2013-03-19T18:42:43.717Z,1363718563.717 [Supervisor](DEBUG): Initializing supervisor.
2013-03-19T18:42:43.726Z,1363718563.726 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-19T18:42:43.727Z,1363718563.727 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-19T18:42:43.730Z,1363718563.730 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-19T18:42:43.734Z,1363718563.734 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-19T18:42:43.745Z,1363718563.745 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-19T18:42:43.746Z,1363718563.746 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-19T18:42:43.747Z,1363718563.747 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-19T18:42:43.750Z,1363718563.750 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-19T18:42:43.751Z,1363718563.751 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-19T18:42:43.755Z,1363718563.755 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-19T18:42:44.067Z,1363718564.067 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-19T18:42:44.068Z,1363718564.068 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-19T18:42:44.271Z,1363718564.271 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-19T18:42:44.272Z,1363718564.272 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-19T18:42:44.367Z,1363718564.367 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-19T18:42:44.369Z,1363718564.369 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-19T18:42:44.571Z,1363718564.571 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-19T18:42:44.572Z,1363718564.572 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-19T18:42:44.720Z,1363718564.720 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-19T18:42:44.722Z,1363718564.722 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-19T18:42:44.979Z,1363718564.979 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-19T18:42:44.980Z,1363718564.980 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-19T18:42:45.167Z,1363718565.167 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-19T18:42:45.169Z,1363718565.169 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-19T18:42:45.444Z,1363718565.444 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-19T18:42:45.446Z,1363718565.446 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-19T18:42:45.559Z,1363718565.559 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-19T18:42:45.560Z,1363718565.560 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-19T18:42:46.000Z,1363718566.000 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-19T18:42:46.001Z,1363718566.001 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-19T18:42:46.128Z,1363718566.128 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-19T18:42:46.128Z,1363718566.128 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-19T18:42:46.225Z,1363718566.225 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-19T18:42:46.363Z,1363718566.363 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-19T18:42:46.474Z,1363718566.474 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-19T18:42:46.620Z,1363718566.620 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-19T18:42:46.784Z,1363718566.784 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-19T18:42:46.894Z,1363718566.894 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-19T18:42:47.004Z,1363718567.004 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-19T18:42:47.136Z,1363718567.136 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-19T18:42:47.240Z,1363718567.240 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-19T18:42:47.338Z,1363718567.338 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-19T18:42:47.365Z,1363718567.365 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-19T18:42:47.568Z,1363718567.568 [InternalSim] Loaded
2013-03-19T18:42:47.568Z,1363718567.568 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-19T18:42:47.569Z,1363718567.569 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-19T18:42:47.570Z,1363718567.570 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-19T18:42:47.655Z,1363718567.655 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-19T18:42:47.688Z,1363718567.688 [SBIT] Loaded
2013-03-19T18:42:47.688Z,1363718567.688 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-19T18:42:47.689Z,1363718567.689 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-19T18:42:47.722Z,1363718567.722 [IBIT] Loaded
2013-03-19T18:42:47.723Z,1363718567.723 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-19T18:42:47.726Z,1363718567.726 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-19T18:42:47.857Z,1363718567.857 [CBIT] Loaded
2013-03-19T18:42:47.858Z,1363718567.858 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-19T18:42:47.858Z,1363718567.858 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-19T18:42:47.859Z,1363718567.859 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-19T18:42:48.040Z,1363718568.040 [BuoyancyServo] Loaded
2013-03-19T18:42:48.040Z,1363718568.040 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-19T18:42:48.053Z,1363718568.053 [ElevatorServo] Loaded
2013-03-19T18:42:48.053Z,1363718568.053 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-19T18:42:48.069Z,1363718568.069 [MassServo] Loaded
2013-03-19T18:42:48.069Z,1363718568.069 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-19T18:42:48.081Z,1363718568.081 [RudderServo] Loaded
2013-03-19T18:42:48.082Z,1363718568.082 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-19T18:42:48.094Z,1363718568.093 [ThrusterServo] Loaded
2013-03-19T18:42:48.094Z,1363718568.094 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-19T18:42:48.094Z,1363718568.094 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-19T18:42:48.095Z,1363718568.095 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-19T18:42:48.127Z,1363718568.127 [DepthRateCalculator] Loaded
