2013-04-01T21:45:40.969Z,1364852740.969 [Supervisor](DEBUG): Initializing supervisor.
2013-04-01T21:45:40.972Z,1364852740.972 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-04-01T21:45:40.973Z,1364852740.973 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-04-01T21:45:40.974Z,1364852740.974 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-04-01T21:45:40.977Z,1364852740.977 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-04-01T21:45:40.988Z,1364852740.988 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-04-01T21:45:40.989Z,1364852740.989 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-04-01T21:45:40.990Z,1364852740.990 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-04-01T21:45:40.991Z,1364852740.991 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-04-01T21:45:40.991Z,1364852740.991 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-04-01T21:45:40.993Z,1364852740.993 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-04-01T21:45:41.353Z,1364852741.353 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-04-01T21:45:41.353Z,1364852741.353 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-04-01T21:45:41.542Z,1364852741.542 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-04-01T21:45:41.543Z,1364852741.543 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-04-01T21:45:41.627Z,1364852741.627 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-04-01T21:45:41.628Z,1364852741.628 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-04-01T21:45:41.816Z,1364852741.816 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-04-01T21:45:41.816Z,1364852741.816 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-04-01T21:45:41.952Z,1364852741.952 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-04-01T21:45:41.953Z,1364852741.953 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-04-01T21:45:42.183Z,1364852742.183 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-04-01T21:45:42.184Z,1364852742.184 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-04-01T21:45:42.351Z,1364852742.351 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-04-01T21:45:42.352Z,1364852742.352 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-04-01T21:45:42.603Z,1364852742.603 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-04-01T21:45:42.604Z,1364852742.603 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-04-01T21:45:42.701Z,1364852742.701 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-04-01T21:45:42.702Z,1364852742.702 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-04-01T21:45:43.097Z,1364852743.097 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-04-01T21:45:43.098Z,1364852743.098 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-04-01T21:45:43.213Z,1364852743.213 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-04-01T21:45:43.214Z,1364852743.214 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-04-01T21:45:43.298Z,1364852743.298 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-04-01T21:45:43.299Z,1364852743.299 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-04-01T21:45:43.399Z,1364852743.399 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-04-01T21:45:43.527Z,1364852743.527 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-04-01T21:45:43.612Z,1364852743.612 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-04-01T21:45:43.713Z,1364852743.713 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-04-01T21:45:43.813Z,1364852743.813 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-04-01T21:45:43.929Z,1364852743.929 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-04-01T21:45:44.022Z,1364852744.022 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-04-01T21:45:44.108Z,1364852744.108 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-04-01T21:45:44.134Z,1364852744.134 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-04-01T21:45:44.289Z,1364852744.289 [InternalSim] Loaded
2013-04-01T21:45:44.289Z,1364852744.289 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-04-01T21:45:44.290Z,1364852744.290 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-04-01T21:45:44.291Z,1364852744.291 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-04-01T21:45:44.388Z,1364852744.388 [SBIT](DEBUG): Construct Startup Built In Test.
