2013-02-28T21:49:28.278Z,1362088168.278 [Supervisor](DEBUG): Initializing supervisor.
2013-02-28T21:49:28.281Z,1362088168.281 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-02-28T21:49:28.281Z,1362088168.281 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-02-28T21:49:28.282Z,1362088168.282 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-02-28T21:49:28.286Z,1362088168.286 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-02-28T21:49:28.297Z,1362088168.297 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-02-28T21:49:28.298Z,1362088168.298 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-02-28T21:49:28.299Z,1362088168.299 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-02-28T21:49:28.299Z,1362088168.299 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-02-28T21:49:28.300Z,1362088168.300 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-02-28T21:49:28.301Z,1362088168.301 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-02-28T21:49:28.580Z,1362088168.580 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-02-28T21:49:28.581Z,1362088168.581 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-02-28T21:49:28.766Z,1362088168.766 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-02-28T21:49:28.767Z,1362088168.767 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-02-28T21:49:28.850Z,1362088168.850 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-02-28T21:49:28.851Z,1362088168.851 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-02-28T21:49:29.050Z,1362088169.050 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-02-28T21:49:29.051Z,1362088169.050 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-02-28T21:49:29.182Z,1362088169.181 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-02-28T21:49:29.182Z,1362088169.182 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-02-28T21:49:29.410Z,1362088169.410 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-02-28T21:49:29.410Z,1362088169.410 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-02-28T21:49:29.579Z,1362088169.579 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-02-28T21:49:29.580Z,1362088169.580 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-02-28T21:49:29.831Z,1362088169.830 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-02-28T21:49:29.831Z,1362088169.831 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-02-28T21:49:29.929Z,1362088169.929 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-02-28T21:49:29.930Z,1362088169.930 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-02-28T21:49:30.334Z,1362088170.334 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-02-28T21:49:30.335Z,1362088170.335 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-02-28T21:49:30.448Z,1362088170.448 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-02-28T21:49:30.449Z,1362088170.448 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-02-28T21:49:30.532Z,1362088170.532 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-02-28T21:49:30.533Z,1362088170.533 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-02-28T21:49:30.633Z,1362088170.633 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-02-28T21:49:30.760Z,1362088170.760 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-02-28T21:49:30.844Z,1362088170.844 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-02-28T21:49:30.946Z,1362088170.946 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-02-28T21:49:31.046Z,1362088171.046 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-02-28T21:49:31.164Z,1362088171.164 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-02-28T21:49:31.257Z,1362088171.257 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-02-28T21:49:31.343Z,1362088171.343 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-02-28T21:49:31.375Z,1362088171.375 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-02-28T21:49:31.532Z,1362088171.532 [InternalSim] Loaded
2013-02-28T21:49:31.532Z,1362088171.532 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-02-28T21:49:31.533Z,1362088171.533 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-02-28T21:49:31.534Z,1362088171.534 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-02-28T21:49:31.593Z,1362088171.593 [SBIT](DEBUG): Construct Startup Built In Test.
