2013-03-28T20:21:46.696Z,1364502106.696 [Supervisor](DEBUG): Initializing supervisor.
2013-03-28T20:21:46.699Z,1364502106.699 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-28T20:21:46.700Z,1364502106.700 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-28T20:21:46.701Z,1364502106.701 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-28T20:21:46.706Z,1364502106.706 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-28T20:21:46.717Z,1364502106.717 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-28T20:21:46.718Z,1364502106.718 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-28T20:21:46.719Z,1364502106.719 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-28T20:21:46.720Z,1364502106.720 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-28T20:21:46.721Z,1364502106.721 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-28T20:21:46.722Z,1364502106.722 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-28T20:21:47.012Z,1364502107.012 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-28T20:21:47.013Z,1364502107.013 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-28T20:21:47.199Z,1364502107.199 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-28T20:21:47.200Z,1364502107.200 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-28T20:21:47.284Z,1364502107.284 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-28T20:21:47.285Z,1364502107.285 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-28T20:21:47.472Z,1364502107.472 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-28T20:21:47.473Z,1364502107.473 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-28T20:21:47.608Z,1364502107.608 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-28T20:21:47.608Z,1364502107.608 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-28T20:21:47.839Z,1364502107.839 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-28T20:21:47.839Z,1364502107.839 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-28T20:21:48.007Z,1364502108.007 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-28T20:21:48.008Z,1364502108.008 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-28T20:21:48.257Z,1364502108.257 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-28T20:21:48.258Z,1364502108.258 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-28T20:21:48.355Z,1364502108.355 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-28T20:21:48.356Z,1364502108.356 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-28T20:21:48.751Z,1364502108.751 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-28T20:21:48.752Z,1364502108.752 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-28T20:21:48.865Z,1364502108.865 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-28T20:21:48.865Z,1364502108.865 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-28T20:21:48.949Z,1364502108.949 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-28T20:21:48.950Z,1364502108.950 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-28T20:21:49.051Z,1364502109.051 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-28T20:21:49.178Z,1364502109.178 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-28T20:21:49.263Z,1364502109.263 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-28T20:21:49.364Z,1364502109.364 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-28T20:21:49.463Z,1364502109.463 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-28T20:21:49.579Z,1364502109.579 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-28T20:21:49.671Z,1364502109.671 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-28T20:21:49.757Z,1364502109.757 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-03-28T20:21:49.783Z,1364502109.783 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-28T20:21:49.942Z,1364502109.942 [InternalSim] Loaded
2013-03-28T20:21:49.942Z,1364502109.942 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-28T20:21:49.943Z,1364502109.943 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-28T20:21:49.944Z,1364502109.944 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-28T20:21:50.004Z,1364502110.004 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-28T20:21:50.034Z,1364502110.034 [SBIT] Loaded
2013-03-28T20:21:50.034Z,1364502110.034 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-28T20:21:50.035Z,1364502110.035 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-28T20:21:50.064Z,1364502110.064 [IBIT] Loaded
2013-03-28T20:21:50.064Z,1364502110.064 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-28T20:21:50.068Z,1364502110.068 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-28T20:21:50.188Z,1364502110.188 [CBIT] Loaded
2013-03-28T20:21:50.188Z,1364502110.188 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-28T20:21:50.189Z,1364502110.189 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-28T20:21:50.189Z,1364502110.189 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-28T20:21:50.343Z,1364502110.343 [BuoyancyServo] Loaded
2013-03-28T20:21:50.343Z,1364502110.343 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-28T20:21:50.356Z,1364502110.356 [ElevatorServo] Loaded
2013-03-28T20:21:50.356Z,1364502110.356 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-28T20:21:50.368Z,1364502110.368 [MassServo] Loaded
2013-03-28T20:21:50.368Z,1364502110.368 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-28T20:21:50.381Z,1364502110.381 [RudderServo] Loaded
2013-03-28T20:21:50.381Z,1364502110.381 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-28T20:21:50.393Z,1364502110.393 [ThrusterServo] Loaded
2013-03-28T20:21:50.394Z,1364502110.394 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-28T20:21:50.394Z,1364502110.394 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-28T20:21:50.395Z,1364502110.395 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-28T20:21:50.413Z,1364502110.413 [DepthRateCalculator] Loaded
2013-03-28T20:21:50.413Z,1364502110.413 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-28T20:21:53.503Z,1364502113.503 [HFRadarModelCalc] Loaded
2013-03-28T20:21:53.503Z,1364502113.503 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-28T20:21:53.519Z,1364502113.519 [NavChart] Loaded
2013-03-28T20:21:53.519Z,1364502113.519 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-28T20:21:53.526Z,1364502113.526 [PitchRateCalculator] Loaded
2013-03-28T20:21:53.526Z,1364502113.526 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-28T20:21:53.532Z,1364502113.532 [SpeedCalculator] Loaded
2013-03-28T20:21:53.533Z,1364502113.533 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-28T20:21:53.548Z,1364502113.548 [TempGradientCalculator] Loaded
2013-03-28T20:21:53.548Z,1364502113.548 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-28T20:21:53.554Z,1364502113.554 [YawRateCalculator] Loaded
2013-03-28T20:21:53.554Z,1364502113.554 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-28T20:21:53.595Z,1364502113.595 [Navigation] Loaded
2013-03-28T20:21:53.596Z,1364502113.596 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-28T20:21:53.596Z,1364502113.596 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-28T20:21:53.597Z,1364502113.597 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-28T20:21:53.827Z,1364502113.827 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-28T20:21:53.827Z,1364502113.827 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-28T20:21:53.851Z,1364502113.851 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-28T20:21:53.851Z,1364502113.851 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-28T20:21:53.893Z,1364502113.893 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-28T20:21:53.991Z,1364502113.991 [VerticalControl] Loaded
2013-03-28T20:21:53.992Z,1364502113.991 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-28T20:21:53.993Z,1364502113.993 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-28T20:21:54.050Z,1364502114.050 [HorizontalControl] Loaded
2013-03-28T20:21:54.051Z,1364502114.051 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-28T20:21:54.052Z,1364502114.052 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-28T20:21:54.054Z,1364502114.053 [SpeedControl] Loaded
2013-03-28T20:21:54.054Z,1364502114.054 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-28T20:21:54.055Z,1364502114.055 [LoopControl](DEBUG): Construct LoopControl.
2013-03-28T20:21:54.055Z,1364502114.055 [LoopControl] Loaded
2013-03-28T20:21:54.056Z,1364502114.056 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-28T20:21:54.056Z,1364502114.056 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-28T20:21:54.056Z,1364502114.056 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-28T20:21:54.062Z,1364502114.062 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-28T20:21:54.067Z,1364502114.067 [AsyncPiEstimator] Loaded
2013-03-28T20:21:54.067Z,1364502114.067 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-28T20:21:54.068Z,1364502114.069 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A54E0
2013-03-28T20:21:54.069Z,1364502114.069 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-28T20:21:54.070Z,1364502114.070 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-28T20:21:54.205Z,1364502114.205 [AHRS_sp3003D] Loaded
2013-03-28T20:21:54.205Z,1364502114.205 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-28T20:21:54.467Z,1364502114.467 [Batt_Ocean_Server] Loaded
2013-03-28T20:21:54.467Z,1364502114.467 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-28T20:21:54.481Z,1364502114.481 [Depth_Keller] Loaded
2013-03-28T20:21:54.481Z,1364502114.481 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-28T20:21:54.487Z,1364502114.487 [DropWeight] Loaded
2013-03-28T20:21:54.487Z,1364502114.487 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-28T20:21:54.664Z,1364502114.664 [DVL_micro] Loaded
2013-03-28T20:21:54.664Z,1364502114.664 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-28T20:21:54.666Z,1364502114.666 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407294E0
2013-03-28T20:21:54.749Z,1364502114.750 [NAL9602] Loaded
2013-03-28T20:21:54.750Z,1364502114.750 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-28T20:21:54.801Z,1364502114.801 [Onboard] Loaded
2013-03-28T20:21:54.802Z,1364502114.802 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-28T20:21:54.803Z,1364502114.803 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-28T20:21:54.803Z,1364502114.803 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-28T20:21:54.864Z,1364502114.864 [Aanderaa_O2] Loaded
2013-03-28T20:21:54.864Z,1364502114.864 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-28T20:21:54.897Z,1364502114.897 [CTD_NeilBrown] Loaded
2013-03-28T20:21:54.897Z,1364502114.898 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-28T20:21:54.899Z,1364502114.899 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2013-03-28T20:21:54.915Z,1364502114.915 [PAR_Licor] Loaded
2013-03-28T20:21:54.916Z,1364502114.916 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-28T20:21:54.947Z,1364502114.947 [WetLabsBB2FL] Loaded
2013-03-28T20:21:54.948Z,1364502114.948 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-28T20:21:54.949Z,1364502114.949 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2013-03-28T20:21:54.950Z,1364502114.950 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-28T20:21:54.952Z,1364502114.952 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-28T20:21:54.953Z,1364502114.953 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-28T20:21:54.960Z,1364502114.960 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-28T20:21:54.961Z,1364502114.961 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2013-03-28T20:21:54.965Z,1364502114.965 [Supervisor](DEBUG): Running supervisor.
2013-03-28T20:21:54.966Z,1364502114.966 [CommandLine](INFO): Thread ID is 5141
2013-03-28T20:21:54.969Z,1364502114.969 [controlThread](INFO): Thread ID is 5140
2013-03-28T20:21:54.969Z,1364502114.969 [controlThread](DEBUG): Initializing ControlThread
2013-03-28T20:21:54.970Z,1364502114.970 [CycleStarter](INFO): Thread ID is 5139
2013-03-28T20:21:54.970Z,1364502114.970 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-28T20:21:55.005Z,1364502115.006 [logger](INFO): Thread ID is 5142
2013-03-28T20:21:55.031Z,1364502115.031 [SBIT](INFO): Initialize SBIT Component.
2013-03-28T20:21:55.031Z,1364502115.031 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10266
2013-03-28T20:21:55.031Z,1364502115.031 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-03-28T20:21:55.032Z,1364502115.032 [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
2013-03-28T20:21:55.032Z,1364502115.033 [IBIT](INFO): Initialize IBIT Component.
2013-03-28T20:21:55.033Z,1364502115.033 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-28T20:21:55.034Z,1364502115.034 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-28T20:21:55.043Z,1364502115.043 [AsyncPiEstimator](INFO): Thread ID is 5203
2013-03-28T20:21:55.044Z,1364502115.044 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-28T20:21:55.058Z,1364502115.058 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-28T20:21:55.059Z,1364502115.059 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-28T20:21:55.059Z,1364502115.059 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-28T20:21:55.059Z,1364502115.059 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-28T20:21:55.060Z,1364502115.060 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-28T20:21:55.061Z,1364502115.061 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-28T20:21:55.062Z,1364502115.062 [Navigation](DEBUG): Initializing Navigation.
2013-03-28T20:21:55.062Z,1364502115.062 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-28T20:21:55.064Z,1364502115.064 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-28T20:21:55.064Z,1364502115.065 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-28T20:21:55.065Z,1364502115.065 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-28T20:21:55.068Z,1364502115.068 [DVL_micro](INFO): Thread ID is 5204
2013-03-28T20:21:55.077Z,1364502115.077 [DVL_micro](INFO): Initializing
2013-03-28T20:21:55.078Z,1364502115.078 [DVL_micro](INFO): start:Powering up
2013-03-28T20:21:55.078Z,1364502115.078 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-28T20:21:55.079Z,1364502115.079 [DVL_micro](INFO): Cycling power to configure device.
2013-03-28T20:21:55.095Z,1364502115.095 [CTD_NeilBrown](INFO): Thread ID is 5205
2013-03-28T20:21:55.096Z,1364502115.096 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-28T20:21:55.099Z,1364502115.099 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-28T20:21:55.126Z,1364502115.126 [WetLabsBB2FL](INFO): Thread ID is 5206
2013-03-28T20:21:55.126Z,1364502115.126 [WetLabsBB2FL](INFO): Powering down
2013-03-28T20:21:55.154Z,1364502115.154 [NavChartDb](INFO): Thread ID is 5207
2013-03-28T20:21:55.156Z,1364502115.157 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-28T20:21:55.158Z,1364502115.158 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-28T20:21:55.158Z,1364502115.158 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-28T20:21:55.158Z,1364502115.158 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-28T20:21:55.159Z,1364502115.158 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-28T20:21:55.159Z,1364502115.159 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-28T20:21:55.159Z,1364502115.159 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-28T20:21:55.159Z,1364502115.159 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-28T20:21:55.159Z,1364502115.159 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-28T20:21:56.598Z,1364502116.598 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-28T20:21:56.636Z,1364502116.636 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-28T20:21:56.673Z,1364502116.673 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:21:56.692Z,1364502116.692 [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>


2013-03-28T20:21:56.692Z,1364502116.692 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-28T20:21:56.782Z,1364502116.782 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-28T20:21:56.784Z,1364502116.784 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-28T20:21:56.787Z,1364502116.787 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:21:56.800Z,1364502116.800 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-28T20:21:56.803Z,1364502116.803 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:21:56.851Z,1364502116.851 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-28T20:21:56.870Z,1364502116.870 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-28T20:21:56.873Z,1364502116.873 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-28T20:21:56.890Z,1364502116.890 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-28T20:21:56.894Z,1364502116.894 [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>


2013-03-28T20:21:56.917Z,1364502116.917 [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,
2013-03-28T20:21:56.971Z,1364502116.971 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-28T20:21:57.133Z,1364502117.133 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-28T20:21:57.134Z,1364502117.134 [DVL_micro](INFO): Querying output modes
2013-03-28T20:21:57.134Z,1364502117.134 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-28T20:21:57.145Z,1364502117.145 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-28T20:21:57.145Z,1364502117.145 [DVL_micro](INFO): NQ1 output enabled
2013-03-28T20:21:57.145Z,1364502117.145 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-28T20:21:57.157Z,1364502117.157 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-28T20:21:57.162Z,1364502117.162 [DVL_micro](INFO): pause:Powering down
2013-03-28T20:21:57.460Z,1364502117.460 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:21:57.473Z,1364502117.473 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-28T20:21:57.479Z,1364502117.480 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:21:57.485Z,1364502117.485 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-28T20:21:57.491Z,1364502117.491 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:21:57.497Z,1364502117.497 [MassServo](DEBUG): Initializing MassServo.
