2013-03-28T20:15:26.349Z,1364501726.349 [Supervisor](DEBUG): Initializing supervisor.
2013-03-28T20:15:26.352Z,1364501726.352 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-28T20:15:26.353Z,1364501726.353 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-28T20:15:26.354Z,1364501726.354 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-28T20:15:26.359Z,1364501726.359 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-28T20:15:26.371Z,1364501726.371 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-28T20:15:26.372Z,1364501726.372 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-28T20:15:26.373Z,1364501726.373 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-28T20:15:26.374Z,1364501726.374 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-28T20:15:26.375Z,1364501726.375 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-28T20:15:26.376Z,1364501726.376 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-28T20:15:26.687Z,1364501726.687 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-28T20:15:26.688Z,1364501726.688 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-28T20:15:26.886Z,1364501726.886 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-28T20:15:26.886Z,1364501726.886 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-28T20:15:26.971Z,1364501726.971 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-28T20:15:26.972Z,1364501726.972 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-28T20:15:27.173Z,1364501727.173 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-28T20:15:27.174Z,1364501727.174 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-28T20:15:27.317Z,1364501727.317 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-28T20:15:27.317Z,1364501727.317 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-28T20:15:27.566Z,1364501727.566 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-28T20:15:27.567Z,1364501727.567 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-28T20:15:27.744Z,1364501727.744 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-28T20:15:27.745Z,1364501727.745 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-28T20:15:28.019Z,1364501728.019 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-28T20:15:28.019Z,1364501728.019 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-28T20:15:28.119Z,1364501728.119 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-28T20:15:28.119Z,1364501728.119 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-28T20:15:28.549Z,1364501728.549 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-28T20:15:28.549Z,1364501728.549 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-28T20:15:28.671Z,1364501728.671 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-28T20:15:28.671Z,1364501728.671 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-28T20:15:28.762Z,1364501728.762 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-28T20:15:28.763Z,1364501728.763 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-28T20:15:28.876Z,1364501728.876 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-28T20:15:29.011Z,1364501729.011 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-28T20:15:29.096Z,1364501729.096 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-28T20:15:29.202Z,1364501729.202 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-28T20:15:29.303Z,1364501729.303 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-28T20:15:29.425Z,1364501729.425 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-28T20:15:29.520Z,1364501729.520 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-28T20:15:29.607Z,1364501729.607 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-03-28T20:15:29.638Z,1364501729.638 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-28T20:15:29.814Z,1364501729.814 [InternalSim] Loaded
2013-03-28T20:15:29.815Z,1364501729.815 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-28T20:15:29.816Z,1364501729.816 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-28T20:15:29.816Z,1364501729.816 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-28T20:15:29.883Z,1364501729.883 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-28T20:15:29.915Z,1364501729.915 [SBIT] Loaded
2013-03-28T20:15:29.916Z,1364501729.916 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-28T20:15:29.917Z,1364501729.917 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-28T20:15:29.948Z,1364501729.948 [IBIT] Loaded
2013-03-28T20:15:29.948Z,1364501729.948 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-28T20:15:29.952Z,1364501729.952 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-28T20:15:30.083Z,1364501730.083 [CBIT] Loaded
2013-03-28T20:15:30.083Z,1364501730.083 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-28T20:15:30.084Z,1364501730.084 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-28T20:15:30.084Z,1364501730.084 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-28T20:15:30.248Z,1364501730.248 [BuoyancyServo] Loaded
2013-03-28T20:15:30.248Z,1364501730.248 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-28T20:15:30.262Z,1364501730.262 [ElevatorServo] Loaded
2013-03-28T20:15:30.262Z,1364501730.262 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-28T20:15:30.275Z,1364501730.275 [MassServo] Loaded
2013-03-28T20:15:30.275Z,1364501730.275 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-28T20:15:30.289Z,1364501730.289 [RudderServo] Loaded
2013-03-28T20:15:30.289Z,1364501730.289 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-28T20:15:30.302Z,1364501730.302 [ThrusterServo] Loaded
2013-03-28T20:15:30.302Z,1364501730.302 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-28T20:15:30.303Z,1364501730.303 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-28T20:15:30.303Z,1364501730.303 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-28T20:15:30.322Z,1364501730.322 [DepthRateCalculator] Loaded
