2013-03-04T03:55:16.938Z,1362369316.938 [Supervisor](DEBUG): Initializing supervisor.
2013-03-04T03:55:16.942Z,1362369316.942 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-04T03:55:16.943Z,1362369316.943 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-04T03:55:16.946Z,1362369316.946 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-04T03:55:16.950Z,1362369316.950 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-04T03:55:16.961Z,1362369316.961 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-04T03:55:16.962Z,1362369316.962 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-04T03:55:16.963Z,1362369316.963 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-04T03:55:16.966Z,1362369316.966 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-04T03:55:16.967Z,1362369316.967 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-04T03:55:16.971Z,1362369316.971 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-04T03:55:17.278Z,1362369317.278 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-04T03:55:17.278Z,1362369317.279 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-04T03:55:17.479Z,1362369317.479 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-04T03:55:17.480Z,1362369317.480 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-04T03:55:17.574Z,1362369317.574 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-04T03:55:17.576Z,1362369317.576 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-04T03:55:17.786Z,1362369317.786 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-04T03:55:17.786Z,1362369317.786 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-04T03:55:17.931Z,1362369317.931 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-04T03:55:17.933Z,1362369317.933 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-04T03:55:18.188Z,1362369318.188 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-04T03:55:18.189Z,1362369318.188 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-04T03:55:18.375Z,1362369318.375 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-04T03:55:18.377Z,1362369318.377 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-04T03:55:18.652Z,1362369318.652 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-04T03:55:18.654Z,1362369318.654 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-04T03:55:18.767Z,1362369318.767 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-04T03:55:18.767Z,1362369318.767 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-04T03:55:19.204Z,1362369319.204 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-04T03:55:19.204Z,1362369319.204 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-04T03:55:19.331Z,1362369319.331 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-04T03:55:19.332Z,1362369319.332 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-04T03:55:19.433Z,1362369319.433 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-04T03:55:19.473Z,1362369319.473 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-04T03:55:19.585Z,1362369319.585 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-04T03:55:19.728Z,1362369319.728 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-04T03:55:19.822Z,1362369319.822 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-04T03:55:19.932Z,1362369319.931 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-04T03:55:20.042Z,1362369320.042 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-04T03:55:20.173Z,1362369320.173 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-04T03:55:20.278Z,1362369320.278 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-04T03:55:20.374Z,1362369320.374 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-04T03:55:20.405Z,1362369320.405 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-04T03:55:20.599Z,1362369320.599 [InternalSim] Loaded
2013-03-04T03:55:20.599Z,1362369320.599 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-04T03:55:20.600Z,1362369320.599 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-04T03:55:20.600Z,1362369320.600 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-04T03:55:20.682Z,1362369320.682 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-04T03:55:20.715Z,1362369320.714 [SBIT] Loaded
2013-03-04T03:55:20.715Z,1362369320.715 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-04T03:55:20.716Z,1362369320.716 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-04T03:55:20.748Z,1362369320.748 [IBIT] Loaded
2013-03-04T03:55:20.748Z,1362369320.748 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-04T03:55:20.752Z,1362369320.751 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-04T03:55:20.881Z,1362369320.881 [CBIT] Loaded
2013-03-04T03:55:20.881Z,1362369320.881 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-04T03:55:20.882Z,1362369320.882 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-04T03:55:20.882Z,1362369320.882 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-04T03:55:21.060Z,1362369321.060 [BuoyancyServo] Loaded
