2013-03-28T20:20:18.071Z,1364502018.071 [Supervisor](DEBUG): Initializing supervisor.
2013-03-28T20:20:18.074Z,1364502018.074 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-28T20:20:18.075Z,1364502018.075 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-28T20:20:18.076Z,1364502018.076 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-28T20:20:18.081Z,1364502018.081 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-28T20:20:18.094Z,1364502018.093 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-28T20:20:18.095Z,1364502018.095 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-28T20:20:18.095Z,1364502018.095 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-28T20:20:18.097Z,1364502018.096 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-28T20:20:18.097Z,1364502018.098 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-28T20:20:18.099Z,1364502018.099 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-28T20:20:18.428Z,1364502018.428 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-28T20:20:18.429Z,1364502018.429 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-28T20:20:18.670Z,1364502018.670 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-28T20:20:18.670Z,1364502018.670 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-28T20:20:18.756Z,1364502018.756 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-28T20:20:18.756Z,1364502018.756 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-28T20:20:18.955Z,1364502018.955 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-28T20:20:18.956Z,1364502018.956 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-28T20:20:19.099Z,1364502019.099 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-28T20:20:19.099Z,1364502019.099 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-28T20:20:19.350Z,1364502019.350 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-28T20:20:19.350Z,1364502019.350 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-28T20:20:19.528Z,1364502019.528 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-28T20:20:19.529Z,1364502019.529 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-28T20:20:19.803Z,1364502019.803 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-28T20:20:19.803Z,1364502019.803 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-28T20:20:19.904Z,1364502019.904 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-28T20:20:19.904Z,1364502019.904 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-28T20:20:20.335Z,1364502020.335 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-28T20:20:20.335Z,1364502020.335 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-28T20:20:20.451Z,1364502020.451 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-28T20:20:20.452Z,1364502020.452 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-28T20:20:20.537Z,1364502020.537 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-28T20:20:20.538Z,1364502020.538 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-28T20:20:20.642Z,1364502020.642 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-28T20:20:20.777Z,1364502020.777 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-28T20:20:20.863Z,1364502020.863 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-28T20:20:20.968Z,1364502020.968 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-28T20:20:21.070Z,1364502021.070 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-28T20:20:21.192Z,1364502021.192 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-28T20:20:21.287Z,1364502021.286 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-28T20:20:21.374Z,1364502021.374 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-03-28T20:20:21.402Z,1364502021.402 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-28T20:20:21.579Z,1364502021.579 [InternalSim] Loaded
2013-03-28T20:20:21.579Z,1364502021.579 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-28T20:20:21.580Z,1364502021.580 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-28T20:20:21.581Z,1364502021.581 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-28T20:20:21.648Z,1364502021.648 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-28T20:20:21.681Z,1364502021.681 [SBIT] Loaded
2013-03-28T20:20:21.681Z,1364502021.681 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-28T20:20:21.682Z,1364502021.682 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-28T20:20:21.714Z,1364502021.714 [IBIT] Loaded
2013-03-28T20:20:21.714Z,1364502021.714 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-28T20:20:21.718Z,1364502021.718 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-28T20:20:21.851Z,1364502021.852 [CBIT] Loaded
2013-03-28T20:20:21.852Z,1364502021.852 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-28T20:20:21.852Z,1364502021.852 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-28T20:20:21.853Z,1364502021.853 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-28T20:20:22.016Z,1364502022.016 [BuoyancyServo] Loaded
2013-03-28T20:20:22.017Z,1364502022.017 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-28T20:20:22.030Z,1364502022.030 [ElevatorServo] Loaded
2013-03-28T20:20:22.031Z,1364502022.031 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-28T20:20:22.044Z,1364502022.044 [MassServo] Loaded
2013-03-28T20:20:22.044Z,1364502022.044 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-28T20:20:22.057Z,1364502022.057 [RudderServo] Loaded
2013-03-28T20:20:22.058Z,1364502022.058 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-28T20:20:22.071Z,1364502022.071 [ThrusterServo] Loaded
2013-03-28T20:20:22.072Z,1364502022.072 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-28T20:20:22.072Z,1364502022.072 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-28T20:20:22.073Z,1364502022.073 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-28T20:20:22.092Z,1364502022.092 [DepthRateCalculator] Loaded
2013-03-28T20:20:22.092Z,1364502022.092 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-28T20:20:25.854Z,1364502025.854 [HFRadarModelCalc] Loaded
2013-03-28T20:20:25.854Z,1364502025.854 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-28T20:20:25.872Z,1364502025.872 [NavChart] Loaded
2013-03-28T20:20:25.873Z,1364502025.872 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-28T20:20:25.879Z,1364502025.879 [PitchRateCalculator] Loaded
2013-03-28T20:20:25.880Z,1364502025.880 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-28T20:20:25.887Z,1364502025.887 [SpeedCalculator] Loaded
2013-03-28T20:20:25.887Z,1364502025.887 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-28T20:20:25.904Z,1364502025.904 [TempGradientCalculator] Loaded
2013-03-28T20:20:25.905Z,1364502025.905 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-28T20:20:25.911Z,1364502025.911 [YawRateCalculator] Loaded
2013-03-28T20:20:25.911Z,1364502025.911 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-28T20:20:25.957Z,1364502025.957 [Navigation] Loaded
2013-03-28T20:20:25.958Z,1364502025.958 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-28T20:20:25.958Z,1364502025.958 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-28T20:20:25.959Z,1364502025.959 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-28T20:20:26.219Z,1364502026.219 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-28T20:20:26.219Z,1364502026.219 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-28T20:20:26.244Z,1364502026.244 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-28T20:20:26.245Z,1364502026.245 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-28T20:20:26.291Z,1364502026.291 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-28T20:20:26.397Z,1364502026.397 [VerticalControl] Loaded
2013-03-28T20:20:26.397Z,1364502026.397 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-28T20:20:26.398Z,1364502026.398 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-28T20:20:26.462Z,1364502026.462 [HorizontalControl] Loaded
2013-03-28T20:20:26.462Z,1364502026.462 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-28T20:20:26.463Z,1364502026.463 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-28T20:20:26.465Z,1364502026.465 [SpeedControl] Loaded
2013-03-28T20:20:26.466Z,1364502026.466 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-28T20:20:26.467Z,1364502026.467 [LoopControl](DEBUG): Construct LoopControl.
2013-03-28T20:20:26.467Z,1364502026.467 [LoopControl] Loaded
2013-03-28T20:20:26.468Z,1364502026.467 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-28T20:20:26.468Z,1364502026.468 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-28T20:20:26.468Z,1364502026.468 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-28T20:20:26.474Z,1364502026.474 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-28T20:20:26.480Z,1364502026.480 [AsyncPiEstimator] Loaded
2013-03-28T20:20:26.480Z,1364502026.480 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-28T20:20:26.481Z,1364502026.481 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A54E0
2013-03-28T20:20:26.482Z,1364502026.482 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-28T20:20:26.483Z,1364502026.483 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-28T20:20:26.630Z,1364502026.630 [AHRS_sp3003D] Loaded
2013-03-28T20:20:26.630Z,1364502026.630 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-28T20:20:26.922Z,1364502026.922 [Batt_Ocean_Server] Loaded
2013-03-28T20:20:26.922Z,1364502026.922 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-28T20:20:26.937Z,1364502026.937 [Depth_Keller] Loaded
2013-03-28T20:20:26.938Z,1364502026.938 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-28T20:20:26.944Z,1364502026.944 [DropWeight] Loaded
2013-03-28T20:20:26.944Z,1364502026.944 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-28T20:20:27.140Z,1364502027.141 [DVL_micro] Loaded
2013-03-28T20:20:27.141Z,1364502027.141 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-28T20:20:27.142Z,1364502027.142 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407294E0
2013-03-28T20:20:27.236Z,1364502027.236 [NAL9602] Loaded
2013-03-28T20:20:27.236Z,1364502027.236 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-28T20:20:27.293Z,1364502027.293 [Onboard] Loaded
2013-03-28T20:20:27.294Z,1364502027.294 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-28T20:20:27.295Z,1364502027.295 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-28T20:20:27.296Z,1364502027.296 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-28T20:20:27.361Z,1364502027.361 [Aanderaa_O2] Loaded
2013-03-28T20:20:27.361Z,1364502027.362 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-28T20:20:27.398Z,1364502027.398 [CTD_NeilBrown] Loaded
2013-03-28T20:20:27.398Z,1364502027.398 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-28T20:20:27.400Z,1364502027.399 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2013-03-28T20:20:27.419Z,1364502027.419 [PAR_Licor] Loaded
2013-03-28T20:20:27.419Z,1364502027.420 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-28T20:20:27.453Z,1364502027.453 [WetLabsBB2FL] Loaded
2013-03-28T20:20:27.454Z,1364502027.454 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-28T20:20:27.455Z,1364502027.455 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2013-03-28T20:20:27.455Z,1364502027.455 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-28T20:20:27.458Z,1364502027.458 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-28T20:20:27.459Z,1364502027.459 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-28T20:20:27.466Z,1364502027.466 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-28T20:20:27.468Z,1364502027.467 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2013-03-28T20:20:27.472Z,1364502027.472 [Supervisor](DEBUG): Running supervisor.