2013-02-28T21:49:31.623Z,1362088171.622 [SBIT] Loaded
2013-02-28T21:49:31.623Z,1362088171.623 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-02-28T21:49:31.624Z,1362088171.624 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-02-28T21:49:31.653Z,1362088171.653 [IBIT] Loaded
2013-02-28T21:49:31.654Z,1362088171.654 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-02-28T21:49:31.657Z,1362088171.657 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-02-28T21:49:31.781Z,1362088171.781 [CBIT] Loaded
2013-02-28T21:49:31.781Z,1362088171.781 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-02-28T21:49:31.782Z,1362088171.782 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-02-28T21:49:31.782Z,1362088171.782 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-02-28T21:49:31.934Z,1362088171.934 [BuoyancyServo] Loaded
2013-02-28T21:49:31.934Z,1362088171.934 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-02-28T21:49:31.947Z,1362088171.947 [ElevatorServo] Loaded
2013-02-28T21:49:31.947Z,1362088171.947 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-02-28T21:49:31.959Z,1362088171.959 [MassServo] Loaded
2013-02-28T21:49:31.959Z,1362088171.959 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-02-28T21:49:31.972Z,1362088171.972 [RudderServo] Loaded
2013-02-28T21:49:31.972Z,1362088171.972 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-02-28T21:49:31.984Z,1362088171.984 [ThrusterServo] Loaded
2013-02-28T21:49:31.984Z,1362088171.984 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-02-28T21:49:31.984Z,1362088171.984 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-02-28T21:49:31.985Z,1362088171.985 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-02-28T21:49:32.006Z,1362088172.006 [DepthRateCalculator] Loaded
2013-02-28T21:49:32.007Z,1362088172.007 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-02-28T21:49:35.835Z,1362088175.835 [HFRadarModelCalc] Loaded
2013-02-28T21:49:35.836Z,1362088175.836 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-02-28T21:49:35.852Z,1362088175.852 [NavChart] Loaded
2013-02-28T21:49:35.853Z,1362088175.852 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-02-28T21:49:35.859Z,1362088175.859 [PitchRateCalculator] Loaded
2013-02-28T21:49:35.859Z,1362088175.859 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-02-28T21:49:35.865Z,1362088175.865 [SpeedCalculator] Loaded
2013-02-28T21:49:35.866Z,1362088175.866 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-02-28T21:49:35.881Z,1362088175.881 [TempGradientCalculator] Loaded
2013-02-28T21:49:35.881Z,1362088175.881 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-02-28T21:49:35.887Z,1362088175.887 [YawRateCalculator] Loaded
2013-02-28T21:49:35.887Z,1362088175.888 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-02-28T21:49:35.929Z,1362088175.929 [Navigation] Loaded
2013-02-28T21:49:35.929Z,1362088175.929 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-02-28T21:49:35.930Z,1362088175.930 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-02-28T21:49:35.930Z,1362088175.930 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-02-28T21:49:36.165Z,1362088176.165 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-02-28T21:49:36.166Z,1362088176.166 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-02-28T21:49:36.194Z,1362088176.194 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-02-28T21:49:36.195Z,1362088176.195 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-02-28T21:49:36.236Z,1362088176.236 [VerticalControl](DEBUG): Construct VerticalControl.
2013-02-28T21:49:36.334Z,1362088176.334 [VerticalControl] Loaded
2013-02-28T21:49:36.334Z,1362088176.334 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-02-28T21:49:36.335Z,1362088176.335 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-02-28T21:49:36.393Z,1362088176.393 [HorizontalControl] Loaded
2013-02-28T21:49:36.393Z,1362088176.393 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-02-28T21:49:36.394Z,1362088176.394 [SpeedControl](DEBUG): Construct SpeedControl.
2013-02-28T21:49:36.396Z,1362088176.396 [SpeedControl] Loaded
2013-02-28T21:49:36.396Z,1362088176.396 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-02-28T21:49:36.397Z,1362088176.397 [LoopControl](DEBUG): Construct LoopControl.
2013-02-28T21:49:36.398Z,1362088176.398 [LoopControl] Loaded
2013-02-28T21:49:36.398Z,1362088176.398 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-02-28T21:49:36.398Z,1362088176.398 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-02-28T21:49:36.399Z,1362088176.399 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-02-28T21:49:36.404Z,1362088176.404 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-02-28T21:49:36.409Z,1362088176.409 [AsyncPiEstimator] Loaded
2013-02-28T21:49:36.410Z,1362088176.410 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-02-28T21:49:36.411Z,1362088176.411 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-02-28T21:49:36.411Z,1362088176.411 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-02-28T21:49:36.412Z,1362088176.412 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-02-28T21:49:36.544Z,1362088176.545 [AHRS_sp3003D] Loaded
2013-02-28T21:49:36.545Z,1362088176.545 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-02-28T21:49:36.812Z,1362088176.812 [Batt_Ocean_Server] Loaded
2013-02-28T21:49:36.812Z,1362088176.812 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-02-28T21:49:36.827Z,1362088176.827 [Depth_Keller] Loaded
2013-02-28T21:49:36.827Z,1362088176.827 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-02-28T21:49:36.833Z,1362088176.833 [DropWeight] Loaded
2013-02-28T21:49:36.833Z,1362088176.833 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-02-28T21:49:37.013Z,1362088177.013 [DVL_micro] Loaded
2013-02-28T21:49:37.014Z,1362088177.013 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-02-28T21:49:37.015Z,1362088177.015 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-02-28T21:49:37.100Z,1362088177.100 [NAL9602] Loaded
2013-02-28T21:49:37.100Z,1362088177.100 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-02-28T21:49:37.152Z,1362088177.152 [Onboard] Loaded
2013-02-28T21:49:37.152Z,1362088177.152 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-02-28T21:49:37.159Z,1362088177.159 [Radio_Freewave] Loaded
2013-02-28T21:49:37.160Z,1362088177.159 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-02-28T21:49:37.160Z,1362088177.160 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-02-28T21:49:37.161Z,1362088177.161 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-02-28T21:49:37.219Z,1362088177.219 [Aanderaa_O2] Loaded
2013-02-28T21:49:37.219Z,1362088177.219 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-02-28T21:49:37.253Z,1362088177.253 [CTD_NeilBrown] Loaded
2013-02-28T21:49:37.253Z,1362088177.253 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-02-28T21:49:37.254Z,1362088177.254 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-02-28T21:49:37.268Z,1362088177.268 [ISUS] Loaded
2013-02-28T21:49:37.268Z,1362088177.268 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-02-28T21:49:37.284Z,1362088177.284 [PAR_Licor] Loaded
2013-02-28T21:49:37.285Z,1362088177.284 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-02-28T21:49:37.315Z,1362088177.316 [WetLabsBB2FL] Loaded
2013-02-28T21:49:37.316Z,1362088177.316 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-02-28T21:49:37.317Z,1362088177.317 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-02-28T21:49:37.317Z,1362088177.318 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-02-28T21:49:37.320Z,1362088177.320 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-02-28T21:49:37.321Z,1362088177.321 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-02-28T21:49:37.327Z,1362088177.327 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-02-28T21:49:37.329Z,1362088177.329 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-02-28T21:49:37.333Z,1362088177.333 [Supervisor](DEBUG): Running supervisor.
2013-02-28T21:49:37.334Z,1362088177.334 [CommandLine](INFO): Thread ID is 5979
2013-02-28T21:49:37.338Z,1362088177.338 [controlThread](INFO): Thread ID is 5978
2013-02-28T21:49:37.338Z,1362088177.338 [controlThread](DEBUG): Initializing ControlThread
2013-02-28T21:49:37.339Z,1362088177.339 [CycleStarter](INFO): Thread ID is 5977
2013-02-28T21:49:37.339Z,1362088177.339 [InternalSim](DEBUG):  InternalSim initializing...
2013-02-28T21:49:37.373Z,1362088177.373 [logger](INFO): Thread ID is 5980
2013-02-28T21:49:37.402Z,1362088177.402 [SBIT](INFO): Initialize SBIT Component.
2013-02-28T21:49:37.402Z,1362088177.402 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10189
2013-02-28T21:49:37.403Z,1362088177.403 [IBIT](INFO): Initialize IBIT Component.
2013-02-28T21:49:37.413Z,1362088177.413 [AsyncPiEstimator](INFO): Thread ID is 6041
2013-02-28T21:49:37.413Z,1362088177.413 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-02-28T21:49:37.421Z,1362088177.421 [CBIT](DEBUG): Initialize CBIT Component.
