2013-03-28T20:12:22.951Z,1364501542.951 [Supervisor](DEBUG): Initializing supervisor.
2013-03-28T20:12:22.954Z,1364501542.954 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-28T20:12:22.955Z,1364501542.955 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-28T20:12:22.956Z,1364501542.956 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-28T20:12:22.961Z,1364501542.961 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-28T20:12:22.972Z,1364501542.972 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-28T20:12:22.973Z,1364501542.973 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-28T20:12:22.974Z,1364501542.974 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-28T20:12:22.975Z,1364501542.975 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-28T20:12:22.976Z,1364501542.976 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-28T20:12:22.977Z,1364501542.977 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-28T20:12:23.349Z,1364501543.349 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-28T20:12:23.350Z,1364501543.350 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-28T20:12:23.537Z,1364501543.537 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-28T20:12:23.537Z,1364501543.537 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-28T20:12:23.622Z,1364501543.622 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-28T20:12:23.622Z,1364501543.622 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-28T20:12:23.810Z,1364501543.810 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-28T20:12:23.811Z,1364501543.811 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-28T20:12:23.946Z,1364501543.945 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-28T20:12:23.946Z,1364501543.946 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-28T20:12:24.177Z,1364501544.177 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-28T20:12:24.178Z,1364501544.178 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-28T20:12:24.345Z,1364501544.345 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-28T20:12:24.346Z,1364501544.346 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-28T20:12:24.595Z,1364501544.595 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-28T20:12:24.595Z,1364501544.595 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-28T20:12:24.692Z,1364501544.693 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-28T20:12:24.693Z,1364501544.693 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-28T20:12:25.095Z,1364501545.095 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-28T20:12:25.096Z,1364501545.096 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-28T20:12:25.209Z,1364501545.209 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-28T20:12:25.210Z,1364501545.210 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-28T20:12:25.295Z,1364501545.295 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-28T20:12:25.296Z,1364501545.296 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-28T20:12:25.395Z,1364501545.395 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-28T20:12:25.523Z,1364501545.523 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-28T20:12:25.607Z,1364501545.607 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-28T20:12:25.714Z,1364501545.714 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-28T20:12:25.812Z,1364501545.812 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-28T20:12:25.933Z,1364501545.933 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-28T20:12:26.025Z,1364501546.026 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-28T20:12:26.111Z,1364501546.111 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-28T20:12:26.135Z,1364501546.135 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-28T20:12:26.296Z,1364501546.296 [InternalSim] Loaded
2013-03-28T20:12:26.297Z,1364501546.297 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-28T20:12:26.298Z,1364501546.298 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-28T20:12:26.298Z,1364501546.298 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-28T20:12:26.360Z,1364501546.360 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-28T20:12:26.389Z,1364501546.389 [SBIT] Loaded
2013-03-28T20:12:26.390Z,1364501546.390 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-28T20:12:26.391Z,1364501546.391 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-28T20:12:26.420Z,1364501546.420 [IBIT] Loaded
2013-03-28T20:12:26.420Z,1364501546.420 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-28T20:12:26.423Z,1364501546.423 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-28T20:12:26.543Z,1364501546.543 [CBIT] Loaded
2013-03-28T20:12:26.544Z,1364501546.544 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-28T20:12:26.544Z,1364501546.544 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-28T20:12:26.545Z,1364501546.545 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-28T20:12:26.699Z,1364501546.699 [BuoyancyServo] Loaded
2013-03-28T20:12:26.699Z,1364501546.699 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-28T20:12:26.712Z,1364501546.712 [ElevatorServo] Loaded
2013-03-28T20:12:26.712Z,1364501546.712 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-28T20:12:26.724Z,1364501546.724 [MassServo] Loaded
2013-03-28T20:12:26.725Z,1364501546.725 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-28T20:12:26.737Z,1364501546.737 [RudderServo] Loaded
2013-03-28T20:12:26.737Z,1364501546.737 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-28T20:12:26.750Z,1364501546.750 [ThrusterServo] Loaded
2013-03-28T20:12:26.750Z,1364501546.750 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-28T20:12:26.751Z,1364501546.750 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-28T20:12:26.751Z,1364501546.751 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-28T20:12:26.775Z,1364501546.775 [DepthRateCalculator] Loaded
2013-03-28T20:12:26.775Z,1364501546.776 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-28T20:12:30.128Z,1364501550.128 [HFRadarModelCalc] Loaded
2013-03-28T20:12:30.129Z,1364501550.129 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-28T20:12:30.145Z,1364501550.145 [NavChart] Loaded
2013-03-28T20:12:30.145Z,1364501550.145 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-28T20:12:30.151Z,1364501550.151 [PitchRateCalculator] Loaded
2013-03-28T20:12:30.152Z,1364501550.152 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-28T20:12:30.158Z,1364501550.158 [SpeedCalculator] Loaded
2013-03-28T20:12:30.158Z,1364501550.158 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-28T20:12:30.174Z,1364501550.174 [TempGradientCalculator] Loaded
2013-03-28T20:12:30.174Z,1364501550.174 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-28T20:12:30.180Z,1364501550.180 [YawRateCalculator] Loaded
2013-03-28T20:12:30.180Z,1364501550.180 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-28T20:12:30.223Z,1364501550.223 [Navigation] Loaded
2013-03-28T20:12:30.223Z,1364501550.223 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-28T20:12:30.224Z,1364501550.224 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-28T20:12:30.224Z,1364501550.224 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-28T20:12:30.466Z,1364501550.466 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-28T20:12:30.466Z,1364501550.466 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-28T20:12:30.490Z,1364501550.490 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-28T20:12:30.490Z,1364501550.490 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-28T20:12:30.532Z,1364501550.532 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-28T20:12:30.628Z,1364501550.628 [VerticalControl] Loaded
2013-03-28T20:12:30.628Z,1364501550.628 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-28T20:12:30.629Z,1364501550.629 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-28T20:12:30.687Z,1364501550.687 [HorizontalControl] Loaded
2013-03-28T20:12:30.687Z,1364501550.687 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-28T20:12:30.688Z,1364501550.688 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-28T20:12:30.690Z,1364501550.690 [SpeedControl] Loaded
2013-03-28T20:12:30.690Z,1364501550.690 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-28T20:12:30.691Z,1364501550.691 [LoopControl](DEBUG): Construct LoopControl.
2013-03-28T20:12:30.692Z,1364501550.692 [LoopControl] Loaded
2013-03-28T20:12:30.692Z,1364501550.692 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-28T20:12:30.692Z,1364501550.692 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-28T20:12:30.693Z,1364501550.693 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-28T20:12:30.699Z,1364501550.699 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-28T20:12:30.703Z,1364501550.703 [AsyncPiEstimator] Loaded
2013-03-28T20:12:30.704Z,1364501550.704 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-28T20:12:30.705Z,1364501550.705 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-28T20:12:30.706Z,1364501550.706 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-28T20:12:30.706Z,1364501550.706 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-28T20:12:30.842Z,1364501550.842 [AHRS_sp3003D] Loaded
2013-03-28T20:12:30.843Z,1364501550.843 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-28T20:12:31.106Z,1364501551.106 [Batt_Ocean_Server] Loaded
2013-03-28T20:12:31.106Z,1364501551.106 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-28T20:12:31.119Z,1364501551.119 [Depth_Keller] Loaded
2013-03-28T20:12:31.120Z,1364501551.120 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-28T20:12:31.125Z,1364501551.125 [DropWeight] Loaded
2013-03-28T20:12:31.126Z,1364501551.126 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-28T20:12:31.303Z,1364501551.303 [DVL_micro] Loaded
2013-03-28T20:12:31.303Z,1364501551.303 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-28T20:12:31.304Z,1364501551.304 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-28T20:12:31.388Z,1364501551.388 [NAL9602] Loaded
2013-03-28T20:12:31.388Z,1364501551.388 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-28T20:12:31.440Z,1364501551.440 [Onboard] Loaded
2013-03-28T20:12:31.440Z,1364501551.440 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-28T20:12:31.441Z,1364501551.441 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-28T20:12:31.442Z,1364501551.442 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-28T20:12:31.500Z,1364501551.500 [Aanderaa_O2] Loaded
2013-03-28T20:12:31.501Z,1364501551.501 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-28T20:12:31.534Z,1364501551.534 [CTD_NeilBrown] Loaded
2013-03-28T20:12:31.534Z,1364501551.534 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-28T20:12:31.535Z,1364501551.535 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-28T20:12:31.552Z,1364501551.552 [PAR_Licor] Loaded
2013-03-28T20:12:31.552Z,1364501551.552 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-28T20:12:31.583Z,1364501551.583 [WetLabsBB2FL] Loaded
2013-03-28T20:12:31.583Z,1364501551.583 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-28T20:12:31.584Z,1364501551.584 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-28T20:12:31.585Z,1364501551.585 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-28T20:12:31.597Z,1364501551.597 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-28T20:12:31.613Z,1364501551.613 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-28T20:12:31.628Z,1364501551.628 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-28T20:12:31.629Z,1364501551.629 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-28T20:12:31.634Z,1364501551.634 [Supervisor](DEBUG): Running supervisor.
2013-03-28T20:12:31.635Z,1364501551.635 [CommandLine](INFO): Thread ID is 4564
2013-03-28T20:12:31.646Z,1364501551.646 [controlThread](INFO): Thread ID is 4563
2013-03-28T20:12:31.646Z,1364501551.646 [controlThread](DEBUG): Initializing ControlThread
2013-03-28T20:12:31.647Z,1364501551.647 [CycleStarter](INFO): Thread ID is 4562
2013-03-28T20:12:31.647Z,1364501551.647 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-28T20:12:31.683Z,1364501551.684 [logger](INFO): Thread ID is 4565
2013-03-28T20:12:31.757Z,1364501551.757 [AsyncPiEstimator](INFO): Thread ID is 4626
2013-03-28T20:12:31.757Z,1364501551.757 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-28T20:12:31.767Z,1364501551.767 [DVL_micro](INFO): Thread ID is 4627
2013-03-28T20:12:31.860Z,1364501551.860 [CTD_NeilBrown](INFO): Thread ID is 4628
2013-03-28T20:12:31.860Z,1364501551.861 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-28T20:12:31.864Z,1364501551.864 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-28T20:12:32.033Z,1364501552.033 [WetLabsBB2FL](INFO): Thread ID is 4629
2013-03-28T20:12:32.034Z,1364501552.034 [WetLabsBB2FL](INFO): Powering down
2013-03-28T20:12:32.069Z,1364501552.069 [DVL_micro](INFO): Initializing
2013-03-28T20:12:32.069Z,1364501552.069 [DVL_micro](INFO): start:Powering up
2013-03-28T20:12:32.070Z,1364501552.070 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-28T20:12:32.070Z,1364501552.070 [DVL_micro](INFO): Cycling power to configure device.
2013-03-28T20:12:32.138Z,1364501552.138 [NavChartDb](INFO): Thread ID is 4630
2013-03-28T20:12:32.150Z,1364501552.150 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-28T20:12:32.150Z,1364501552.150 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-28T20:12:32.151Z,1364501552.151 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-28T20:12:32.151Z,1364501552.151 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-28T20:12:32.151Z,1364501552.151 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-28T20:12:32.151Z,1364501552.151 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-28T20:12:32.152Z,1364501552.152 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-28T20:12:32.152Z,1364501552.152 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-28T20:12:32.152Z,1364501552.152 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-28T20:12:32.213Z,1364501552.213 [SBIT](INFO): Initialize SBIT Component.
2013-03-28T20:12:32.214Z,1364501552.214 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10266
2013-03-28T20:12:32.214Z,1364501552.214 [SBIT](FAULT): Kernel Reporting Different Release From Configuration. Expected:2.6.32-45-generic-pae
Kernel Reported:2.6.27.8
2013-03-28T20:12:32.215Z,1364501552.215 [IBIT](INFO): Initialize IBIT Component.
2013-03-28T20:12:32.216Z,1364501552.216 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-28T20:12:32.216Z,1364501552.216 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-28T20:12:32.216Z,1364501552.216 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-28T20:12:32.242Z,1364501552.242 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-28T20:12:32.243Z,1364501552.243 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-28T20:12:32.243Z,1364501552.243 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-28T20:12:32.243Z,1364501552.243 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-28T20:12:32.244Z,1364501552.244 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-28T20:12:32.245Z,1364501552.245 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-28T20:12:32.246Z,1364501552.246 [Navigation](DEBUG): Initializing Navigation.
2013-03-28T20:12:32.246Z,1364501552.246 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-28T20:12:32.248Z,1364501552.248 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-28T20:12:32.248Z,1364501552.248 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-28T20:12:32.249Z,1364501552.249 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-28T20:12:34.092Z,1364501554.092 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-28T20:12:34.136Z,1364501554.136 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-28T20:12:34.183Z,1364501554.183 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:12:34.205Z,1364501554.205 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-28T20:12:34.206Z,1364501554.206 [DVL_micro](INFO): Querying output modes
2013-03-28T20:12:34.206Z,1364501554.206 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-28T20:12:34.217Z,1364501554.217 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-28T20:12:34.217Z,1364501554.217 [DVL_micro](INFO): NQ1 output enabled
2013-03-28T20:12:34.218Z,1364501554.218 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-28T20:12:34.222Z,1364501554.222 [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>


2013-03-28T20:12:34.223Z,1364501554.223 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-28T20:12:34.229Z,1364501554.229 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-28T20:12:34.234Z,1364501554.234 [DVL_micro](INFO): pause:Powering down
2013-03-28T20:12:34.294Z,1364501554.294 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-28T20:12:34.296Z,1364501554.296 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-28T20:12:34.300Z,1364501554.300 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:12:34.350Z,1364501554.350 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-28T20:12:34.353Z,1364501554.353 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:12:34.368Z,1364501554.368 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-28T20:12:34.389Z,1364501554.389 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-28T20:12:34.392Z,1364501554.392 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:12:34.430Z,1364501554.430 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-28T20:12:34.433Z,1364501554.433 [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>


2013-03-28T20:12:34.450Z,1364501554.450 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,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,
2013-03-28T20:12:34.493Z,1364501554.493 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-28T20:12:35.017Z,1364501555.017 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:12:35.025Z,1364501555.025 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-28T20:12:35.044Z,1364501555.044 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:12:35.053Z,1364501555.053 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-28T20:12:35.071Z,1364501555.071 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:12:35.077Z,1364501555.077 [MassServo](DEBUG): Initializing MassServo.
