2013-03-03T20:57:08.660Z,1362344228.660 [Supervisor](DEBUG): Initializing supervisor.
2013-03-03T20:57:08.662Z,1362344228.662 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-03T20:57:08.663Z,1362344228.663 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-03T20:57:08.664Z,1362344228.664 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-03T20:57:08.668Z,1362344228.668 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-03T20:57:08.678Z,1362344228.678 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-03T20:57:08.680Z,1362344228.680 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-03T20:57:08.680Z,1362344228.680 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-03T20:57:08.681Z,1362344228.681 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-03T20:57:08.682Z,1362344228.682 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-03T20:57:08.683Z,1362344228.683 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-03T20:57:08.968Z,1362344228.968 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-03T20:57:08.969Z,1362344228.969 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-03T20:57:09.158Z,1362344229.158 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-03T20:57:09.159Z,1362344229.158 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-03T20:57:09.242Z,1362344229.242 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-03T20:57:09.243Z,1362344229.243 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-03T20:57:09.447Z,1362344229.447 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-03T20:57:09.448Z,1362344229.448 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-03T20:57:09.582Z,1362344229.582 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-03T20:57:09.582Z,1362344229.582 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-03T20:57:09.818Z,1362344229.818 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-03T20:57:09.819Z,1362344229.819 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-03T20:57:09.989Z,1362344229.989 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-03T20:57:09.990Z,1362344229.990 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-03T20:57:10.246Z,1362344230.246 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-03T20:57:10.247Z,1362344230.247 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-03T20:57:10.344Z,1362344230.344 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-03T20:57:10.345Z,1362344230.345 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-03T20:57:10.758Z,1362344230.759 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-03T20:57:10.759Z,1362344230.759 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-03T20:57:10.885Z,1362344230.885 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-03T20:57:10.885Z,1362344230.885 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-03T20:57:10.970Z,1362344230.970 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-03T20:57:10.971Z,1362344230.971 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-03T20:57:11.072Z,1362344231.072 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-03T20:57:11.202Z,1362344231.202 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-03T20:57:11.286Z,1362344231.286 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-03T20:57:11.388Z,1362344231.388 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-03T20:57:11.488Z,1362344231.489 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-03T20:57:11.679Z,1362344231.679 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-03T20:57:11.791Z,1362344231.791 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-03T20:57:11.877Z,1362344231.877 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-03T20:57:11.908Z,1362344231.908 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-03T20:57:12.061Z,1362344232.061 [InternalSim] Loaded
2013-03-03T20:57:12.062Z,1362344232.062 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-03T20:57:12.062Z,1362344232.062 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-03T20:57:12.063Z,1362344232.063 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-03T20:57:12.121Z,1362344232.121 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-03T20:57:12.149Z,1362344232.149 [SBIT] Loaded
2013-03-03T20:57:12.150Z,1362344232.150 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-03T20:57:12.151Z,1362344232.151 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-03T20:57:12.180Z,1362344232.180 [IBIT] Loaded
2013-03-03T20:57:12.180Z,1362344232.180 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-03T20:57:12.184Z,1362344232.184 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-03T20:57:12.303Z,1362344232.303 [CBIT] Loaded
2013-03-03T20:57:12.304Z,1362344232.304 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-03T20:57:12.304Z,1362344232.304 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-03T20:57:12.305Z,1362344232.305 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-03T20:57:12.456Z,1362344232.456 [BuoyancyServo] Loaded
2013-03-03T20:57:12.456Z,1362344232.457 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-03T20:57:12.469Z,1362344232.469 [ElevatorServo] Loaded
2013-03-03T20:57:12.469Z,1362344232.469 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-03T20:57:12.481Z,1362344232.481 [MassServo] Loaded
2013-03-03T20:57:12.482Z,1362344232.482 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-03T20:57:12.494Z,1362344232.494 [RudderServo] Loaded
2013-03-03T20:57:12.494Z,1362344232.494 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-03T20:57:12.506Z,1362344232.506 [ThrusterServo] Loaded
2013-03-03T20:57:12.506Z,1362344232.506 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-03T20:57:12.507Z,1362344232.507 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-03T20:57:12.507Z,1362344232.507 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-03T20:57:12.524Z,1362344232.524 [DepthRateCalculator] Loaded
2013-03-03T20:57:12.524Z,1362344232.524 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-03T20:57:16.345Z,1362344236.345 [HFRadarModelCalc] Loaded