2013-04-01T21:45:44.417Z,1364852744.417 [SBIT] Loaded
2013-04-01T21:45:44.418Z,1364852744.418 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-04-01T21:45:44.419Z,1364852744.418 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-04-01T21:45:44.448Z,1364852744.448 [IBIT] Loaded
2013-04-01T21:45:44.448Z,1364852744.448 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-04-01T21:45:44.451Z,1364852744.451 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-04-01T21:45:44.572Z,1364852744.572 [CBIT] Loaded
2013-04-01T21:45:44.572Z,1364852744.572 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-04-01T21:45:44.572Z,1364852744.572 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-04-01T21:45:44.573Z,1364852744.573 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-04-01T21:45:44.727Z,1364852744.727 [BuoyancyServo] Loaded
2013-04-01T21:45:44.727Z,1364852744.727 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-04-01T21:45:44.740Z,1364852744.740 [ElevatorServo] Loaded
2013-04-01T21:45:44.740Z,1364852744.740 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-04-01T21:45:44.752Z,1364852744.752 [MassServo] Loaded
2013-04-01T21:45:44.752Z,1364852744.752 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-04-01T21:45:44.764Z,1364852744.764 [RudderServo] Loaded
2013-04-01T21:45:44.765Z,1364852744.765 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-04-01T21:45:44.777Z,1364852744.777 [ThrusterServo] Loaded
2013-04-01T21:45:44.777Z,1364852744.777 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-04-01T21:45:44.778Z,1364852744.778 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-04-01T21:45:44.779Z,1364852744.779 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-04-01T21:45:44.795Z,1364852744.795 [DepthRateCalculator] Loaded
2013-04-01T21:45:44.796Z,1364852744.796 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-04-01T21:45:47.866Z,1364852747.866 [HFRadarModelCalc] Loaded
2013-04-01T21:45:47.866Z,1364852747.866 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-04-01T21:45:47.882Z,1364852747.882 [NavChart] Loaded
2013-04-01T21:45:47.882Z,1364852747.882 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-04-01T21:45:47.888Z,1364852747.888 [PitchRateCalculator] Loaded
2013-04-01T21:45:47.889Z,1364852747.889 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-04-01T21:45:47.895Z,1364852747.895 [SpeedCalculator] Loaded
2013-04-01T21:45:47.896Z,1364852747.896 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-04-01T21:45:47.911Z,1364852747.911 [TempGradientCalculator] Loaded
2013-04-01T21:45:47.911Z,1364852747.911 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-04-01T21:45:47.917Z,1364852747.917 [YawRateCalculator] Loaded
2013-04-01T21:45:47.917Z,1364852747.917 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-04-01T21:45:47.959Z,1364852747.959 [Navigation] Loaded
2013-04-01T21:45:47.959Z,1364852747.959 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-04-01T21:45:47.960Z,1364852747.960 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-04-01T21:45:47.960Z,1364852747.960 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-04-01T21:45:48.190Z,1364852748.190 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-04-01T21:45:48.190Z,1364852748.190 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-04-01T21:45:48.213Z,1364852748.213 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-04-01T21:45:48.213Z,1364852748.213 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-04-01T21:45:48.254Z,1364852748.253 [VerticalControl](DEBUG): Construct VerticalControl.
2013-04-01T21:45:48.350Z,1364852748.350 [VerticalControl] Loaded
2013-04-01T21:45:48.350Z,1364852748.350 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-04-01T21:45:48.351Z,1364852748.351 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-04-01T21:45:48.409Z,1364852748.409 [HorizontalControl] Loaded
2013-04-01T21:45:48.409Z,1364852748.409 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-04-01T21:45:48.410Z,1364852748.410 [SpeedControl](DEBUG): Construct SpeedControl.
2013-04-01T21:45:48.412Z,1364852748.412 [SpeedControl] Loaded
2013-04-01T21:45:48.412Z,1364852748.412 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-04-01T21:45:48.413Z,1364852748.413 [LoopControl](DEBUG): Construct LoopControl.
2013-04-01T21:45:48.414Z,1364852748.414 [LoopControl] Loaded
2013-04-01T21:45:48.414Z,1364852748.414 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-04-01T21:45:48.414Z,1364852748.414 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-04-01T21:45:48.415Z,1364852748.415 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-04-01T21:45:48.420Z,1364852748.420 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-04-01T21:45:48.425Z,1364852748.425 [AsyncPiEstimator] Loaded
2013-04-01T21:45:48.425Z,1364852748.425 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-04-01T21:45:48.427Z,1364852748.427 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A54E0
2013-04-01T21:45:48.427Z,1364852748.427 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-04-01T21:45:48.428Z,1364852748.428 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-04-01T21:45:48.555Z,1364852748.555 [AHRS_sp3003D] Loaded
