2013-03-06T11:10:49.227Z,1362568249.227 [Supervisor](DEBUG): Initializing supervisor.
2013-03-06T11:10:49.229Z,1362568249.229 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-06T11:10:49.230Z,1362568249.230 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-06T11:10:49.231Z,1362568249.231 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-06T11:10:49.234Z,1362568249.234 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-06T11:10:49.245Z,1362568249.245 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-06T11:10:49.246Z,1362568249.246 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-06T11:10:49.247Z,1362568249.247 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-06T11:10:49.248Z,1362568249.248 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-06T11:10:49.249Z,1362568249.249 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-06T11:10:49.250Z,1362568249.250 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-06T11:10:49.578Z,1362568249.578 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-06T11:10:49.578Z,1362568249.578 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-06T11:10:49.764Z,1362568249.764 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-06T11:10:49.764Z,1362568249.764 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-06T11:10:49.848Z,1362568249.848 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-06T11:10:49.849Z,1362568249.849 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-06T11:10:50.035Z,1362568250.035 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-06T11:10:50.035Z,1362568250.035 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-06T11:10:50.253Z,1362568250.253 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-06T11:10:50.254Z,1362568250.253 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-06T11:10:50.481Z,1362568250.481 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-06T11:10:50.482Z,1362568250.482 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-06T11:10:50.650Z,1362568250.650 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-06T11:10:50.650Z,1362568250.650 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-06T11:10:50.897Z,1362568250.897 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-06T11:10:50.897Z,1362568250.897 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-06T11:10:50.995Z,1362568250.995 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-06T11:10:50.995Z,1362568250.995 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-06T11:10:51.388Z,1362568251.388 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-06T11:10:51.389Z,1362568251.388 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-06T11:10:51.501Z,1362568251.501 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-06T11:10:51.501Z,1362568251.501 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-06T11:10:51.586Z,1362568251.586 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-06T11:10:51.587Z,1362568251.587 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-06T11:10:51.687Z,1362568251.687 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-06T11:10:51.815Z,1362568251.815 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-06T11:10:51.899Z,1362568251.899 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-06T11:10:51.000Z,1362568252.000 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-06T11:10:52.098Z,1362568252.098 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-06T11:10:52.214Z,1362568252.214 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-06T11:10:52.306Z,1362568252.306 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-06T11:10:52.392Z,1362568252.392 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-03-06T11:10:52.422Z,1362568252.422 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-06T11:10:52.575Z,1362568252.575 [InternalSim] Loaded
2013-03-06T11:10:52.576Z,1362568252.576 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-06T11:10:52.576Z,1362568252.576 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-06T11:10:52.577Z,1362568252.577 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-06T11:10:52.634Z,1362568252.634 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-06T11:10:52.662Z,1362568252.662 [SBIT] Loaded
2013-03-06T11:10:52.662Z,1362568252.662 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-06T11:10:52.663Z,1362568252.663 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-06T11:10:52.691Z,1362568252.691 [IBIT] Loaded
2013-03-06T11:10:52.692Z,1362568252.692 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-06T11:10:52.695Z,1362568252.695 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-06T11:10:52.812Z,1362568252.812 [CBIT] Loaded
2013-03-06T11:10:52.812Z,1362568252.812 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-06T11:10:52.813Z,1362568252.813 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-06T11:10:52.813Z,1362568252.813 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-06T11:10:52.964Z,1362568252.964 [BuoyancyServo] Loaded
2013-03-06T11:10:52.964Z,1362568252.964 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-06T11:10:52.976Z,1362568252.976 [ElevatorServo] Loaded
2013-03-06T11:10:52.977Z,1362568252.977 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-06T11:10:52.988Z,1362568252.989 [MassServo] Loaded
2013-03-06T11:10:52.989Z,1362568252.989 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-06T11:10:53.001Z,1362568253.001 [RudderServo] Loaded
2013-03-06T11:10:53.001Z,1362568253.001 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-06T11:10:53.013Z,1362568253.013 [ThrusterServo] Loaded
2013-03-06T11:10:53.013Z,1362568253.013 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-06T11:10:53.014Z,1362568253.013 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-06T11:10:53.014Z,1362568253.014 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-06T11:10:53.031Z,1362568253.031 [DepthRateCalculator] Loaded
2013-03-06T11:10:53.031Z,1362568253.031 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-06T11:10:56.700Z,1362568256.700 [HFRadarModelCalc] Loaded