2013-03-04T03:55:21.060Z,1362369321.060 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-04T03:55:21.072Z,1362369321.072 [ElevatorServo] Loaded
2013-03-04T03:55:21.073Z,1362369321.073 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-04T03:55:21.088Z,1362369321.088 [MassServo] Loaded
2013-03-04T03:55:21.089Z,1362369321.089 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-04T03:55:21.100Z,1362369321.100 [RudderServo] Loaded
2013-03-04T03:55:21.101Z,1362369321.101 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-04T03:55:21.112Z,1362369321.112 [ThrusterServo] Loaded
2013-03-04T03:55:21.112Z,1362369321.112 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-04T03:55:21.113Z,1362369321.113 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-04T03:55:21.114Z,1362369321.114 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-04T03:55:21.147Z,1362369321.148 [DepthRateCalculator] Loaded
2013-03-04T03:55:21.148Z,1362369321.148 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-04T03:55:24.852Z,1362369324.852 [HFRadarModelCalc] Loaded
2013-03-04T03:55:24.852Z,1362369324.852 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-04T03:55:24.868Z,1362369324.868 [NavChart] Loaded
2013-03-04T03:55:24.868Z,1362369324.868 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-04T03:55:24.874Z,1362369324.874 [PitchRateCalculator] Loaded
2013-03-04T03:55:24.875Z,1362369324.875 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-04T03:55:24.881Z,1362369324.881 [SpeedCalculator] Loaded
2013-03-04T03:55:24.881Z,1362369324.881 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-04T03:55:24.900Z,1362369324.900 [TempGradientCalculator] Loaded
2013-03-04T03:55:24.900Z,1362369324.900 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-04T03:55:24.906Z,1362369324.906 [YawRateCalculator] Loaded
2013-03-04T03:55:24.906Z,1362369324.907 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-04T03:55:24.951Z,1362369324.951 [Navigation] Loaded
2013-03-04T03:55:24.951Z,1362369324.951 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-04T03:55:24.951Z,1362369324.951 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-04T03:55:24.952Z,1362369324.952 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-04T03:55:25.231Z,1362369325.231 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-04T03:55:25.232Z,1362369325.232 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-04T03:55:25.269Z,1362369325.269 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-04T03:55:25.270Z,1362369325.270 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-04T03:55:25.337Z,1362369325.337 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-04T03:55:25.438Z,1362369325.438 [VerticalControl] Loaded
2013-03-04T03:55:25.438Z,1362369325.438 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-04T03:55:25.439Z,1362369325.439 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-04T03:55:25.503Z,1362369325.503 [HorizontalControl] Loaded
2013-03-04T03:55:25.503Z,1362369325.503 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-04T03:55:25.504Z,1362369325.504 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-04T03:55:25.506Z,1362369325.506 [SpeedControl] Loaded
2013-03-04T03:55:25.506Z,1362369325.506 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-04T03:55:25.507Z,1362369325.507 [LoopControl](DEBUG): Construct LoopControl.
2013-03-04T03:55:25.507Z,1362369325.507 [LoopControl] Loaded
2013-03-04T03:55:25.508Z,1362369325.508 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-04T03:55:25.508Z,1362369325.508 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-04T03:55:25.509Z,1362369325.509 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-04T03:55:25.517Z,1362369325.517 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-04T03:55:25.521Z,1362369325.521 [AsyncPiEstimator] Loaded
2013-03-04T03:55:25.522Z,1362369325.522 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-04T03:55:25.526Z,1362369325.526 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-04T03:55:25.527Z,1362369325.527 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-04T03:55:25.528Z,1362369325.528 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-04T03:55:25.713Z,1362369325.713 [AHRS_sp3003D] Loaded
2013-03-04T03:55:25.713Z,1362369325.713 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-04T03:55:25.994Z,1362369325.994 [Batt_Ocean_Server] Loaded
2013-03-04T03:55:25.994Z,1362369325.994 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-04T03:55:26.011Z,1362369326.011 [Depth_Keller] Loaded
2013-03-04T03:55:26.012Z,1362369326.012 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-04T03:55:26.017Z,1362369326.017 [DropWeight] Loaded
2013-03-04T03:55:26.018Z,1362369326.018 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-04T03:55:26.211Z,1362369326.211 [DVL_micro] Loaded
2013-03-04T03:55:26.211Z,1362369326.211 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-04T03:55:26.214Z,1362369326.214 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-04T03:55:26.305Z,1362369326.305 [NAL9602] Loaded
2013-03-04T03:55:26.305Z,1362369326.305 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-04T03:55:26.358Z,1362369326.358 [Onboard] Loaded
2013-03-04T03:55:26.358Z,1362369326.358 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-04T03:55:26.365Z,1362369326.365 [Radio_Freewave] Loaded
2013-03-04T03:55:26.365Z,1362369326.365 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-04T03:55:26.370Z,1362369326.370 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-04T03:55:26.371Z,1362369326.371 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-04T03:55:26.455Z,1362369326.455 [Aanderaa_O2] Loaded
2013-03-04T03:55:26.455Z,1362369326.455 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-04T03:55:26.492Z,1362369326.492 [CTD_NeilBrown] Loaded
2013-03-04T03:55:26.492Z,1362369326.492 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-04T03:55:26.494Z,1362369326.494 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-04T03:55:26.508Z,1362369326.508 [ISUS] Loaded
2013-03-04T03:55:26.508Z,1362369326.508 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-04T03:55:26.527Z,1362369326.527 [PAR_Licor] Loaded
2013-03-04T03:55:26.528Z,1362369326.528 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-04T03:55:26.562Z,1362369326.562 [WetLabsBB2FL] Loaded
2013-03-04T03:55:26.562Z,1362369326.562 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-04T03:55:26.566Z,1362369326.566 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-04T03:55:26.567Z,1362369326.567 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-04T03:55:26.569Z,1362369326.569 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-04T03:55:26.571Z,1362369326.570 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-04T03:55:26.581Z,1362369326.580 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-04T03:55:26.583Z,1362369326.583 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-04T03:55:26.587Z,1362369326.587 [Supervisor](DEBUG): Running supervisor.
2013-03-04T03:55:26.588Z,1362369326.588 [CommandLine](INFO): Thread ID is 749
2013-03-04T03:55:26.591Z,1362369326.591 [controlThread](INFO): Thread ID is 748
2013-03-04T03:55:26.591Z,1362369326.591 [controlThread](DEBUG): Initializing ControlThread
2013-03-04T03:55:26.592Z,1362369326.592 [CycleStarter](INFO): Thread ID is 747
2013-03-04T03:55:26.592Z,1362369326.592 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-04T03:55:26.702Z,1362369326.702 [logger](INFO): Thread ID is 750
2013-03-04T03:55:26.802Z,1362369326.802 [AsyncPiEstimator](INFO): Thread ID is 811
2013-03-04T03:55:26.802Z,1362369326.802 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-04T03:55:26.915Z,1362369326.915 [DVL_micro](INFO): Thread ID is 812
2013-03-04T03:55:26.934Z,1362369326.934 [DVL_micro](INFO): Initializing
2013-03-04T03:55:26.934Z,1362369326.934 [DVL_micro](INFO): start:Powering up
2013-03-04T03:55:26.935Z,1362369326.935 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-04T03:55:26.936Z,1362369326.936 [DVL_micro](INFO): Cycling power to configure device.
2013-03-04T03:55:26.947Z,1362369326.947 [CTD_NeilBrown](INFO): Thread ID is 813
2013-03-04T03:55:26.948Z,1362369326.948 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-04T03:55:26.959Z,1362369326.959 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-04T03:55:27.004Z,1362369327.004 [WetLabsBB2FL](INFO): Thread ID is 814
2013-03-04T03:55:27.005Z,1362369327.005 [WetLabsBB2FL](INFO): Powering down
2013-03-04T03:55:27.025Z,1362369327.025 [SBIT](INFO): Initialize SBIT Component.
2013-03-04T03:55:27.026Z,1362369327.026 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10215
2013-03-04T03:55:27.027Z,1362369327.027 [IBIT](INFO): Initialize IBIT Component.
2013-03-04T03:55:27.028Z,1362369327.028 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-04T03:55:27.028Z,1362369327.028 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-04T03:55:27.028Z,1362369327.028 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-04T03:55:27.047Z,1362369327.047 [NavChartDb](INFO): Thread ID is 815
2013-03-04T03:55:27.053Z,1362369327.053 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2013-03-04T03:55:27.057Z,1362369327.057 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-04T03:55:27.058Z,1362369327.058 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-04T03:55:27.058Z,1362369327.058 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-04T03:55:27.059Z,1362369327.059 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-04T03:55:27.059Z,1362369327.059 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-04T03:55:27.061Z,1362369327.061 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-04T03:55:27.061Z,1362369327.061 [Navigation](DEBUG): Initializing Navigation.
2013-03-04T03:55:27.062Z,1362369327.062 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-04T03:55:27.064Z,1362369327.063 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-04T03:55:27.065Z,1362369327.065 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2013-03-04T03:55:27.067Z,1362369327.067 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2013-03-04T03:55:27.069Z,1362369327.069 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2013-03-04T03:55:27.070Z,1362369327.070 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2013-03-04T03:55:27.072Z,1362369327.072 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2013-03-04T03:55:27.073Z,1362369327.073 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2013-03-04T03:55:27.076Z,1362369327.076 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-04T03:55:27.077Z,1362369327.077 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-04T03:55:27.077Z,1362369327.077 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-04T03:55:27.080Z,1362369327.080 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2013-03-04T03:55:27.081Z,1362369327.081 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2013-03-04T03:55:27.259Z,1362369327.259 [NavChartDb](INFO): Setup scan of Resources/US5CA62M.000
2013-03-04T03:55:28.863Z,1362369328.863 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-04T03:55:28.907Z,1362369328.907 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-04T03:55:28.936Z,1362369328.936 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-04T03:55:28.950Z,1362369328.950 [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>


2013-03-04T03:55:28.959Z,1362369328.959 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-04T03:55:28.997Z,1362369328.997 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-04T03:55:28.999Z,1362369328.999 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-04T03:55:29.002Z,1362369329.002 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-04T03:55:29.040Z,1362369329.039 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-04T03:55:29.043Z,1362369329.043 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-04T03:55:29.051Z,1362369329.051 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-04T03:55:29.051Z,1362369329.051 [DVL_micro](INFO): Querying output modes
2013-03-04T03:55:29.052Z,1362369329.052 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-04T03:55:29.063Z,1362369329.063 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-03-04T03:55:29.063Z,1362369329.063 [DVL_micro](INFO): NQ1 output enabled
2013-03-04T03:55:29.063Z,1362369329.063 [DVL_micro](INFO): RSSI output enabled
2013-03-04T03:55:29.063Z,1362369329.063 [DVL_micro](INFO): ADCP output enabled
2013-03-04T03:55:29.063Z,1362369329.063 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-04T03:55:29.066Z,1362369329.066 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-04T03:55:29.075Z,1362369329.075 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-04T03:55:29.078Z,1362369329.078 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-04T03:55:29.083Z,1362369329.083 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-04T03:55:29.087Z,1362369329.087 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-04T03:55:29.092Z,1362369329.092 [DVL_micro](INFO): pause:Powering down
2013-03-04T03:55:29.094Z,1362369329.094 [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>


2013-03-04T03:55:29.098Z,1362369329.099 [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,
2013-03-04T03:55:29.163Z,1362369329.164 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-04T03:55:29.351Z,1362369329.351 [Radio_Freewave](INFO): Powering up
2013-03-04T03:55:29.567Z,1362369329.567 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-04T03:55:29.569Z,1362369329.569 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-04T03:55:29.576Z,1362369329.576 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-04T03:55:29.577Z,1362369329.577 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-04T03:55:29.587Z,1362369329.588 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-04T03:55:29.591Z,1362369329.591 [MassServo](DEBUG): Initializing MassServo.
2013-03-04T03:55:29.597Z,1362369329.597 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-04T03:55:29.598Z,1362369329.598 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-04T03:55:29.604Z,1362369329.604 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-04T03:55:29.607Z,1362369329.607 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-04T03:55:31.637Z,1362369331.636 [NAL9602](INFO): Powering up NAL9602
2013-03-04T03:55:31.775Z,1362369331.775 [Aanderaa_O2](INFO): Powering down
2013-03-04T03:55:42.179Z,1362369342.179 [NAL9602](INFO): NAL9602 initialized
2013-03-04T03:55:42.604Z,1362369342.605 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-04T03:55:42.608Z,1362369342.608 [CBIT](IMPORTANT): Beginning GF scan
2013-03-04T03:56:09.128Z,1362369369.128 [CBIT](IMPORTANT): No ground fault detected
2013-03-04T03:56:36.433Z,1362369396.433 [SBIT](IMPORTANT): SBIT PASSED
2013-03-04T03:56:36.855Z,1362369396.855 [MissionManager](IMPORTANT): Started mission Startup
2013-03-04T03:56:36.855Z,1362369396.855 [Startup] Running Loop=1
2013-03-04T03:56:36.855Z,1362369396.855 [Startup](INFO): Aggregate::initialize Startup
2013-03-04T03:56:36.855Z,1362369396.855 [Startup:A.GoToSurface] Running Loop=1
2013-03-04T03:56:36.855Z,1362369396.855 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-04T03:56:36.862Z,1362369396.862 [Startup:StartupSatComms] Running Loop=1
2013-03-04T03:56:36.862Z,1362369396.862 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-03-04T03:56:36.862Z,1362369396.862 [Startup:StartupSatComms:A] Running Loop=1
2013-03-04T03:56:37.227Z,1362369397.227 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-04T03:57:36.868Z,1362369456.868 [Startup:StartupSatComms:A](INFO): Timed out from 2013-03-04T03:56:36.9Z
2013-03-04T03:57:36.868Z,1362369456.868 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-03-04T03:57:36.869Z,1362369456.869 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-03-04T03:57:36.869Z,1362369456.869 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-03-04T03:57:36.869Z,1362369456.869 [Startup:StartupSatComms:A] Stopped
2013-03-04T03:57:36.869Z,1362369456.869 [Startup:StartupSatComms:B] Running Loop=1
2013-03-04T03:57:37.234Z,1362369457.234 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-04T03:58:37.030Z,1362369517.030 [Startup:StartupSatComms:B](INFO): Timed out from 2013-03-04T03:57:36.9Z
2013-03-04T03:58:37.031Z,1362369517.031 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-03-04T03:58:37.031Z,1362369517.031 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-03-04T03:58:37.031Z,1362369517.031 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-03-04T03:58:37.031Z,1362369517.031 [Startup:StartupSatComms:B] Stopped
2013-03-04T03:58:37.031Z,1362369517.031 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-03-04T03:58:37.031Z,1362369517.031 [Startup:StartupSatComms] Stopped
2013-03-04T03:58:37.031Z,1362369517.031 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-03-04T03:58:37.032Z,1362369517.032 [Startup](INFO): Completed Startup
2013-03-04T03:58:37.032Z,1362369517.032 [Startup] Stopped
2013-03-04T03:58:37.032Z,1362369517.032 [Startup](INFO): Aggregate::uninitialize Startup
2013-03-04T03:58:37.032Z,1362369517.033 [Startup:A.GoToSurface] Stopped
2013-03-04T03:58:37.033Z,1362369517.033 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-04T03:58:37.445Z,1362369517.445 [MissionManager](IMPORTANT): Started mission Default
2013-03-04T03:58:37.446Z,1362369517.446 [Default] Running Loop=1
2013-03-04T03:58:37.446Z,1362369517.446 [Default](INFO): Aggregate::initialize Default
2013-03-04T03:58:37.446Z,1362369517.446 [Default:D.SetSpeed] Running Loop=1
2013-03-04T03:58:37.446Z,1362369517.446 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-04T03:58:37.446Z,1362369517.446 [Default:E.GoToSurface] Running Loop=1
2013-03-04T03:58:37.446Z,1362369517.446 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-04T03:58:37.447Z,1362369517.447 [Default:Iridium] Running Loop=1
2013-03-04T03:58:37.447Z,1362369517.447 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-04T03:58:37.447Z,1362369517.447 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-04T03:58:37.447Z,1362369517.447 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-04T03:58:37.447Z,1362369517.447 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-04T03:58:37.447Z,1362369517.447 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-04T03:58:37.448Z,1362369517.448 [Default:E.GoToSurface] Running Loop=1
2013-03-04T03:58:37.453Z,1362369517.453 [Default:D.SetSpeed] Running Loop=1
2013-03-04T03:58:37.458Z,1362369517.458 [Default:CallIridium] Running Loop=1
2013-03-04T03:58:37.458Z,1362369517.458 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-03-04T03:58:37.458Z,1362369517.458 [Default:CallIridium:A] Running Loop=1
2013-03-04T03:58:37.461Z,1362369517.461 [Default:CallIridium:A] Stopped
2013-03-04T03:58:37.461Z,1362369517.461 [Default:CallIridium:B] Running Loop=1
2013-03-04T03:58:37.461Z,1362369517.461 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-03-04T03:58:37.466Z,1362369517.466 [Default:Iridium:B.GoToSurface] Stopped
2013-03-04T03:58:37.466Z,1362369517.466 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-04T03:58:37.466Z,1362369517.466 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-04T03:58:37.467Z,1362369517.467 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-04T03:58:37.475Z,1362369517.475 [Default:GPS] Running Loop=1
2013-03-04T03:58:37.475Z,1362369517.475 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-03-04T03:58:37.475Z,1362369517.475 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-04T03:58:37.475Z,1362369517.475 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-03-04T03:58:37.475Z,1362369517.475 [Default:GPS:B.GoToSurface] Running Loop=1
2013-03-04T03:58:37.475Z,1362369517.476 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-04T03:58:37.481Z,1362369517.481 [Default:GPS:B.GoToSurface] Stopped
2013-03-04T03:58:37.481Z,1362369517.481 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-04T03:58:37.481Z,1362369517.481 [Default:GPS:Read_GPS] Running Loop=1
2013-03-04T03:58:37.481Z,1362369517.481 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-04T03:58:38.390Z,1362369518.390 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-04T03:58:38.393Z,1362369518.393 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-04T03:58:52.347Z,1362369532.347 [Batt_Ocean_Server](INFO): Bus busy reported for battery bank#8 STATUS: 65535
2013-03-04T04:05:44.443Z,1362369944.443 [NAL9602](FAULT): GPS failed to acquire within timeout.
2013-03-04T04:05:44.443Z,1362369944.443 [NAL9602] Data Fault, FailCount= 1
2013-03-04T04:05:44.443Z,1362369944.443 [NAL9602](ERROR): Data Fault
2013-03-04T04:05:44.469Z,1362369944.469 [CBIT](ERROR): Data Fault in component: NAL9602
2013-03-04T04:05:44.852Z,1362369944.852 [NAL9602](INFO): Powering down
2013-03-04T04:05:45.674Z,1362369945.674 [CBIT](INFO): Clearing failed state for component NAL9602
2013-03-04T04:05:45.674Z,1362369945.674 [NAL9602] No Fault, FailCount= 1
2013-03-04T04:05:50.049Z,1362369950.049 [NAL9602](INFO): Powering up NAL9602
2013-03-04T04:06:00.883Z,1362369960.883 [NAL9602](INFO): NAL9602 initialized
2013-03-04T04:10:20.579Z,1362370220.579 [CommandLine](IMPORTANT): got command ibit
2013-03-04T04:10:20.664Z,1362370220.664 [IBIT](IMPORTANT): Beginning Initiated BIT
2013-03-04T04:10:20.664Z,1362370220.664 [IBIT](IMPORTANT): Beginning control surface checks.

2013-03-04T04:10:20.665Z,1362370220.665 [CBIT](IMPORTANT): Beginning GF scan
2013-03-04T04:10:21.837Z,1362370221.837 [Radio_Freewave](INFO): Powering down
2013-03-04T04:10:22.544Z,1362370222.543 [Radio_Freewave](INFO): Powering up
2013-03-04T04:10:47.587Z,1362370247.588 [CBIT](IMPORTANT): No ground fault detected
2013-03-04T04:12:05.391Z,1362370325.391 [CommandLine](IMPORTANT): got command restart hardware