2013-03-03T20:57:16.345Z,1362344236.345 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-03T20:57:16.362Z,1362344236.362 [NavChart] Loaded
2013-03-03T20:57:16.362Z,1362344236.362 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-03T20:57:16.368Z,1362344236.368 [PitchRateCalculator] Loaded
2013-03-03T20:57:16.368Z,1362344236.368 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-03T20:57:16.375Z,1362344236.375 [SpeedCalculator] Loaded
2013-03-03T20:57:16.375Z,1362344236.375 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-03T20:57:16.390Z,1362344236.390 [TempGradientCalculator] Loaded
2013-03-03T20:57:16.390Z,1362344236.390 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-03T20:57:16.396Z,1362344236.396 [YawRateCalculator] Loaded
2013-03-03T20:57:16.397Z,1362344236.397 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-03T20:57:16.438Z,1362344236.438 [Navigation] Loaded
2013-03-03T20:57:16.438Z,1362344236.438 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-03T20:57:16.439Z,1362344236.439 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-03T20:57:16.439Z,1362344236.439 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-03T20:57:16.664Z,1362344236.664 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-03T20:57:16.664Z,1362344236.664 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-03T20:57:16.686Z,1362344236.686 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-03T20:57:16.686Z,1362344236.686 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-03T20:57:16.727Z,1362344236.727 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-03T20:57:16.821Z,1362344236.821 [VerticalControl] Loaded
2013-03-03T20:57:16.822Z,1362344236.822 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-03T20:57:16.823Z,1362344236.823 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-03T20:57:16.880Z,1362344236.880 [HorizontalControl] Loaded
2013-03-03T20:57:16.880Z,1362344236.880 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-03T20:57:16.881Z,1362344236.881 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-03T20:57:16.883Z,1362344236.883 [SpeedControl] Loaded
2013-03-03T20:57:16.883Z,1362344236.883 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-03T20:57:16.884Z,1362344236.884 [LoopControl](DEBUG): Construct LoopControl.
2013-03-03T20:57:16.885Z,1362344236.885 [LoopControl] Loaded
2013-03-03T20:57:16.885Z,1362344236.885 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-03T20:57:16.885Z,1362344236.885 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-03T20:57:16.886Z,1362344236.886 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-03T20:57:16.891Z,1362344236.891 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-03T20:57:16.896Z,1362344236.896 [AsyncPiEstimator] Loaded
2013-03-03T20:57:16.896Z,1362344236.896 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-03T20:57:16.897Z,1362344236.898 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-03T20:57:16.898Z,1362344236.898 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-03T20:57:16.899Z,1362344236.899 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-03T20:57:17.026Z,1362344237.026 [AHRS_sp3003D] Loaded
2013-03-03T20:57:17.027Z,1362344237.027 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-03T20:57:17.289Z,1362344237.289 [Batt_Ocean_Server] Loaded
2013-03-03T20:57:17.290Z,1362344237.290 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-03T20:57:17.304Z,1362344237.304 [Depth_Keller] Loaded
2013-03-03T20:57:17.304Z,1362344237.304 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-03T20:57:17.310Z,1362344237.310 [DropWeight] Loaded
2013-03-03T20:57:17.310Z,1362344237.310 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-03T20:57:17.487Z,1362344237.487 [DVL_micro] Loaded
2013-03-03T20:57:17.487Z,1362344237.487 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-03T20:57:17.488Z,1362344237.488 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-03T20:57:17.572Z,1362344237.572 [NAL9602] Loaded
2013-03-03T20:57:17.572Z,1362344237.572 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-03T20:57:17.623Z,1362344237.623 [Onboard] Loaded
2013-03-03T20:57:17.623Z,1362344237.624 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-03T20:57:17.631Z,1362344237.631 [Radio_Freewave] Loaded
2013-03-03T20:57:17.631Z,1362344237.631 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-03T20:57:17.632Z,1362344237.632 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-03T20:57:17.632Z,1362344237.632 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-03T20:57:17.689Z,1362344237.689 [Aanderaa_O2] Loaded
2013-03-03T20:57:17.689Z,1362344237.689 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-03T20:57:17.723Z,1362344237.723 [CTD_NeilBrown] Loaded
2013-03-03T20:57:17.723Z,1362344237.723 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-03T20:57:17.724Z,1362344237.724 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-03T20:57:17.737Z,1362344237.737 [ISUS] Loaded
2013-03-03T20:57:17.738Z,1362344237.738 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-03T20:57:17.753Z,1362344237.753 [PAR_Licor] Loaded
2013-03-03T20:57:17.754Z,1362344237.754 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-03T20:57:17.785Z,1362344237.785 [WetLabsBB2FL] Loaded
2013-03-03T20:57:17.786Z,1362344237.786 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-03T20:57:17.787Z,1362344237.787 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-03T20:57:17.787Z,1362344237.787 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-03T20:57:17.790Z,1362344237.790 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-03T20:57:17.791Z,1362344237.791 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-03T20:57:17.797Z,1362344237.797 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-03T20:57:17.798Z,1362344237.798 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-03T20:57:17.803Z,1362344237.803 [Supervisor](DEBUG): Running supervisor.