2013-03-06T11:10:56.700Z,1362568256.700 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-06T11:10:56.716Z,1362568256.716 [NavChart] Loaded
2013-03-06T11:10:56.716Z,1362568256.716 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-06T11:10:56.722Z,1362568256.722 [PitchRateCalculator] Loaded
2013-03-06T11:10:56.722Z,1362568256.722 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-06T11:10:56.729Z,1362568256.729 [SpeedCalculator] Loaded
2013-03-06T11:10:56.729Z,1362568256.729 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-06T11:10:56.744Z,1362568256.744 [TempGradientCalculator] Loaded
2013-03-06T11:10:56.744Z,1362568256.744 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-06T11:10:56.750Z,1362568256.750 [YawRateCalculator] Loaded
2013-03-06T11:10:56.751Z,1362568256.750 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-06T11:10:56.791Z,1362568256.791 [Navigation] Loaded
2013-03-06T11:10:56.791Z,1362568256.791 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-06T11:10:56.792Z,1362568256.792 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-06T11:10:56.792Z,1362568256.792 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-06T11:10:57.016Z,1362568257.016 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-06T11:10:57.016Z,1362568257.016 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-06T11:10:57.038Z,1362568257.038 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-06T11:10:57.038Z,1362568257.038 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-06T11:10:57.078Z,1362568257.078 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-06T11:10:57.172Z,1362568257.172 [VerticalControl] Loaded
2013-03-06T11:10:57.172Z,1362568257.172 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-06T11:10:57.173Z,1362568257.173 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-06T11:10:57.230Z,1362568257.230 [HorizontalControl] Loaded
2013-03-06T11:10:57.230Z,1362568257.230 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-06T11:10:57.231Z,1362568257.231 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-06T11:10:57.233Z,1362568257.233 [SpeedControl] Loaded
2013-03-06T11:10:57.233Z,1362568257.233 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-06T11:10:57.234Z,1362568257.234 [LoopControl](DEBUG): Construct LoopControl.
2013-03-06T11:10:57.234Z,1362568257.234 [LoopControl] Loaded
2013-03-06T11:10:57.235Z,1362568257.235 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-06T11:10:57.235Z,1362568257.235 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-06T11:10:57.236Z,1362568257.236 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-06T11:10:57.241Z,1362568257.241 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-06T11:10:57.246Z,1362568257.246 [AsyncPiEstimator] Loaded
2013-03-06T11:10:57.246Z,1362568257.246 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-06T11:10:57.247Z,1362568257.247 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-06T11:10:57.248Z,1362568257.248 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-06T11:10:57.249Z,1362568257.249 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-06T11:10:57.374Z,1362568257.374 [AHRS_sp3003D] Loaded
2013-03-06T11:10:57.374Z,1362568257.374 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-06T11:10:57.632Z,1362568257.632 [Batt_Ocean_Server] Loaded
2013-03-06T11:10:57.632Z,1362568257.632 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-06T11:10:57.646Z,1362568257.646 [Depth_Keller] Loaded
2013-03-06T11:10:57.646Z,1362568257.646 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-06T11:10:57.651Z,1362568257.651 [DropWeight] Loaded
2013-03-06T11:10:57.652Z,1362568257.652 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-06T11:10:57.826Z,1362568257.826 [DVL_micro] Loaded
2013-03-06T11:10:57.827Z,1362568257.827 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-06T11:10:57.828Z,1362568257.828 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-06T11:10:57.910Z,1362568257.910 [NAL9602] Loaded
2013-03-06T11:10:57.910Z,1362568257.910 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-06T11:10:57.961Z,1362568257.961 [Onboard] Loaded
2013-03-06T11:10:57.962Z,1362568257.962 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-06T11:10:57.969Z,1362568257.968 [Radio_Freewave] Loaded
2013-03-06T11:10:57.969Z,1362568257.969 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-06T11:10:57.970Z,1362568257.970 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-06T11:10:57.970Z,1362568257.970 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-06T11:10:58.027Z,1362568258.027 [Aanderaa_O2] Loaded
2013-03-06T11:10:58.027Z,1362568258.027 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-06T11:10:58.061Z,1362568258.061 [CTD_NeilBrown] Loaded
2013-03-06T11:10:58.061Z,1362568258.061 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-06T11:10:58.062Z,1362568258.062 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-06T11:10:58.076Z,1362568258.076 [ISUS] Loaded
2013-03-06T11:10:58.076Z,1362568258.076 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-06T11:10:58.092Z,1362568258.092 [PAR_Licor] Loaded
2013-03-06T11:10:58.092Z,1362568258.092 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-06T11:10:58.122Z,1362568258.122 [WetLabsBB2FL] Loaded
2013-03-06T11:10:58.122Z,1362568258.122 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-06T11:10:58.123Z,1362568258.123 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-06T11:10:58.124Z,1362568258.124 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-06T11:10:58.126Z,1362568258.126 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-06T11:10:58.127Z,1362568258.127 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-06T11:10:58.133Z,1362568258.133 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-06T11:10:58.134Z,1362568258.135 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-06T11:10:58.139Z,1362568258.139 [Supervisor](DEBUG): Running supervisor.