2013-02-28T21:49:37.421Z,1362088177.421 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-02-28T21:49:37.428Z,1362088177.428 [DVL_micro](INFO): Thread ID is 6042
2013-02-28T21:49:37.439Z,1362088177.439 [DVL_micro](INFO): Initializing
2013-02-28T21:49:37.439Z,1362088177.439 [DVL_micro](INFO): start:Powering up
2013-02-28T21:49:37.440Z,1362088177.441 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-28T21:49:37.441Z,1362088177.441 [DVL_micro](INFO): Cycling power to configure device.
2013-02-28T21:49:37.449Z,1362088177.449 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-28T21:49:37.450Z,1362088177.450 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-02-28T21:49:37.450Z,1362088177.450 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-02-28T21:49:37.451Z,1362088177.451 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-02-28T21:49:37.451Z,1362088177.451 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-02-28T21:49:37.452Z,1362088177.453 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-02-28T21:49:37.453Z,1362088177.453 [Navigation](DEBUG): Initializing Navigation.
2013-02-28T21:49:37.453Z,1362088177.453 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-02-28T21:49:37.455Z,1362088177.455 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-02-28T21:49:37.456Z,1362088177.456 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-02-28T21:49:37.456Z,1362088177.456 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-02-28T21:49:37.459Z,1362088177.459 [CTD_NeilBrown](INFO): Thread ID is 6043
2013-02-28T21:49:37.459Z,1362088177.459 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-02-28T21:49:37.464Z,1362088177.464 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-02-28T21:49:37.474Z,1362088177.474 [WetLabsBB2FL](INFO): Thread ID is 6044
2013-02-28T21:49:37.474Z,1362088177.474 [WetLabsBB2FL](INFO): Powering down
2013-02-28T21:49:37.518Z,1362088177.518 [NavChartDb](INFO): Thread ID is 6045
2013-02-28T21:49:37.521Z,1362088177.521 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2013-02-28T21:49:37.535Z,1362088177.534 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-02-28T21:49:37.537Z,1362088177.537 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2013-02-28T21:49:37.538Z,1362088177.538 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2013-02-28T21:49:37.543Z,1362088177.543 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2013-02-28T21:49:37.545Z,1362088177.545 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2013-02-28T21:49:37.546Z,1362088177.546 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2013-02-28T21:49:37.548Z,1362088177.548 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2013-02-28T21:49:37.550Z,1362088177.550 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2013-02-28T21:49:37.552Z,1362088177.552 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2013-02-28T21:49:37.736Z,1362088177.736 [NavChartDb](INFO): Setup scan of Resources/US5CA62M.000
2013-02-28T21:49:38.951Z,1362088178.951 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-02-28T21:49:39.013Z,1362088179.013 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-02-28T21:49:39.030Z,1362088179.030 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-28T21:49:39.042Z,1362088179.042 [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>


2013-02-28T21:49:39.042Z,1362088179.042 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-02-28T21:49:39.071Z,1362088179.071 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-02-28T21:49:39.073Z,1362088179.073 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-02-28T21:49:39.097Z,1362088179.096 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-28T21:49:39.113Z,1362088179.113 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-02-28T21:49:39.116Z,1362088179.116 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-28T21:49:39.122Z,1362088179.122 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-02-28T21:49:39.135Z,1362088179.135 [Default:D.SetSpeed](DEBUG): Construct.
2013-02-28T21:49:39.139Z,1362088179.139 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-28T21:49:39.144Z,1362088179.144 [Default:F.Wait](DEBUG): Construct Wait.
2013-02-28T21:49:39.148Z,1362088179.148 [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>


2013-02-28T21:49:39.152Z,1362088179.152 [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,
2013-02-28T21:49:39.172Z,1362088179.172 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-28T21:49:39.340Z,1362088179.340 [Radio_Freewave](INFO): Powering up
2013-02-28T21:49:39.548Z,1362088179.548 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-28T21:49:39.549Z,1362088179.549 [DVL_micro](INFO): Querying output modes
2013-02-28T21:49:39.549Z,1362088179.549 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-28T21:49:39.560Z,1362088179.560 [DVL_micro](DEBUG): cmdResponse: 01
2013-02-28T21:49:39.560Z,1362088179.560 [DVL_micro](INFO): NQ1 output enabled
2013-02-28T21:49:39.561Z,1362088179.561 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-28T21:49:39.566Z,1362088179.566 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-02-28T21:49:39.567Z,1362088179.567 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-02-28T21:49:39.572Z,1362088179.572 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-02-28T21:49:39.590Z,1362088179.590 [DVL_micro](INFO): pause:Powering down
2013-02-28T21:49:39.611Z,1362088179.611 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-28T21:49:39.616Z,1362088179.616 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-28T21:49:39.622Z,1362088179.622 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-28T21:49:39.628Z,1362088179.628 [MassServo](DEBUG): Initializing MassServo.
2013-02-28T21:49:39.634Z,1362088179.634 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-28T21:49:39.635Z,1362088179.635 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-28T21:49:39.642Z,1362088179.642 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-02-28T21:49:39.643Z,1362088179.643 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-02-28T21:49:41.728Z,1362088181.728 [Aanderaa_O2](INFO): Powering down
2013-02-28T21:49:42.407Z,1362088182.407 [NAL9602](INFO): Powering up NAL9602
2013-02-28T21:49:53.020Z,1362088193.020 [NAL9602](INFO): NAL9602 initialized
2013-02-28T21:49:53.074Z,1362088193.074 [SBIT](IMPORTANT): Beginning Startup BIT
2013-02-28T21:49:53.098Z,1362088193.098 [CBIT](IMPORTANT): Beginning GF scan
2013-02-28T21:50:19.694Z,1362088219.694 [CBIT](IMPORTANT): No ground fault detected
2013-02-28T21:50:21.226Z,1362088221.226 [NAL9602](IMPORTANT): GPS fix at: 1362088384.00
2013-02-28T21:50:28.423Z,1362088228.423 [NAL9602](INFO): Powering down
2013-02-28T21:50:47.063Z,1362088247.063 [SBIT](IMPORTANT): SBIT PASSED
2013-02-28T21:50:47.441Z,1362088247.441 [MissionManager](IMPORTANT): Started mission Startup
2013-02-28T21:50:47.441Z,1362088247.441 [Startup] Running Loop=1
2013-02-28T21:50:47.442Z,1362088247.441 [Startup](INFO): Aggregate::initialize Startup
2013-02-28T21:50:47.442Z,1362088247.441 [Startup:A.GoToSurface] Running Loop=1
2013-02-28T21:50:47.442Z,1362088247.442 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-02-28T21:50:47.448Z,1362088247.448 [Startup:StartupSatComms] Running Loop=1
2013-02-28T21:50:47.448Z,1362088247.448 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-02-28T21:50:47.449Z,1362088247.449 [Startup:StartupSatComms:A] Running Loop=1
2013-02-28T21:50:47.831Z,1362088247.831 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-02-28T21:50:48.208Z,1362088248.208 [NAL9602](INFO): Powering up
2013-02-28T21:50:59.032Z,1362088259.032 [NAL9602](INFO): NAL9602 initialized
2013-02-28T21:51:19.433Z,1362088279.432 [NAL9602](IMPORTANT): GPS fix at: 1362088442.00
2013-02-28T21:51:19.449Z,1362088279.449 [Startup:StartupSatComms:A] Stopped
2013-02-28T21:51:19.449Z,1362088279.449 [Startup:StartupSatComms:B] Running Loop=1