2013-03-03T20:57:17.804Z,1362344237.804 [CommandLine](INFO): Thread ID is 9891
2013-03-03T20:57:17.807Z,1362344237.806 [controlThread](INFO): Thread ID is 9890
2013-03-03T20:57:17.807Z,1362344237.807 [controlThread](DEBUG): Initializing ControlThread
2013-03-03T20:57:17.807Z,1362344237.807 [CycleStarter](INFO): Thread ID is 9889
2013-03-03T20:57:17.808Z,1362344237.808 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-03T20:57:17.843Z,1362344237.843 [logger](INFO): Thread ID is 9892
2013-03-03T20:57:17.869Z,1362344237.869 [SBIT](INFO): Initialize SBIT Component.
2013-03-03T20:57:17.870Z,1362344237.870 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10204
2013-03-03T20:57:17.870Z,1362344237.870 [IBIT](INFO): Initialize IBIT Component.
2013-03-03T20:57:17.871Z,1362344237.871 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-03T20:57:17.871Z,1362344237.871 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-03T20:57:17.872Z,1362344237.872 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-03T20:57:17.883Z,1362344237.883 [AsyncPiEstimator](INFO): Thread ID is 9953
2013-03-03T20:57:17.884Z,1362344237.884 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-03T20:57:17.896Z,1362344237.896 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-03T20:57:17.896Z,1362344237.896 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-03T20:57:17.897Z,1362344237.897 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-03T20:57:17.897Z,1362344237.897 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-03T20:57:17.897Z,1362344237.898 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-03T20:57:17.899Z,1362344237.899 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-03T20:57:17.899Z,1362344237.899 [Navigation](DEBUG): Initializing Navigation.
2013-03-03T20:57:17.900Z,1362344237.900 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-03T20:57:17.901Z,1362344237.901 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-03T20:57:17.902Z,1362344237.902 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-03T20:57:17.903Z,1362344237.903 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-03T20:57:17.909Z,1362344237.908 [DVL_micro](INFO): Thread ID is 9954
2013-03-03T20:57:17.918Z,1362344237.918 [DVL_micro](INFO): Initializing
2013-03-03T20:57:17.918Z,1362344237.918 [DVL_micro](INFO): start:Powering up
2013-03-03T20:57:17.919Z,1362344237.919 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-03T20:57:17.919Z,1362344237.920 [DVL_micro](INFO): Cycling power to configure device.
2013-03-03T20:57:17.932Z,1362344237.932 [CTD_NeilBrown](INFO): Thread ID is 9955
2013-03-03T20:57:17.932Z,1362344237.932 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-03T20:57:17.935Z,1362344237.935 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-03T20:57:17.944Z,1362344237.944 [WetLabsBB2FL](INFO): Thread ID is 9956
2013-03-03T20:57:17.945Z,1362344237.945 [WetLabsBB2FL](INFO): Powering down
2013-03-03T20:57:17.987Z,1362344237.987 [NavChartDb](INFO): Thread ID is 9957
2013-03-03T20:57:17.990Z,1362344237.990 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2013-03-03T20:57:17.994Z,1362344237.994 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-03T20:57:17.996Z,1362344237.996 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2013-03-03T20:57:17.998Z,1362344237.997 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2013-03-03T20:57:17.999Z,1362344237.999 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2013-03-03T20:57:18.001Z,1362344238.001 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2013-03-03T20:57:18.004Z,1362344238.003 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2013-03-03T20:57:18.005Z,1362344238.006 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2013-03-03T20:57:18.008Z,1362344238.008 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2013-03-03T20:57:18.010Z,1362344238.010 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2013-03-03T20:57:18.195Z,1362344238.195 [NavChartDb](INFO): Setup scan of Resources/US5CA62M.000
2013-03-03T20:57:19.724Z,1362344239.724 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-03T20:57:19.775Z,1362344239.776 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-03T20:57:19.796Z,1362344239.796 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-03T20:57:19.808Z,1362344239.808 [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>