2013-03-28T20:15:30.323Z,1364501730.323 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-28T20:15:34.261Z,1364501734.261 [HFRadarModelCalc] Loaded
2013-03-28T20:15:34.261Z,1364501734.261 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-28T20:15:34.279Z,1364501734.279 [NavChart] Loaded
2013-03-28T20:15:34.279Z,1364501734.279 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-28T20:15:34.286Z,1364501734.286 [PitchRateCalculator] Loaded
2013-03-28T20:15:34.286Z,1364501734.286 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-28T20:15:34.293Z,1364501734.293 [SpeedCalculator] Loaded
2013-03-28T20:15:34.293Z,1364501734.293 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-28T20:15:34.310Z,1364501734.310 [TempGradientCalculator] Loaded
2013-03-28T20:15:34.310Z,1364501734.310 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-28T20:15:34.316Z,1364501734.316 [YawRateCalculator] Loaded
2013-03-28T20:15:34.317Z,1364501734.317 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-28T20:15:34.362Z,1364501734.362 [Navigation] Loaded
2013-03-28T20:15:34.362Z,1364501734.362 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-28T20:15:34.362Z,1364501734.362 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-28T20:15:34.363Z,1364501734.363 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-28T20:15:34.618Z,1364501734.618 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-28T20:15:34.618Z,1364501734.618 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-28T20:15:34.644Z,1364501734.644 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-28T20:15:34.645Z,1364501734.645 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-28T20:15:34.725Z,1364501734.726 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-28T20:15:34.829Z,1364501734.829 [VerticalControl] Loaded
2013-03-28T20:15:34.829Z,1364501734.829 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-28T20:15:34.831Z,1364501734.830 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-28T20:15:34.893Z,1364501734.893 [HorizontalControl] Loaded
2013-03-28T20:15:34.894Z,1364501734.894 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-28T20:15:34.895Z,1364501734.895 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-28T20:15:34.897Z,1364501734.897 [SpeedControl] Loaded
2013-03-28T20:15:34.897Z,1364501734.897 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-28T20:15:34.898Z,1364501734.898 [LoopControl](DEBUG): Construct LoopControl.
2013-03-28T20:15:34.899Z,1364501734.898 [LoopControl] Loaded
2013-03-28T20:15:34.899Z,1364501734.899 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-28T20:15:34.899Z,1364501734.899 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-28T20:15:34.900Z,1364501734.900 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-28T20:15:34.906Z,1364501734.906 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-28T20:15:34.918Z,1364501734.918 [AsyncPiEstimator] Loaded
2013-03-28T20:15:34.919Z,1364501734.919 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-28T20:15:34.920Z,1364501734.920 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-28T20:15:34.921Z,1364501734.921 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-28T20:15:34.921Z,1364501734.921 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-28T20:15:35.068Z,1364501735.068 [AHRS_sp3003D] Loaded
2013-03-28T20:15:35.069Z,1364501735.069 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-28T20:15:35.356Z,1364501735.356 [Batt_Ocean_Server] Loaded
2013-03-28T20:15:35.356Z,1364501735.356 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-28T20:15:35.371Z,1364501735.371 [Depth_Keller] Loaded
2013-03-28T20:15:35.371Z,1364501735.371 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-28T20:15:35.377Z,1364501735.377 [DropWeight] Loaded
2013-03-28T20:15:35.378Z,1364501735.378 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-28T20:15:35.603Z,1364501735.602 [DVL_micro] Loaded
2013-03-28T20:15:35.603Z,1364501735.603 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-28T20:15:35.608Z,1364501735.608 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-28T20:15:35.716Z,1364501735.716 [NAL9602] Loaded
2013-03-28T20:15:35.716Z,1364501735.716 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-28T20:15:35.774Z,1364501735.774 [Onboard] Loaded
2013-03-28T20:15:35.774Z,1364501735.774 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-28T20:15:35.775Z,1364501735.775 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-28T20:15:35.776Z,1364501735.776 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-28T20:15:35.840Z,1364501735.840 [Aanderaa_O2] Loaded
2013-03-28T20:15:35.841Z,1364501735.841 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-28T20:15:35.877Z,1364501735.876 [CTD_NeilBrown] Loaded
2013-03-28T20:15:35.877Z,1364501735.877 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-28T20:15:35.878Z,1364501735.878 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-28T20:15:35.896Z,1364501735.896 [PAR_Licor] Loaded
2013-03-28T20:15:35.897Z,1364501735.897 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-28T20:15:35.930Z,1364501735.930 [WetLabsBB2FL] Loaded
2013-03-28T20:15:35.930Z,1364501735.930 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-28T20:15:35.933Z,1364501735.932 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-28T20:15:35.933Z,1364501735.933 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-28T20:15:35.936Z,1364501735.936 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-28T20:15:35.937Z,1364501735.937 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-28T20:15:35.944Z,1364501735.944 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-28T20:15:35.945Z,1364501735.945 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-28T20:15:35.950Z,1364501735.950 [Supervisor](DEBUG): Running supervisor.
2013-03-28T20:15:35.951Z,1364501735.951 [CommandLine](INFO): Thread ID is 4755
2013-03-28T20:15:35.954Z,1364501735.954 [controlThread](INFO): Thread ID is 4754
2013-03-28T20:15:35.954Z,1364501735.954 [controlThread](DEBUG): Initializing ControlThread
2013-03-28T20:15:35.955Z,1364501735.955 [CycleStarter](INFO): Thread ID is 4753
2013-03-28T20:15:35.955Z,1364501735.955 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-28T20:15:35.990Z,1364501735.990 [logger](INFO): Thread ID is 4756
2013-03-28T20:15:36.015Z,1364501736.016 [SBIT](INFO): Initialize SBIT Component.
2013-03-28T20:15:36.016Z,1364501736.016 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10266
2013-03-28T20:15:36.016Z,1364501736.016 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-03-28T20:15:36.017Z,1364501736.017 [IBIT](INFO): Initialize IBIT Component.
2013-03-28T20:15:36.018Z,1364501736.018 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-28T20:15:36.018Z,1364501736.018 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-28T20:15:36.031Z,1364501736.031 [AsyncPiEstimator](INFO): Thread ID is 4817
2013-03-28T20:15:36.031Z,1364501736.031 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-28T20:15:36.042Z,1364501736.042 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-28T20:15:36.043Z,1364501736.043 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-28T20:15:36.043Z,1364501736.043 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-28T20:15:36.043Z,1364501736.043 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-28T20:15:36.044Z,1364501736.044 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-28T20:15:36.045Z,1364501736.045 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-28T20:15:36.046Z,1364501736.046 [Navigation](DEBUG): Initializing Navigation.
2013-03-28T20:15:36.046Z,1364501736.046 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-28T20:15:36.048Z,1364501736.048 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-28T20:15:36.049Z,1364501736.049 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-28T20:15:36.049Z,1364501736.049 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-28T20:15:36.055Z,1364501736.055 [DVL_micro](INFO): Thread ID is 4818
2013-03-28T20:15:36.064Z,1364501736.064 [DVL_micro](INFO): Initializing
2013-03-28T20:15:36.064Z,1364501736.065 [DVL_micro](INFO): start:Powering up
2013-03-28T20:15:36.066Z,1364501736.066 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-28T20:15:36.066Z,1364501736.066 [DVL_micro](INFO): Cycling power to configure device.
2013-03-28T20:15:36.078Z,1364501736.078 [CTD_NeilBrown](INFO): Thread ID is 4819
2013-03-28T20:15:36.079Z,1364501736.079 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-28T20:15:36.081Z,1364501736.081 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-28T20:15:36.114Z,1364501736.114 [WetLabsBB2FL](INFO): Thread ID is 4820
2013-03-28T20:15:36.114Z,1364501736.114 [WetLabsBB2FL](INFO): Powering down
2013-03-28T20:15:36.142Z,1364501736.142 [NavChartDb](INFO): Thread ID is 4821
2013-03-28T20:15:36.145Z,1364501736.145 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-28T20:15:36.146Z,1364501736.145 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-28T20:15:36.146Z,1364501736.146 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-28T20:15:36.146Z,1364501736.146 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-28T20:15:36.146Z,1364501736.146 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-28T20:15:36.147Z,1364501736.147 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-28T20:15:36.147Z,1364501736.147 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-28T20:15:36.147Z,1364501736.147 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-28T20:15:36.147Z,1364501736.147 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-28T20:15:38.080Z,1364501738.080 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-28T20:15:38.141Z,1364501738.141 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-28T20:15:38.142Z,1364501738.142 [DVL_micro](INFO): Querying output modes
2013-03-28T20:15:38.142Z,1364501738.142 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-28T20:15:38.149Z,1364501738.149 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-28T20:15:38.153Z,1364501738.153 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-28T20:15:38.154Z,1364501738.154 [DVL_micro](INFO): NQ1 output enabled
2013-03-28T20:15:38.154Z,1364501738.154 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-28T20:15:38.166Z,1364501738.166 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-28T20:15:38.171Z,1364501738.171 [DVL_micro](INFO): pause:Powering down
2013-03-28T20:15:38.185Z,1364501738.185 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:15:38.224Z,1364501738.224 [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>


2013-03-28T20:15:38.233Z,1364501738.233 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-28T20:15:38.292Z,1364501738.292 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-28T20:15:38.327Z,1364501738.327 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-28T20:15:38.335Z,1364501738.335 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:15:38.352Z,1364501738.352 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-28T20:15:38.370Z,1364501738.370 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:15:38.389Z,1364501738.389 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-28T20:15:38.438Z,1364501738.438 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-28T20:15:38.442Z,1364501738.442 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:15:38.455Z,1364501738.455 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-28T20:15:38.458Z,1364501738.458 [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>


2013-03-28T20:15:38.473Z,1364501738.473 [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,
2013-03-28T20:15:38.529Z,1364501738.529 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-28T20:15:39.139Z,1364501739.139 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:15:39.144Z,1364501739.144 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-28T20:15:39.163Z,1364501739.163 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:15:39.169Z,1364501739.169 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-28T20:15:39.175Z,1364501739.175 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:15:39.181Z,1364501739.181 [MassServo](DEBUG): Initializing MassServo.