2013-02-28T21:51:19.825Z,1362088279.825 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-02-28T21:51:23.755Z,1362088283.755 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:51:32.484Z,1362088292.484 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:51:38.404Z,1362088298.404 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:51:41.170Z,1362088301.170 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:51:47.092Z,1362088307.092 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:51:51.487Z,1362088311.487 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:52:00.130Z,1362088320.130 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:52:04.456Z,1362088324.457 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:52:07.274Z,1362088327.274 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:37%. Temp:22 C. ABORTING MISSION
2013-02-28T21:52:08.810Z,1362088328.810 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:52:11.098Z,1362088331.098 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:52:15.454Z,1362088335.454 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:52:17.798Z,1362088337.798 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:52:19.805Z,1362088339.805 [Startup:StartupSatComms:B](INFO): Timed out from 2013-02-28T21:51:19.4Z
2013-02-28T21:52:19.805Z,1362088339.805 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-02-28T21:52:19.805Z,1362088339.805 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-02-28T21:52:19.805Z,1362088339.805 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-02-28T21:52:19.805Z,1362088339.805 [Startup:StartupSatComms:B] Stopped
2013-02-28T21:52:19.806Z,1362088339.806 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-02-28T21:52:19.806Z,1362088339.806 [Startup:StartupSatComms] Stopped
2013-02-28T21:52:19.806Z,1362088339.806 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-02-28T21:52:19.807Z,1362088339.807 [Startup](INFO): Completed Startup
2013-02-28T21:52:19.807Z,1362088339.807 [Startup] Stopped
2013-02-28T21:52:19.807Z,1362088339.807 [Startup](INFO): Aggregate::uninitialize Startup
2013-02-28T21:52:19.807Z,1362088339.807 [Startup:A.GoToSurface] Stopped
2013-02-28T21:52:19.807Z,1362088339.807 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-02-28T21:52:20.199Z,1362088340.199 [MissionManager](IMPORTANT): Started mission Default
2013-02-28T21:52:20.199Z,1362088340.199 [Default] Running Loop=1
2013-02-28T21:52:20.199Z,1362088340.199 [Default](INFO): Aggregate::initialize Default
2013-02-28T21:52:20.199Z,1362088340.199 [Default:D.SetSpeed] Running Loop=1
2013-02-28T21:52:20.199Z,1362088340.199 [Default:D.SetSpeed](DEBUG): Initialize.
2013-02-28T21:52:20.199Z,1362088340.199 [Default:E.GoToSurface] Running Loop=1
2013-02-28T21:52:20.199Z,1362088340.199 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-02-28T21:52:20.200Z,1362088340.200 [Default:Iridium] Running Loop=1
2013-02-28T21:52:20.200Z,1362088340.200 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-02-28T21:52:20.200Z,1362088340.200 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-02-28T21:52:20.200Z,1362088340.200 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-02-28T21:52:20.200Z,1362088340.200 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-02-28T21:52:20.200Z,1362088340.201 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-02-28T21:52:20.201Z,1362088340.201 [Default:E.GoToSurface] Running Loop=1
2013-02-28T21:52:20.206Z,1362088340.206 [Default:D.SetSpeed] Running Loop=1
2013-02-28T21:52:20.212Z,1362088340.211 [Default:CallIridium] Running Loop=1
2013-02-28T21:52:20.212Z,1362088340.212 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-02-28T21:52:20.212Z,1362088340.212 [Default:CallIridium:A] Running Loop=1
2013-02-28T21:52:20.214Z,1362088340.214 [Default:CallIridium:A] Stopped
2013-02-28T21:52:20.214Z,1362088340.214 [Default:CallIridium:B] Running Loop=1