2013-03-03T20:57:19.809Z,1362344239.809 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-03T20:57:19.838Z,1362344239.838 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-03T20:57:19.840Z,1362344239.840 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-03T20:57:19.843Z,1362344239.843 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-03T20:57:19.871Z,1362344239.871 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-03T20:57:19.874Z,1362344239.875 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-03T20:57:19.881Z,1362344239.881 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-03T20:57:19.905Z,1362344239.905 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-03T20:57:19.908Z,1362344239.908 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-03T20:57:19.913Z,1362344239.912 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-03T20:57:19.916Z,1362344239.916 [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>


2013-03-03T20:57:19.921Z,1362344239.921 [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,
2013-03-03T20:57:19.941Z,1362344239.941 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-03T20:57:20.019Z,1362344240.019 [Radio_Freewave](INFO): Powering up
2013-03-03T20:57:20.023Z,1362344240.023 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-03T20:57:20.023Z,1362344240.023 [DVL_micro](INFO): Querying output modes
2013-03-03T20:57:20.024Z,1362344240.024 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-03T20:57:20.035Z,1362344240.035 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-03-03T20:57:20.035Z,1362344240.035 [DVL_micro](INFO): NQ1 output enabled
2013-03-03T20:57:20.035Z,1362344240.035 [DVL_micro](INFO): RSSI output enabled
2013-03-03T20:57:20.035Z,1362344240.035 [DVL_micro](INFO): ADCP output enabled
2013-03-03T20:57:20.036Z,1362344240.036 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-03T20:57:20.047Z,1362344240.047 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-03T20:57:20.088Z,1362344240.088 [DVL_micro](INFO): pause:Powering down
2013-03-03T20:57:20.224Z,1362344240.224 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-03T20:57:20.225Z,1362344240.225 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-03T20:57:20.232Z,1362344240.232 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-03T20:57:20.233Z,1362344240.233 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-03T20:57:20.239Z,1362344240.239 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-03T20:57:20.240Z,1362344240.240 [MassServo](DEBUG): Initializing MassServo.
2013-03-03T20:57:20.245Z,1362344240.245 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-03T20:57:20.246Z,1362344240.246 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-03T20:57:20.283Z,1362344240.283 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-03T20:57:20.291Z,1362344240.291 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-03T20:57:22.363Z,1362344242.363 [Aanderaa_O2](INFO): Powering down
2013-03-03T20:57:22.645Z,1362344242.645 [NAL9602](INFO): Powering up NAL9602
2013-03-03T20:57:33.255Z,1362344253.255 [NAL9602](INFO): NAL9602 initialized
2013-03-03T20:57:33.317Z,1362344253.317 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-03T20:57:33.319Z,1362344253.319 [CBIT](IMPORTANT): Beginning GF scan
2013-03-03T20:57:59.937Z,1362344279.937 [CBIT](FAULT): Chan 4 High side GF detected
mA:
CHAN 5 (24V): 0.030896
CHAN 4 (Batt): 0.006791
CHAN 2 (12V): 0.002104
CHAN 1 (5V): 0.000574
CHAN 0 (3.3V): 0.000670
OPEN: 0.000574
Full Scale Calc: 0.392
2013-03-03T20:58:27.245Z,1362344307.245 [SBIT](IMPORTANT): SBIT PASSED
2013-03-03T20:58:27.669Z,1362344307.669 [MissionManager](IMPORTANT): Started mission Startup
2013-03-03T20:58:27.669Z,1362344307.670 [Startup] Running Loop=1
2013-03-03T20:58:27.670Z,1362344307.670 [Startup](INFO): Aggregate::initialize Startup
2013-03-03T20:58:27.670Z,1362344307.670 [Startup:A.GoToSurface] Running Loop=1
2013-03-03T20:58:27.670Z,1362344307.670 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-03T20:58:27.676Z,1362344307.676 [Startup:StartupSatComms] Running Loop=1
2013-03-03T20:58:27.676Z,1362344307.676 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-03-03T20:58:27.676Z,1362344307.676 [Startup:StartupSatComms:A] Running Loop=1
2013-03-03T20:58:28.057Z,1362344308.057 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-03T20:59:28.023Z,1362344368.023 [Startup:StartupSatComms:A](INFO): Timed out from 2013-03-03T20:58:27.7Z
2013-03-03T20:59:28.023Z,1362344368.023 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-03-03T20:59:28.023Z,1362344368.023 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-03-03T20:59:28.023Z,1362344368.023 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-03-03T20:59:28.023Z,1362344368.023 [Startup:StartupSatComms:A] Stopped
2013-03-03T20:59:28.023Z,1362344368.023 [Startup:StartupSatComms:B] Running Loop=1