2013-03-28T20:15:39.187Z,1364501739.187 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:15:39.217Z,1364501739.217 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-28T20:15:39.231Z,1364501739.231 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:15:39.237Z,1364501739.237 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-28T20:15:40.812Z,1364501740.812 [NAL9602](INFO): Powering up NAL9602
2013-03-28T20:15:46.252Z,1364501746.253 [CommandLine](IMPORTANT): got command quit
2013-03-28T20:15:47.405Z,1364501747.405 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-03-28T20:15:47.405Z,1364501747.405 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-03-28T20:15:47.473Z,1364501747.473 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-03-28T20:15:47.873Z,1364501747.873 [WetLabsBB2FL](INFO): Powering down
2013-03-28T20:15:47.889Z,1364501747.889 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-03-28T20:15:48.081Z,1364501748.081 [CTD_NeilBrown](INFO): Powering down
2013-03-28T20:15:48.089Z,1364501748.089 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-03-28T20:15:48.281Z,1364501748.281 [DVL_micro](INFO): uninitialize:Powering down
2013-03-28T20:15:48.289Z,1364501748.289 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-03-28T20:15:48.365Z,1364501748.365 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-03-28T20:15:48.370Z,1364501748.370 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-03-28T20:15:48.411Z,1364501748.411 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-03-28T20:15:48.418Z,1364501748.418 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-03-28T20:15:48.481Z,1364501748.481 [controlThread](DEBUG): Uninitializing ControlThread
2013-03-28T20:15:48.482Z,1364501748.482 [AHRS_sp3003D](INFO): Powering down
2013-03-28T20:15:48.570Z,1364501748.570 [NAL9602](INFO): Powering down
2013-03-28T20:15:48.709Z,1364501748.709 [Aanderaa_O2](INFO): Powering down
2013-03-28T20:15:48.730Z,1364501748.730 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-28T20:15:48.730Z,1364501748.730 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-03-28T20:15:48.736Z,1364501748.736 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-03-28T20:15:48.736Z,1364501748.736 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-03-28T20:15:48.736Z,1364501748.736 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-03-28T20:15:48.737Z,1364501748.737 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-03-28T20:15:48.737Z,1364501748.737 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-28T20:15:48.737Z,1364501748.737 [BuoyancyServo](INFO): Powering down
2013-03-28T20:15:48.749Z,1364501748.749 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-03-28T20:15:48.749Z,1364501748.749 [ElevatorServo](INFO): Powering down
2013-03-28T20:15:48.769Z,1364501748.769 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-03-28T20:15:48.769Z,1364501748.769 [MassServo](INFO): Powering down
2013-03-28T20:15:48.770Z,1364501748.770 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-03-28T20:15:48.770Z,1364501748.770 [RudderServo](INFO): Powering down
2013-03-28T20:15:48.771Z,1364501748.771 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-28T20:15:48.771Z,1364501748.771 [ThrusterServo](INFO): Powering down
2013-03-28T20:15:48.772Z,1364501748.772 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-03-28T20:15:48.772Z,1364501748.772 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-03-28T20:15:48.772Z,1364501748.772 [CBIT](DEBUG): Uninitialize CBIT Component.