2013-03-06T11:10:58.140Z,1362568258.140 [CommandLine](INFO): Thread ID is 9195
2013-03-06T11:10:58.142Z,1362568258.142 [controlThread](INFO): Thread ID is 9194
2013-03-06T11:10:58.143Z,1362568258.143 [controlThread](DEBUG): Initializing ControlThread
2013-03-06T11:10:58.143Z,1362568258.143 [CycleStarter](INFO): Thread ID is 9193
2013-03-06T11:10:58.144Z,1362568258.144 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-06T11:10:58.179Z,1362568258.179 [logger](INFO): Thread ID is 9196
2013-03-06T11:10:58.204Z,1362568258.204 [SBIT](INFO): Initialize SBIT Component.
2013-03-06T11:10:58.204Z,1362568258.204 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10234
2013-03-06T11:10:58.205Z,1362568258.205 [IBIT](INFO): Initialize IBIT Component.
2013-03-06T11:10:58.206Z,1362568258.205 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-06T11:10:58.206Z,1362568258.206 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-06T11:10:58.215Z,1362568258.215 [AsyncPiEstimator](INFO): Thread ID is 9257
2013-03-06T11:10:58.215Z,1362568258.215 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-06T11:10:58.234Z,1362568258.234 [DVL_micro](INFO): Thread ID is 9258
2013-03-06T11:10:58.235Z,1362568258.236 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-06T11:10:58.236Z,1362568258.236 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-06T11:10:58.236Z,1362568258.237 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-06T11:10:58.237Z,1362568258.237 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-06T11:10:58.237Z,1362568258.237 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-06T11:10:58.239Z,1362568258.239 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-06T11:10:58.239Z,1362568258.239 [Navigation](DEBUG): Initializing Navigation.
2013-03-06T11:10:58.240Z,1362568258.240 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-06T11:10:58.242Z,1362568258.241 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-06T11:10:58.242Z,1362568258.242 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-06T11:10:58.243Z,1362568258.243 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-06T11:10:58.253Z,1362568258.253 [DVL_micro](INFO): Initializing
2013-03-06T11:10:58.253Z,1362568258.253 [DVL_micro](INFO): start:Powering up
2013-03-06T11:10:58.255Z,1362568258.254 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-06T11:10:58.255Z,1362568258.255 [DVL_micro](INFO): Cycling power to configure device.
2013-03-06T11:10:58.271Z,1362568258.272 [CTD_NeilBrown](INFO): Thread ID is 9259
2013-03-06T11:10:58.272Z,1362568258.272 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-06T11:10:58.282Z,1362568258.282 [WetLabsBB2FL](INFO): Thread ID is 9260
2013-03-06T11:10:58.307Z,1362568258.307 [WetLabsBB2FL](INFO): Powering down
2013-03-06T11:10:58.328Z,1362568258.328 [NavChartDb](INFO): Thread ID is 9261
2013-03-06T11:10:58.331Z,1362568258.331 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-06T11:10:58.332Z,1362568258.332 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-06T11:10:58.332Z,1362568258.332 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-06T11:10:58.332Z,1362568258.332 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-06T11:10:58.332Z,1362568258.332 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-06T11:10:58.333Z,1362568258.333 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-06T11:10:58.333Z,1362568258.333 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-06T11:10:58.333Z,1362568258.333 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-06T11:10:58.333Z,1362568258.333 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-06T11:10:58.679Z,1362568258.679 [CTD_NeilBrown](ERROR): Salinity reading out of range: 0.000000 psu
2013-03-06T11:10:59.759Z,1362568259.759 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-06T11:10:59.803Z,1362568259.803 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-06T11:10:59.830Z,1362568259.830 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:10:59.857Z,1362568259.857 [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>


2013-03-06T11:10:59.857Z,1362568259.857 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-06T11:10:59.933Z,1362568259.933 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-06T11:10:59.940Z,1362568259.940 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-06T11:10:59.947Z,1362568259.947 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:10:59.972Z,1362568259.972 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-06T11:10:59.975Z,1362568259.976 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:10:59.982Z,1362568259.982 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-06T11:11:00.039Z,1362568260.039 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-06T11:11:00.042Z,1362568260.042 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-06T11:11:00.059Z,1362568260.059 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-06T11:11:00.063Z,1362568260.063 [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>