2013-03-28T20:20:27.473Z,1364502027.473 [CommandLine](INFO): Thread ID is 4987
2013-03-28T20:20:27.476Z,1364502027.476 [controlThread](INFO): Thread ID is 4986
2013-03-28T20:20:27.476Z,1364502027.476 [controlThread](DEBUG): Initializing ControlThread
2013-03-28T20:20:27.477Z,1364502027.477 [CycleStarter](INFO): Thread ID is 4985
2013-03-28T20:20:27.477Z,1364502027.477 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-28T20:20:27.514Z,1364502027.514 [logger](INFO): Thread ID is 4988
2013-03-28T20:20:27.539Z,1364502027.539 [SBIT](INFO): Initialize SBIT Component.
2013-03-28T20:20:27.539Z,1364502027.539 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10266
2013-03-28T20:20:27.539Z,1364502027.539 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-03-28T20:20:27.540Z,1364502027.540 [SBIT](FAULT): Kernel Reporting Different Version From Configuration. Expected:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
Kernel Reported:#625 PREEMPT Mon Nov 5 10:42:26 PST 2012
2013-03-28T20:20:27.541Z,1364502027.541 [IBIT](INFO): Initialize IBIT Component.
2013-03-28T20:20:27.549Z,1364502027.549 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-28T20:20:27.549Z,1364502027.549 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-28T20:20:27.550Z,1364502027.550 [AsyncPiEstimator](INFO): Thread ID is 5049
2013-03-28T20:20:27.550Z,1364502027.550 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-28T20:20:27.568Z,1364502027.568 [DVL_micro](INFO): Thread ID is 5050
2013-03-28T20:20:27.574Z,1364502027.574 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-28T20:20:27.575Z,1364502027.575 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-28T20:20:27.575Z,1364502027.575 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-28T20:20:27.576Z,1364502027.576 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-28T20:20:27.576Z,1364502027.576 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-28T20:20:27.577Z,1364502027.578 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-28T20:20:27.578Z,1364502027.578 [Navigation](DEBUG): Initializing Navigation.
2013-03-28T20:20:27.578Z,1364502027.578 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-28T20:20:27.580Z,1364502027.580 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-28T20:20:27.581Z,1364502027.581 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-28T20:20:27.581Z,1364502027.581 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-28T20:20:27.588Z,1364502027.588 [DVL_micro](INFO): Initializing
2013-03-28T20:20:27.588Z,1364502027.588 [DVL_micro](INFO): start:Powering up
2013-03-28T20:20:27.589Z,1364502027.589 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-28T20:20:27.590Z,1364502027.590 [DVL_micro](INFO): Cycling power to configure device.
2013-03-28T20:20:27.598Z,1364502027.598 [CTD_NeilBrown](INFO): Thread ID is 5051
2013-03-28T20:20:27.598Z,1364502027.598 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-28T20:20:27.601Z,1364502027.601 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-28T20:20:27.611Z,1364502027.611 [WetLabsBB2FL](INFO): Thread ID is 5052
2013-03-28T20:20:27.611Z,1364502027.611 [WetLabsBB2FL](INFO): Powering down
2013-03-28T20:20:27.654Z,1364502027.654 [NavChartDb](INFO): Thread ID is 5053
2013-03-28T20:20:27.657Z,1364502027.657 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-28T20:20:27.658Z,1364502027.658 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-28T20:20:27.658Z,1364502027.658 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-28T20:20:27.659Z,1364502027.658 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-28T20:20:27.659Z,1364502027.659 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-28T20:20:27.659Z,1364502027.659 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-28T20:20:27.660Z,1364502027.659 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-28T20:20:27.660Z,1364502027.660 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-28T20:20:27.660Z,1364502027.660 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-28T20:20:29.213Z,1364502029.213 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-28T20:20:29.248Z,1364502029.248 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-28T20:20:29.283Z,1364502029.283 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:20:29.306Z,1364502029.306 [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>


2013-03-28T20:20:29.306Z,1364502029.306 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-28T20:20:29.390Z,1364502029.390 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-28T20:20:29.392Z,1364502029.392 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-28T20:20:29.395Z,1364502029.395 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:20:29.415Z,1364502029.415 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-28T20:20:29.447Z,1364502029.447 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:20:29.465Z,1364502029.465 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-28T20:20:29.479Z,1364502029.479 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-28T20:20:29.482Z,1364502029.482 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:20:29.499Z,1364502029.499 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-28T20:20:29.502Z,1364502029.502 [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>