2013-03-03T20:59:28.424Z,1362344368.424 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-03T20:59:40.791Z,1362344380.791 [CommandLine](IMPORTANT): got command gfscan
2013-03-03T20:59:41.070Z,1362344381.070 [CBIT](IMPORTANT): Beginning GF scan
2013-03-03T20:59:41.869Z,1362344381.869 [Radio_Freewave](INFO): Powering down
2013-03-03T20:59:42.699Z,1362344382.699 [Radio_Freewave](INFO): Powering up
2013-03-03T21:00:07.825Z,1362344407.825 [CBIT](INFO): No ground fault detected
2013-03-03T21:00:28.199Z,1362344428.199 [Startup:StartupSatComms:B](INFO): Timed out from 2013-03-03T20:59:28.0Z
2013-03-03T21:00:28.200Z,1362344428.200 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-03-03T21:00:28.200Z,1362344428.200 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-03-03T21:00:28.200Z,1362344428.200 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-03-03T21:00:28.200Z,1362344428.200 [Startup:StartupSatComms:B] Stopped
2013-03-03T21:00:28.200Z,1362344428.200 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-03-03T21:00:28.200Z,1362344428.200 [Startup:StartupSatComms] Stopped
2013-03-03T21:00:28.200Z,1362344428.200 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-03-03T21:00:28.201Z,1362344428.201 [Startup](INFO): Completed Startup
2013-03-03T21:00:28.201Z,1362344428.201 [Startup] Stopped
2013-03-03T21:00:28.201Z,1362344428.201 [Startup](INFO): Aggregate::uninitialize Startup
2013-03-03T21:00:28.201Z,1362344428.201 [Startup:A.GoToSurface] Stopped
2013-03-03T21:00:28.202Z,1362344428.202 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-03T21:00:28.578Z,1362344428.579 [MissionManager](IMPORTANT): Started mission Default
2013-03-03T21:00:28.579Z,1362344428.579 [Default] Running Loop=1
2013-03-03T21:00:28.579Z,1362344428.579 [Default](INFO): Aggregate::initialize Default
2013-03-03T21:00:28.579Z,1362344428.579 [Default:D.SetSpeed] Running Loop=1
2013-03-03T21:00:28.579Z,1362344428.579 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-03T21:00:28.579Z,1362344428.579 [Default:E.GoToSurface] Running Loop=1
2013-03-03T21:00:28.579Z,1362344428.579 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-03T21:00:28.579Z,1362344428.579 [Default:Iridium] Running Loop=1
2013-03-03T21:00:28.580Z,1362344428.579 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-03T21:00:28.580Z,1362344428.580 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-03T21:00:28.580Z,1362344428.580 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-03T21:00:28.580Z,1362344428.580 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-03T21:00:28.580Z,1362344428.580 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-03T21:00:28.580Z,1362344428.580 [Default:E.GoToSurface] Running Loop=1
2013-03-03T21:00:28.586Z,1362344428.586 [Default:D.SetSpeed] Running Loop=1
2013-03-03T21:00:28.590Z,1362344428.590 [Default:CallIridium] Running Loop=1
2013-03-03T21:00:28.590Z,1362344428.590 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-03-03T21:00:28.590Z,1362344428.591 [Default:CallIridium:A] Running Loop=1
2013-03-03T21:00:28.592Z,1362344428.592 [Default:CallIridium:A] Stopped
2013-03-03T21:00:28.592Z,1362344428.592 [Default:CallIridium:B] Running Loop=1
2013-03-03T21:00:28.592Z,1362344428.592 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-03-03T21:00:28.599Z,1362344428.599 [Default:Iridium:B.GoToSurface] Stopped
2013-03-03T21:00:28.599Z,1362344428.599 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-03T21:00:28.599Z,1362344428.599 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-03T21:00:28.599Z,1362344428.599 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-03T21:00:28.604Z,1362344428.604 [Default:GPS] Running Loop=1
2013-03-03T21:00:28.604Z,1362344428.604 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-03-03T21:00:28.604Z,1362344428.604 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-03T21:00:28.604Z,1362344428.604 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-03-03T21:00:28.604Z,1362344428.604 [Default:GPS:B.GoToSurface] Running Loop=1
2013-03-03T21:00:28.604Z,1362344428.604 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-03T21:00:28.609Z,1362344428.609 [Default:GPS:B.GoToSurface] Stopped
2013-03-03T21:00:28.610Z,1362344428.610 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-03T21:00:28.610Z,1362344428.610 [Default:GPS:Read_GPS] Running Loop=1
2013-03-03T21:00:28.610Z,1362344428.610 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-03T21:00:29.038Z,1362344429.038 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-03T21:00:29.041Z,1362344429.041 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix