1361983966.625 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-27T16:52:46.742Z,1361983966.742 [MassServo](DEBUG): Initializing MassServo.
2013-02-27T16:52:46.745Z,1361983966.745 [CBIT](INFO): Clearing failed state for component MassServo
2013-02-27T16:52:46.745Z,1361983966.745 [MassServo] No Fault, FailCount= 2
2013-02-27T16:52:49.180Z,1361983969.180 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2013-02-27T16:52:49.180Z,1361983969.180 [MassServo] Communications Fault, FailCount= 3
2013-02-27T16:52:49.180Z,1361983969.180 [MassServo](ERROR): Communications Fault
2013-02-27T16:52:49.183Z,1361983969.183 [CBIT](ERROR): Communications Fault in component: MassServo
2013-02-27T16:52:49.384Z,1361983969.384 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-27T16:52:49.384Z,1361983969.384 [MassServo](INFO): Powering down
2013-02-27T16:52:50.184Z,1361983970.184 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-27T16:52:50.301Z,1361983970.301 [MassServo](DEBUG): Initializing MassServo.
2013-02-27T16:52:50.304Z,1361983970.304 [CBIT](INFO): Clearing failed state for component MassServo
2013-02-27T16:52:50.304Z,1361983970.304 [MassServo] No Fault, FailCount= 3
2013-02-27T16:52:52.704Z,1361983972.704 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2013-02-27T16:52:52.704Z,1361983972.704 [MassServo] Communications Fault, FailCount= 4
2013-02-27T16:52:52.704Z,1361983972.704 [MassServo](ERROR): Communications Fault
2013-02-27T16:52:52.706Z,1361983972.706 [SBIT](IMPORTANT): Beginning Startup BIT
2013-02-27T16:52:52.708Z,1361983972.708 [CBIT](ERROR): Communications Fault in component: MassServo
2013-02-27T16:52:52.709Z,1361983972.709 [CBIT](IMPORTANT): Beginning GF scan
2013-02-27T16:52:52.944Z,1361983972.944 [NAL9602](INFO): NAL9602 initialized
2013-02-27T16:52:53.041Z,1361983973.041 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-27T16:52:53.041Z,1361983973.041 [MassServo](INFO): Powering down
2013-02-27T16:52:53.837Z,1361983973.837 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-27T16:52:53.953Z,1361983973.953 [MassServo](DEBUG): Initializing MassServo.
2013-02-27T16:52:53.958Z,1361983973.958 [CBIT](INFO): Clearing failed state for component MassServo
2013-02-27T16:52:53.958Z,1361983973.958 [MassServo] No Fault, FailCount= 4
2013-02-27T16:52:56.284Z,1361983976.284 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2013-02-27T16:52:56.284Z,1361983976.284 [MassServo] Communications Fault, FailCount= 5
2013-02-27T16:52:56.284Z,1361983976.284 [MassServo](ERROR): Communications Fault
2013-02-27T16:52:56.315Z,1361983976.315 [CBIT](ERROR): Communications Fault in component: MassServo
2013-02-27T16:52:56.316Z,1361983976.316 [CBIT](CRITICAL): Communications Fault in component: MassServo
2013-02-27T16:52:56.515Z,1361983976.515 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-27T16:52:56.515Z,1361983976.515 [MassServo](INFO): Powering down
2013-02-27T16:52:57.341Z,1361983977.341 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-27T16:52:57.457Z,1361983977.457 [MassServo](DEBUG): Initializing MassServo.
2013-02-27T16:52:58.072Z,1361983978.072 [CommandLine](IMPORTANT): got command quit
2013-02-27T16:52:59.079Z,1361983979.079 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-02-27T16:52:59.080Z,1361983979.080 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-02-27T16:52:59.100Z,1361983979.100 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-02-27T16:52:59.208Z,1361983979.208 [WetLabsBB2FL](INFO): Powering down
2013-02-27T16:52:59.220Z,1361983979.220 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-02-27T16:52:59.448Z,1361983979.448 [CTD_NeilBrown](INFO): Powering down
2013-02-27T16:52:59.460Z,1361983979.460 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-02-27T16:52:59.676Z,1361983979.676 [DVL_micro](INFO): uninitialize:Powering down
2013-02-27T16:52:59.680Z,1361983979.680 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-02-27T16:52:59.816Z,1361983979.816 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-02-27T16:52:59.825Z,1361983979.825 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-02-27T16:52:59.865Z,1361983979.865 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-02-27T16:52:59.866Z,1361983979.866 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-02-27T16:52:59.928Z,1361983979.928 [controlThread](DEBUG): Uninitializing ControlThread
2013-02-27T16:52:59.929Z,1361983979.929 [AHRS_sp3003D](INFO): Powering down
2013-02-27T16:53:00.017Z,1361983980.017 [NAL9602](INFO): Powering down
2013-02-27T16:53:00.019Z,1361983980.019 [Aanderaa_O2](INFO): Powering down
2013-02-27T16:53:00.021Z,1361983980.021 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-27T16:53:00.021Z,1361983980.021 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-02-27T16:53:00.026Z,1361983980.026 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-02-27T16:53:00.027Z,1361983980.027 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-02-27T16:53:00.027Z,1361983980.027 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-02-27T16:53:00.027Z,1361983980.027 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-02-27T16:53:00.028Z,1361983980.028 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-02-27T16:53:00.028Z,1361983980.028 [BuoyancyServo](INFO): Powering down
2013-02-27T16:53:00.041Z,1361983980.040 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-02-27T16:53:00.041Z,1361983980.041 [ElevatorServo](INFO): Powering down
2013-02-27T16:53:00.041Z,1361983980.042 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-27T16:53:00.042Z,1361983980.042 [MassServo](INFO): Powering down
2013-02-27T16:53:00.042Z,1361983980.042 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-02-27T16:53:00.043Z,1361983980.043 [RudderServo](INFO): Powering down
2013-02-27T16:53:00.043Z,1361983980.043 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-02-27T16:53:00.043Z,1361983980.043 [ThrusterServo](INFO): Powering down
2013-02-27T16:53:00.045Z,1361983980.045 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-02-27T16:53:00.045Z,1361983980.045 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-02-27T16:53:00.045Z,1361983980.045 [CBIT](DEBUG): Uninitialize CBIT Component.