2013-03-19T18:42:48.128Z,1363718568.128 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-19T18:42:51.653Z,1363718571.653 [HFRadarModelCalc] Loaded
2013-03-19T18:42:51.654Z,1363718571.654 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-19T18:42:51.669Z,1363718571.670 [NavChart] Loaded
2013-03-19T18:42:51.670Z,1363718571.670 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-19T18:42:51.676Z,1363718571.676 [PitchRateCalculator] Loaded
2013-03-19T18:42:51.676Z,1363718571.676 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-19T18:42:51.682Z,1363718571.682 [SpeedCalculator] Loaded
2013-03-19T18:42:51.683Z,1363718571.683 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-19T18:42:51.702Z,1363718571.702 [TempGradientCalculator] Loaded
2013-03-19T18:42:51.702Z,1363718571.702 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-19T18:42:51.708Z,1363718571.708 [YawRateCalculator] Loaded
2013-03-19T18:42:51.708Z,1363718571.708 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-19T18:42:51.753Z,1363718571.753 [Navigation] Loaded
2013-03-19T18:42:51.753Z,1363718571.753 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-19T18:42:51.754Z,1363718571.754 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-19T18:42:51.759Z,1363718571.759 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-19T18:42:52.046Z,1363718572.046 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-19T18:42:52.047Z,1363718572.047 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-19T18:42:52.093Z,1363718572.093 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-19T18:42:52.093Z,1363718572.093 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-19T18:42:52.157Z,1363718572.157 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-19T18:42:52.259Z,1363718572.259 [VerticalControl] Loaded
2013-03-19T18:42:52.259Z,1363718572.259 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-19T18:42:52.260Z,1363718572.260 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-19T18:42:52.325Z,1363718572.325 [HorizontalControl] Loaded
2013-03-19T18:42:52.326Z,1363718572.326 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-19T18:42:52.327Z,1363718572.327 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-19T18:42:52.328Z,1363718572.328 [SpeedControl] Loaded
2013-03-19T18:42:52.329Z,1363718572.329 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-19T18:42:52.330Z,1363718572.330 [LoopControl](DEBUG): Construct LoopControl.
2013-03-19T18:42:52.330Z,1363718572.330 [LoopControl] Loaded
2013-03-19T18:42:52.331Z,1363718572.330 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-19T18:42:52.331Z,1363718572.331 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-19T18:42:52.332Z,1363718572.332 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-19T18:42:52.340Z,1363718572.340 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-19T18:42:52.345Z,1363718572.345 [AsyncPiEstimator] Loaded
2013-03-19T18:42:52.345Z,1363718572.345 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-19T18:42:52.346Z,1363718572.346 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-19T18:42:52.347Z,1363718572.347 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-19T18:42:52.348Z,1363718572.348 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-19T18:42:52.534Z,1363718572.534 [AHRS_sp3003D] Loaded
2013-03-19T18:42:52.535Z,1363718572.535 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-19T18:42:52.822Z,1363718572.822 [Batt_Ocean_Server] Loaded
2013-03-19T18:42:52.822Z,1363718572.822 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-19T18:42:52.840Z,1363718572.839 [Depth_Keller] Loaded
2013-03-19T18:42:52.840Z,1363718572.840 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-19T18:42:52.845Z,1363718572.845 [DropWeight] Loaded
2013-03-19T18:42:52.846Z,1363718572.846 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-19T18:42:53.041Z,1363718573.041 [DVL_micro] Loaded
2013-03-19T18:42:53.042Z,1363718573.042 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-19T18:42:53.046Z,1363718573.046 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-19T18:42:53.138Z,1363718573.138 [NAL9602] Loaded
2013-03-19T18:42:53.138Z,1363718573.138 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-19T18:42:53.193Z,1363718573.194 [Onboard] Loaded
2013-03-19T18:42:53.194Z,1363718573.194 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-19T18:42:53.205Z,1363718573.205 [Radio_Freewave] Loaded
2013-03-19T18:42:53.205Z,1363718573.205 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-19T18:42:53.206Z,1363718573.206 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-19T18:42:53.206Z,1363718573.207 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-19T18:42:53.293Z,1363718573.293 [Aanderaa_O2] Loaded
2013-03-19T18:42:53.293Z,1363718573.293 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-19T18:42:53.330Z,1363718573.330 [CTD_NeilBrown] Loaded
2013-03-19T18:42:53.330Z,1363718573.330 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-19T18:42:53.334Z,1363718573.334 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-19T18:42:53.351Z,1363718573.351 [PAR_Licor] Loaded
2013-03-19T18:42:53.351Z,1363718573.351 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-19T18:42:53.385Z,1363718573.385 [WetLabsBB2FL] Loaded
2013-03-19T18:42:53.385Z,1363718573.385 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-19T18:42:53.390Z,1363718573.390 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-19T18:42:53.391Z,1363718573.391 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-19T18:42:53.393Z,1363718573.393 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-19T18:42:53.394Z,1363718573.394 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-19T18:42:53.405Z,1363718573.405 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-19T18:42:53.406Z,1363718573.406 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-19T18:42:53.411Z,1363718573.411 [Supervisor](DEBUG): Running supervisor.
2013-03-19T18:42:53.412Z,1363718573.412 [CommandLine](INFO): Thread ID is 749
2013-03-19T18:42:53.415Z,1363718573.415 [controlThread](INFO): Thread ID is 748
2013-03-19T18:42:53.415Z,1363718573.415 [controlThread](DEBUG): Initializing ControlThread
2013-03-19T18:42:53.416Z,1363718573.416 [CycleStarter](INFO): Thread ID is 747
2013-03-19T18:42:53.416Z,1363718573.416 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-19T18:42:53.522Z,1363718573.522 [logger](INFO): Thread ID is 750
2013-03-19T18:42:53.655Z,1363718573.655 [AsyncPiEstimator](INFO): Thread ID is 811
2013-03-19T18:42:53.655Z,1363718573.655 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-19T18:42:53.763Z,1363718573.763 [DVL_micro](INFO): Thread ID is 812
2013-03-19T18:42:53.782Z,1363718573.782 [DVL_micro](INFO): Initializing
2013-03-19T18:42:53.782Z,1363718573.782 [DVL_micro](INFO): start:Powering up
2013-03-19T18:42:53.783Z,1363718573.783 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-19T18:42:53.784Z,1363718573.784 [DVL_micro](INFO): Cycling power to configure device.
2013-03-19T18:42:53.835Z,1363718573.835 [CTD_NeilBrown](INFO): Thread ID is 813
2013-03-19T18:42:53.835Z,1363718573.835 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-19T18:42:53.839Z,1363718573.839 [WetLabsBB2FL](INFO): Thread ID is 814
2013-03-19T18:42:53.840Z,1363718573.840 [WetLabsBB2FL](INFO): Powering down
2013-03-19T18:42:53.872Z,1363718573.872 [SBIT](INFO): Initialize SBIT Component.
2013-03-19T18:42:53.873Z,1363718573.872 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10234
2013-03-19T18:42:53.873Z,1363718573.873 [IBIT](INFO): Initialize IBIT Component.
2013-03-19T18:42:53.874Z,1363718573.874 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-19T18:42:53.874Z,1363718573.874 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-19T18:42:53.875Z,1363718573.875 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-19T18:42:53.891Z,1363718573.891 [NavChartDb](INFO): Thread ID is 815
2013-03-19T18:42:53.892Z,1363718573.892 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-19T18:42:53.898Z,1363718573.898 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-19T18:42:53.899Z,1363718573.899 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-19T18:42:53.899Z,1363718573.899 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-19T18:42:53.899Z,1363718573.899 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-19T18:42:53.900Z,1363718573.899 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-19T18:42:53.900Z,1363718573.900 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-19T18:42:53.900Z,1363718573.900 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-19T18:42:53.900Z,1363718573.900 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-19T18:42:53.900Z,1363718573.900 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-19T18:42:53.920Z,1363718573.920 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-19T18:42:53.920Z,1363718573.921 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-19T18:42:53.921Z,1363718573.921 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-19T18:42:53.921Z,1363718573.921 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-19T18:42:53.922Z,1363718573.921 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-19T18:42:53.923Z,1363718573.923 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-19T18:42:53.923Z,1363718573.923 [Navigation](DEBUG): Initializing Navigation.
2013-03-19T18:42:53.924Z,1363718573.924 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-19T18:42:53.925Z,1363718573.925 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-19T18:42:53.926Z,1363718573.926 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-19T18:42:53.927Z,1363718573.927 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-19T18:42:55.715Z,1363718575.714 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-19T18:42:55.802Z,1363718575.802 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-19T18:42:55.832Z,1363718575.832 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:42:55.839Z,1363718575.839 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-19T18:42:55.839Z,1363718575.839 [DVL_micro](INFO): Querying output modes
2013-03-19T18:42:55.840Z,1363718575.840 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-19T18:42:55.850Z,1363718575.851 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-19T18:42:55.851Z,1363718575.851 [DVL_micro](INFO): NQ1 output enabled
2013-03-19T18:42:55.851Z,1363718575.851 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-19T18:42:55.863Z,1363718575.863 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-19T18:42:55.868Z,1363718575.868 [DVL_micro](INFO): pause:Powering down
2013-03-19T18:42:55.876Z,1363718575.876 [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>


2013-03-19T18:42:55.877Z,1363718575.877 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-19T18:42:55.971Z,1363718575.971 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-19T18:42:55.974Z,1363718575.974 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-19T18:42:55.985Z,1363718575.985 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:42:56.002Z,1363718576.002 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-19T18:42:56.005Z,1363718576.005 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:42:56.028Z,1363718576.028 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-19T18:42:56.069Z,1363718576.069 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-19T18:42:56.088Z,1363718576.088 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:42:56.105Z,1363718576.105 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-19T18:42:56.109Z,1363718576.109 [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>


2013-03-19T18:42:56.113Z,1363718576.114 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,Aanderaa_O2,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,
2013-03-19T18:42:56.192Z,1363718576.192 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-19T18:42:56.379Z,1363718576.379 [Radio_Freewave](INFO): Powering up
2013-03-19T18:42:56.723Z,1363718576.723 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:42:56.736Z,1363718576.736 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-19T18:42:56.761Z,1363718576.761 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:42:56.768Z,1363718576.768 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-19T18:42:56.782Z,1363718576.782 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:42:56.795Z,1363718576.795 [MassServo](DEBUG): Initializing MassServo.
2013-03-19T18:42:56.802Z,1363718576.802 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:42:56.811Z,1363718576.811 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-19T18:42:56.828Z,1363718576.828 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:42:56.835Z,1363718576.835 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-19T18:42:58.493Z,1363718578.493 [NAL9602](INFO): Powering up NAL9602
2013-03-19T18:42:59.127Z,1363718579.127 [Aanderaa_O2](INFO): Powering down
2013-03-19T18:43:09.211Z,1363718589.211 [NAL9602](INFO): NAL9602 initialized
2013-03-19T18:43:09.317Z,1363718589.317 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-19T18:43:09.319Z,1363718589.319 [CBIT](IMPORTANT): Beginning GF scan
2013-03-19T18:43:34.172Z,1363718614.172 [NAL9602](IMPORTANT): GPS fix at: 1363718612.00
2013-03-19T18:43:36.237Z,1363718616.237 [CBIT](FAULT): Chan 4 High side GF detected
mA:
CHAN 5 (24V): 0.058635
CHAN 4 (Batt): 0.004783
CHAN 2 (12V): 0.000574
CHAN 1 (5V): 0.000765
CHAN 0 (3.3V): 0.000670
OPEN: 0.033765
Full Scale Calc: 0.392
2013-03-19T18:43:41.408Z,1363718621.408 [NAL9602](INFO): Powering down
2013-03-19T18:44:03.530Z,1363718643.530 [SBIT](IMPORTANT): SBIT PASSED
2013-03-19T18:44:03.924Z,1363718643.924 [MissionManager](IMPORTANT): Started mission Startup
2013-03-19T18:44:03.924Z,1363718643.924 [Startup] Running Loop=1
2013-03-19T18:44:03.924Z,1363718643.924 [Startup](INFO): Aggregate::initialize Startup
2013-03-19T18:44:03.925Z,1363718643.925 [Startup:A.GoToSurface] Running Loop=1
2013-03-19T18:44:03.925Z,1363718643.925 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-19T18:44:03.931Z,1363718643.931 [Startup:StartupSatComms] Running Loop=1
2013-03-19T18:44:03.931Z,1363718643.931 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-03-19T18:44:03.931Z,1363718643.931 [Startup:StartupSatComms:A] Running Loop=1
2013-03-19T18:44:04.358Z,1363718644.358 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-19T18:44:04.702Z,1363718644.703 [NAL9602](INFO): Powering up
2013-03-19T18:44:15.631Z,1363718655.631 [NAL9602](INFO): NAL9602 initialized
2013-03-19T18:44:34.703Z,1363718674.703 [NAL9602](IMPORTANT): GPS fix at: 1363718672.00
2013-03-19T18:44:34.720Z,1363718674.720 [Startup:StartupSatComms:A] Stopped
2013-03-19T18:44:34.720Z,1363718674.720 [Startup:StartupSatComms:B] Running Loop=1
2013-03-19T18:44:35.163Z,1363718675.164 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-19T18:45:04.825Z,1363718704.825 [NAL9602](INFO): SBD MO Status=2, MOMSN=8290, MT Status=2, MTMSN=0
2013-03-19T18:45:04.826Z,1363718704.826 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2013-03-19T18:45:12.487Z,1363718712.487 [CommandLine](IMPORTANT): got command restart application
2013-03-19T18:45:13.614Z,1363718713.614 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-03-19T18:45:13.615Z,1363718713.615 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-03-19T18:45:13.642Z,1363718713.642 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-03-19T18:45:13.739Z,1363718713.739 [WetLabsBB2FL](INFO): Powering down
2013-03-19T18:45:13.750Z,1363718713.750 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-03-19T18:45:14.043Z,1363718714.043 [CTD_NeilBrown](INFO): Powering down
2013-03-19T18:45:14.058Z,1363718714.058 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-03-19T18:45:14.103Z,1363718714.103 [DVL_micro](INFO): uninitialize:Powering down
2013-03-19T18:45:14.118Z,1363718714.118 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-03-19T18:45:14.323Z,1363718714.323 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-03-19T18:45:14.339Z,1363718714.339 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-03-19T18:45:14.359Z,1363718714.359 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-03-19T18:45:14.361Z,1363718714.361 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-03-19T18:45:14.487Z,1363718714.487 [controlThread](DEBUG): Uninitializing ControlThread
2013-03-19T18:45:14.487Z,1363718714.487 [AHRS_sp3003D](INFO): Powering down
2013-03-19T18:45:14.576Z,1363718714.576 [NAL9602](INFO): Powering down
2013-03-19T18:45:14.577Z,1363718714.577 [Aanderaa_O2](INFO): Powering down
2013-03-19T18:45:14.578Z,1363718714.579 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-19T18:45:14.579Z,1363718714.579 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-03-19T18:45:14.583Z,1363718714.583 [Startup] Stopped
2013-03-19T18:45:14.583Z,1363718714.583 [Startup](INFO): Aggregate::uninitialize Startup
2013-03-19T18:45:14.583Z,1363718714.583 [Startup:A.GoToSurface] Stopped
2013-03-19T18:45:14.583Z,1363718714.583 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-19T18:45:14.584Z,1363718714.583 [Startup:StartupSatComms] Stopped
2013-03-19T18:45:14.584Z,1363718714.584 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-03-19T18:45:14.584Z,1363718714.584 [Startup:StartupSatComms:B] Stopped
2013-03-19T18:45:14.585Z,1363718714.585 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-03-19T18:45:14.585Z,1363718714.585 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-03-19T18:45:14.586Z,1363718714.586 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-03-19T18:45:14.586Z,1363718714.586 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-03-19T18:45:14.586Z,1363718714.586 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-19T18:45:14.587Z,1363718714.587 [BuoyancyServo](INFO): Powering down
2013-03-19T18:45:14.599Z,1363718714.599 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-03-19T18:45:14.599Z,1363718714.599 [ElevatorServo](INFO): Powering down
2013-03-19T18:45:14.600Z,1363718714.600 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-03-19T18:45:14.600Z,1363718714.600 [MassServo](INFO): Powering down
2013-03-19T18:45:14.600Z,1363718714.601 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-03-19T18:45:14.601Z,1363718714.601 [RudderServo](INFO): Powering down
2013-03-19T18:45:14.601Z,1363718714.601 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-19T18:45:14.601Z,1363718714.602 [ThrusterServo](INFO): Powering down
2013-03-19T18:45:14.602Z,1363718714.602 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-03-19T18:45:14.603Z,1363718714.603 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-03-19T18:45:14.603Z,1363718714.603 [CBIT](DEBUG): Uninitialize CBIT Component.