2013-03-28T20:12:35.083Z,1364501555.083 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:12:35.089Z,1364501555.089 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-28T20:12:35.125Z,1364501555.125 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:12:35.133Z,1364501555.133 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-28T20:12:36.768Z,1364501556.768 [NAL9602](INFO): Powering up NAL9602
2013-03-28T20:12:43.449Z,1364501563.449 [CommandLine](IMPORTANT): got command quit
2013-03-28T20:12:44.649Z,1364501564.649 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-03-28T20:12:44.649Z,1364501564.649 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-03-28T20:12:44.797Z,1364501564.797 [Aanderaa_O2](FAULT): Timed out starting
2013-03-28T20:12:44.797Z,1364501564.797 [Aanderaa_O2] Communications Fault, FailCount= 1
2013-03-28T20:12:44.797Z,1364501564.797 [Aanderaa_O2](ERROR): Communications Fault
2013-03-28T20:12:44.872Z,1364501564.872 [CBIT](ERROR): Communications Fault in component: Aanderaa_O2
2013-03-28T20:12:45.389Z,1364501565.389 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-03-28T20:12:45.393Z,1364501565.393 [WetLabsBB2FL](INFO): Powering down
2013-03-28T20:12:45.405Z,1364501565.405 [Aanderaa_O2](INFO): Powering down
2013-03-28T20:12:45.409Z,1364501565.409 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-03-28T20:12:45.533Z,1364501565.533 [CTD_NeilBrown](INFO): Powering down
2013-03-28T20:12:45.537Z,1364501565.537 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-03-28T20:12:45.549Z,1364501565.549 [DVL_micro](INFO): uninitialize:Powering down
2013-03-28T20:12:45.557Z,1364501565.557 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-03-28T20:12:45.761Z,1364501565.761 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-03-28T20:12:45.778Z,1364501565.778 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-03-28T20:12:45.818Z,1364501565.818 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-03-28T20:12:45.819Z,1364501565.819 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-03-28T20:12:45.877Z,1364501565.877 [controlThread](DEBUG): Uninitializing ControlThread
2013-03-28T20:12:45.878Z,1364501565.878 [AHRS_sp3003D](INFO): Powering down
2013-03-28T20:12:45.966Z,1364501565.966 [NAL9602](INFO): Powering down
2013-03-28T20:12:45.984Z,1364501565.984 [Aanderaa_O2](INFO): Powering down
2013-03-28T20:12:45.986Z,1364501565.986 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-28T20:12:45.986Z,1364501565.986 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-03-28T20:12:45.992Z,1364501565.991 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-03-28T20:12:45.992Z,1364501565.992 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-03-28T20:12:45.992Z,1364501565.992 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-03-28T20:12:45.992Z,1364501565.992 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-03-28T20:12:45.993Z,1364501565.993 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-28T20:12:45.993Z,1364501565.993 [BuoyancyServo](INFO): Powering down
2013-03-28T20:12:46.005Z,1364501566.005 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-03-28T20:12:46.005Z,1364501566.005 [ElevatorServo](INFO): Powering down
2013-03-28T20:12:46.025Z,1364501566.025 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-03-28T20:12:46.025Z,1364501566.025 [MassServo](INFO): Powering down
2013-03-28T20:12:46.044Z,1364501566.044 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-03-28T20:12:46.045Z,1364501566.045 [RudderServo](INFO): Powering down
2013-03-28T20:12:46.045Z,1364501566.045 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-28T20:12:46.045Z,1364501566.046 [ThrusterServo](INFO): Powering down
2013-03-28T20:12:46.046Z,1364501566.046 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-03-28T20:12:46.047Z,1364501566.047 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-03-28T20:12:46.047Z,1364501566.047 [CBIT](DEBUG): Uninitialize CBIT Component.