2013-03-06T11:11:00.068Z,1362568260.068 [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,
2013-03-06T11:11:00.133Z,1362568260.134 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-06T11:11:00.287Z,1362568260.287 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-06T11:11:00.287Z,1362568260.287 [DVL_micro](INFO): Querying output modes
2013-03-06T11:11:00.287Z,1362568260.287 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-06T11:11:00.299Z,1362568260.299 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-06T11:11:00.299Z,1362568260.299 [DVL_micro](INFO): NQ1 output enabled
2013-03-06T11:11:00.299Z,1362568260.299 [DVL_micro](INFO): ADCP output enabled
2013-03-06T11:11:00.299Z,1362568260.299 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-06T11:11:00.310Z,1362568260.310 [Radio_Freewave](INFO): Powering up
2013-03-06T11:11:00.311Z,1362568260.311 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-06T11:11:00.315Z,1362568260.316 [DVL_micro](INFO): pause:Powering down
2013-03-06T11:11:00.642Z,1362568260.642 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-06T11:11:00.646Z,1362568260.647 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-06T11:11:00.663Z,1362568260.662 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-06T11:11:00.671Z,1362568260.671 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-06T11:11:00.677Z,1362568260.677 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-06T11:11:00.703Z,1362568260.703 [MassServo](DEBUG): Initializing MassServo.
2013-03-06T11:11:00.709Z,1362568260.709 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-06T11:11:00.715Z,1362568260.715 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-06T11:11:00.725Z,1362568260.725 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-06T11:11:00.731Z,1362568260.731 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-06T11:11:02.854Z,1362568262.854 [Aanderaa_O2](INFO): Powering down
2013-03-06T11:11:03.232Z,1362568263.232 [NAL9602](INFO): Powering up NAL9602
2013-03-06T11:11:03.316Z,1362568263.316 [CommandLine](IMPORTANT): got command quit
2013-03-06T11:11:04.503Z,1362568264.503 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-03-06T11:11:04.504Z,1362568264.504 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-03-06T11:11:07.458Z,1362568267.458 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-03-06T11:11:07.655Z,1362568267.655 [WetLabsBB2FL](INFO): Powering down
2013-03-06T11:11:07.658Z,1362568267.658 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-03-06T11:11:07.979Z,1362568267.979 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-03-06T11:11:08.047Z,1362568268.047 [DVL_micro](INFO): uninitialize:Powering down
2013-03-06T11:11:08.054Z,1362568268.054 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-03-06T11:11:08.219Z,1362568268.219 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-03-06T11:11:08.239Z,1362568268.239 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-03-06T11:11:08.300Z,1362568268.300 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-03-06T11:11:08.307Z,1362568268.307 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-03-06T11:11:08.387Z,1362568268.387 [controlThread](DEBUG): Uninitializing ControlThread
2013-03-06T11:11:08.387Z,1362568268.387 [AHRS_sp3003D](INFO): Powering down
2013-03-06T11:11:08.475Z,1362568268.476 [NAL9602](INFO): Powering down
2013-03-06T11:11:08.495Z,1362568268.494 [Aanderaa_O2](INFO): Powering down
2013-03-06T11:11:08.497Z,1362568268.497 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-06T11:11:08.497Z,1362568268.497 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-03-06T11:11:08.502Z,1362568268.502 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-03-06T11:11:08.503Z,1362568268.503 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-03-06T11:11:08.503Z,1362568268.503 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-03-06T11:11:08.503Z,1362568268.503 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-03-06T11:11:08.503Z,1362568268.503 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-06T11:11:08.505Z,1362568268.505 [BuoyancyServo](INFO): Powering down
2013-03-06T11:11:08.523Z,1362568268.523 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-03-06T11:11:08.523Z,1362568268.523 [ElevatorServo](INFO): Powering down
2013-03-06T11:11:08.543Z,1362568268.543 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-03-06T11:11:08.543Z,1362568268.543 [MassServo](INFO): Powering down
2013-03-06T11:11:08.563Z,1362568268.563 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-03-06T11:11:08.563Z,1362568268.563 [RudderServo](INFO): Powering down
2013-03-06T11:11:08.564Z,1362568268.564 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-06T11:11:08.564Z,1362568268.564 [ThrusterServo](INFO): Powering down
2013-03-06T11:11:08.565Z,1362568268.565 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-03-06T11:11:08.565Z,1362568268.565 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-03-06T11:11:08.565Z,1362568268.565 [CBIT](DEBUG): Uninitialize CBIT Component.