2013-03-28T20:20:29.509Z,1364502029.509 [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,
2013-03-28T20:20:29.577Z,1364502029.577 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-28T20:20:29.697Z,1364502029.697 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-28T20:20:29.698Z,1364502029.698 [DVL_micro](INFO): Querying output modes
2013-03-28T20:20:29.698Z,1364502029.698 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-28T20:20:29.709Z,1364502029.709 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-28T20:20:29.709Z,1364502029.709 [DVL_micro](INFO): NQ1 output enabled
2013-03-28T20:20:29.710Z,1364502029.710 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-28T20:20:29.721Z,1364502029.721 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-28T20:20:29.726Z,1364502029.726 [DVL_micro](INFO): pause:Powering down
2013-03-28T20:20:30.098Z,1364502030.099 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:20:30.105Z,1364502030.105 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-28T20:20:30.112Z,1364502030.112 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:20:30.133Z,1364502030.133 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-28T20:20:30.139Z,1364502030.139 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:20:30.145Z,1364502030.145 [MassServo](DEBUG): Initializing MassServo.
2013-03-28T20:20:30.167Z,1364502030.167 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:20:30.173Z,1364502030.173 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-28T20:20:30.179Z,1364502030.179 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:20:30.185Z,1364502030.185 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-28T20:20:32.601Z,1364502032.601 [NAL9602](INFO): Powering up NAL9602
2013-03-28T20:20:36.393Z,1364502036.393 [CommandLine](IMPORTANT): got command quit
2013-03-28T20:20:37.485Z,1364502037.485 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-03-28T20:20:37.485Z,1364502037.485 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-03-28T20:20:37.529Z,1364502037.529 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-03-28T20:20:37.805Z,1364502037.805 [WetLabsBB2FL](INFO): Powering down
2013-03-28T20:20:37.813Z,1364502037.813 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-03-28T20:20:37.989Z,1364502037.989 [CTD_NeilBrown](INFO): Powering down
2013-03-28T20:20:37.997Z,1364502037.997 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-03-28T20:20:38.213Z,1364502038.213 [DVL_micro](INFO): uninitialize:Powering down
2013-03-28T20:20:38.225Z,1364502038.225 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-03-28T20:20:38.553Z,1364502038.553 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-03-28T20:20:38.570Z,1364502038.570 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-03-28T20:20:38.630Z,1364502038.630 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-03-28T20:20:38.631Z,1364502038.631 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-03-28T20:20:38.753Z,1364502038.753 [controlThread](DEBUG): Uninitializing ControlThread
2013-03-28T20:20:38.754Z,1364502038.754 [AHRS_sp3003D](INFO): Powering down
2013-03-28T20:20:38.842Z,1364502038.842 [NAL9602](INFO): Powering down
2013-03-28T20:20:38.977Z,1364502038.977 [Aanderaa_O2](INFO): Powering down
2013-03-28T20:20:38.998Z,1364502038.998 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-28T20:20:38.998Z,1364502038.998 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-03-28T20:20:39.004Z,1364502039.004 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-03-28T20:20:39.004Z,1364502039.004 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-03-28T20:20:39.004Z,1364502039.004 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-03-28T20:20:39.004Z,1364502039.004 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-03-28T20:20:39.005Z,1364502039.005 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-28T20:20:39.005Z,1364502039.005 [BuoyancyServo](INFO): Powering down
2013-03-28T20:20:39.017Z,1364502039.017 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-03-28T20:20:39.017Z,1364502039.017 [ElevatorServo](INFO): Powering down
2013-03-28T20:20:39.037Z,1364502039.037 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-03-28T20:20:39.037Z,1364502039.037 [MassServo](INFO): Powering down
2013-03-28T20:20:39.038Z,1364502039.038 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-03-28T20:20:39.038Z,1364502039.038 [RudderServo](INFO): Powering down
2013-03-28T20:20:39.039Z,1364502039.039 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-28T20:20:39.039Z,1364502039.039 [ThrusterServo](INFO): Powering down
2013-03-28T20:20:39.040Z,1364502039.040 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-03-28T20:20:39.040Z,1364502039.040 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-03-28T20:20:39.041Z,1364502039.041 [CBIT](DEBUG): Uninitialize CBIT Component.