2013-03-28T20:21:57.503Z,1364502117.503 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:21:57.537Z,1364502117.537 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-28T20:21:57.543Z,1364502117.543 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-28T20:21:57.549Z,1364502117.549 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-28T20:21:59.992Z,1364502119.992 [NAL9602](INFO): Powering up NAL9602
2013-03-28T20:22:03.605Z,1364502123.605 [CommandLine](IMPORTANT): got command quit
2013-03-28T20:22:04.781Z,1364502124.781 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-03-28T20:22:04.781Z,1364502124.781 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-03-28T20:22:04.985Z,1364502124.985 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-03-28T20:22:05.289Z,1364502125.289 [WetLabsBB2FL](INFO): Powering down
2013-03-28T20:22:05.305Z,1364502125.305 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-03-28T20:22:05.486Z,1364502125.486 [CTD_NeilBrown](INFO): Powering down
2013-03-28T20:22:05.505Z,1364502125.505 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-03-28T20:22:05.653Z,1364502125.653 [DVL_micro](INFO): uninitialize:Powering down
2013-03-28T20:22:05.665Z,1364502125.665 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-03-28T20:22:05.713Z,1364502125.713 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-03-28T20:22:05.728Z,1364502125.728 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-03-28T20:22:05.729Z,1364502125.729 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-03-28T20:22:05.731Z,1364502125.731 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-03-28T20:22:05.825Z,1364502125.825 [controlThread](DEBUG): Uninitializing ControlThread
2013-03-28T20:22:05.826Z,1364502125.826 [AHRS_sp3003D](INFO): Powering down
2013-03-28T20:22:05.914Z,1364502125.914 [NAL9602](INFO): Powering down
2013-03-28T20:22:06.053Z,1364502126.053 [Aanderaa_O2](INFO): Powering down
2013-03-28T20:22:06.074Z,1364502126.074 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-28T20:22:06.075Z,1364502126.075 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-03-28T20:22:06.080Z,1364502126.080 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-03-28T20:22:06.080Z,1364502126.080 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-03-28T20:22:06.080Z,1364502126.080 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-03-28T20:22:06.081Z,1364502126.081 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-03-28T20:22:06.081Z,1364502126.081 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-28T20:22:06.081Z,1364502126.081 [BuoyancyServo](INFO): Powering down
2013-03-28T20:22:06.093Z,1364502126.093 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-03-28T20:22:06.093Z,1364502126.093 [ElevatorServo](INFO): Powering down
2013-03-28T20:22:06.113Z,1364502126.113 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-03-28T20:22:06.113Z,1364502126.113 [MassServo](INFO): Powering down
2013-03-28T20:22:06.114Z,1364502126.114 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-03-28T20:22:06.114Z,1364502126.114 [RudderServo](INFO): Powering down
2013-03-28T20:22:06.115Z,1364502126.115 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-28T20:22:06.115Z,1364502126.115 [ThrusterServo](INFO): Powering down
2013-03-28T20:22:06.116Z,1364502126.116 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-03-28T20:22:06.116Z,1364502126.116 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-03-28T20:22:06.117Z,1364502126.117 [CBIT](DEBUG): Uninitialize CBIT Component.