2013-02-28T21:52:20.214Z,1362088340.214 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-02-28T21:52:20.220Z,1362088340.220 [Default:Iridium:B.GoToSurface] Stopped
2013-02-28T21:52:20.220Z,1362088340.220 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-02-28T21:52:20.220Z,1362088340.220 [Default:Iridium:Read_Iridium] Running Loop=1
2013-02-28T21:52:20.220Z,1362088340.220 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-02-28T21:52:20.225Z,1362088340.225 [Default:GPS] Running Loop=1
2013-02-28T21:52:20.226Z,1362088340.226 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-02-28T21:52:20.226Z,1362088340.226 [Default:GPS:A.SetSpeed] Running Loop=1
2013-02-28T21:52:20.226Z,1362088340.226 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-02-28T21:52:20.226Z,1362088340.226 [Default:GPS:B.GoToSurface] Running Loop=1
2013-02-28T21:52:20.226Z,1362088340.226 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-02-28T21:52:20.231Z,1362088340.231 [Default:GPS:B.GoToSurface] Stopped
2013-02-28T21:52:20.231Z,1362088340.231 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-02-28T21:52:20.232Z,1362088340.232 [Default:GPS:Read_GPS] Running Loop=1
2013-02-28T21:52:20.232Z,1362088340.232 [Default:GPS:A.SetSpeed] Running Loop=1
2013-02-28T21:52:20.606Z,1362088340.606 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-02-28T21:52:20.609Z,1362088340.609 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-02-28T21:52:21.758Z,1362088341.758 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:52:22.908Z,1362088342.908 [NAL9602](IMPORTANT): GPS fix at: 1362088506.00
2013-02-28T21:52:22.925Z,1362088342.925 [Default:GPS:Read_GPS] Stopped
2013-02-28T21:52:22.925Z,1362088342.925 [Default:GPS:D] Running Loop=1
2013-02-28T21:52:23.348Z,1362088343.348 [Default:GPS:D] Stopped
2013-02-28T21:52:23.349Z,1362088343.349 [Default:GPS](INFO): Completed Default:GPS
2013-02-28T21:52:23.349Z,1362088343.349 [Default:GPS] Stopped
2013-02-28T21:52:23.349Z,1362088343.349 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-02-28T21:52:23.349Z,1362088343.349 [Default:GPS:A.SetSpeed] Stopped
2013-02-28T21:52:23.349Z,1362088343.349 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-02-28T21:52:34.874Z,1362088354.874 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:52:38.760Z,1362088358.760 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-02-28T21:52:53.923Z,1362088373.923 [NAL9602](INFO): SBD MO Status=0, MOMSN=6060, MT Status=0, MTMSN=0
2013-02-28T21:52:54.015Z,1362088374.015 [Default:Iridium:Read_Iridium] Stopped
2013-02-28T21:52:54.016Z,1362088374.016 [Default:Iridium](INFO): Completed Default:Iridium
2013-02-28T21:52:54.016Z,1362088374.016 [Default:Iridium] Stopped
2013-02-28T21:52:54.016Z,1362088374.016 [Default:Iridium](INFO): Aggregate::uninitialize Default:Iridium
2013-02-28T21:52:54.016Z,1362088374.016 [Default:Iridium:A.SetSpeed] Stopped
2013-02-28T21:52:54.016Z,1362088374.016 [Default:Iridium:A.SetSpeed](DEBUG): Uninitialize.
2013-02-28T21:52:54.016Z,1362088374.016 [Default:F.Wait] Running Loop=1
2013-02-28T21:52:54.016Z,1362088374.016 [Default:F.Wait](DEBUG): Initialize Wait Component.
2013-02-28T21:52:54.305Z,1362088374.305 [Default:CallIridium:B](INFO): Completed Default:CallIridium:B
2013-02-28T21:52:54.305Z,1362088374.305 [Default:CallIridium:B] Stopped
2013-02-28T21:52:54.305Z,1362088374.305 [Default:CallIridium:B](INFO): Aggregate::uninitialize Default:CallIridium:B
2013-02-28T21:52:54.305Z,1362088374.305 [Default:CallIridium](INFO): Completed Default:CallIridium
2013-02-28T21:52:54.306Z,1362088374.306 [Default:CallIridium] Stopped
2013-02-28T21:52:54.306Z,1362088374.306 [Default:CallIridium](INFO): Aggregate::uninitialize Default:CallIridium
2013-02-28T21:53:04.454Z,1362088384.454 [NAL9602](INFO): Powering down