2013-04-01T21:45:48.555Z,1364852748.555 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-04-01T21:45:48.820Z,1364852748.819 [Batt_Ocean_Server] Loaded
2013-04-01T21:45:48.820Z,1364852748.820 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-04-01T21:45:48.835Z,1364852748.835 [Depth_Keller] Loaded
2013-04-01T21:45:48.835Z,1364852748.835 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-04-01T21:45:48.841Z,1364852748.841 [DropWeight] Loaded
2013-04-01T21:45:48.841Z,1364852748.841 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-04-01T21:45:49.019Z,1364852749.019 [DVL_micro] Loaded
2013-04-01T21:45:49.019Z,1364852749.019 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-04-01T21:45:49.020Z,1364852749.020 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407294E0
2013-04-01T21:45:49.104Z,1364852749.104 [NAL9602] Loaded
2013-04-01T21:45:49.104Z,1364852749.104 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-04-01T21:45:49.156Z,1364852749.156 [Onboard] Loaded
2013-04-01T21:45:49.157Z,1364852749.157 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-04-01T21:45:49.158Z,1364852749.158 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-04-01T21:45:49.159Z,1364852749.158 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-04-01T21:45:49.215Z,1364852749.215 [Aanderaa_O2] Loaded
2013-04-01T21:45:49.216Z,1364852749.216 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-04-01T21:45:49.249Z,1364852749.249 [CTD_NeilBrown] Loaded
2013-04-01T21:45:49.249Z,1364852749.249 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-04-01T21:45:49.250Z,1364852749.250 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2013-04-01T21:45:49.267Z,1364852749.267 [PAR_Licor] Loaded
2013-04-01T21:45:49.268Z,1364852749.267 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-04-01T21:45:49.298Z,1364852749.298 [WetLabsBB2FL] Loaded
2013-04-01T21:45:49.298Z,1364852749.298 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-04-01T21:45:49.299Z,1364852749.299 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2013-04-01T21:45:49.300Z,1364852749.300 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-04-01T21:45:49.302Z,1364852749.302 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-04-01T21:45:49.303Z,1364852749.303 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-04-01T21:45:49.310Z,1364852749.310 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-04-01T21:45:49.311Z,1364852749.311 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2013-04-01T21:45:49.317Z,1364852749.317 [Supervisor](DEBUG): Running supervisor.
2013-04-01T21:45:49.318Z,1364852749.318 [CommandLine](INFO): Thread ID is 8158
2013-04-01T21:45:49.320Z,1364852749.320 [controlThread](INFO): Thread ID is 8157
2013-04-01T21:45:49.320Z,1364852749.320 [controlThread](DEBUG): Initializing ControlThread
2013-04-01T21:45:49.321Z,1364852749.321 [CycleStarter](INFO): Thread ID is 8156
2013-04-01T21:45:49.322Z,1364852749.322 [InternalSim](DEBUG):  InternalSim initializing...
2013-04-01T21:45:49.358Z,1364852749.358 [logger](INFO): Thread ID is 8159
2013-04-01T21:45:49.381Z,1364852749.381 [SBIT](INFO): Initialize SBIT Component.
2013-04-01T21:45:49.382Z,1364852749.382 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10266
2013-04-01T21:45:49.382Z,1364852749.382 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-04-01T21:45:49.382Z,1364852749.382 [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
2013-04-01T21:45:49.383Z,1364852749.383 [IBIT](INFO): Initialize IBIT Component.
2013-04-01T21:45:49.384Z,1364852749.384 [CBIT](DEBUG): Initialize CBIT Component.
2013-04-01T21:45:49.384Z,1364852749.384 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-04-01T21:45:49.394Z,1364852749.394 [AsyncPiEstimator](INFO): Thread ID is 8220
2013-04-01T21:45:49.394Z,1364852749.394 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-04-01T21:45:49.412Z,1364852749.412 [DVL_micro](INFO): Thread ID is 8221
2013-04-01T21:45:49.415Z,1364852749.415 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-04-01T21:45:49.416Z,1364852749.416 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-04-01T21:45:49.416Z,1364852749.416 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-04-01T21:45:49.417Z,1364852749.417 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-04-01T21:45:49.417Z,1364852749.417 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-04-01T21:45:49.419Z,1364852749.419 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-04-01T21:45:49.419Z,1364852749.419 [Navigation](DEBUG): Initializing Navigation.
2013-04-01T21:45:49.419Z,1364852749.420 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-04-01T21:45:49.421Z,1364852749.421 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-04-01T21:45:49.422Z,1364852749.422 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-04-01T21:45:49.423Z,1364852749.422 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-04-01T21:45:49.433Z,1364852749.433 [DVL_micro](INFO): Initializing
2013-04-01T21:45:49.434Z,1364852749.434 [DVL_micro](INFO): start:Powering up
2013-04-01T21:45:49.434Z,1364852749.434 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-04-01T21:45:49.435Z,1364852749.435 [DVL_micro](INFO): Cycling power to configure device.
2013-04-01T21:45:49.450Z,1364852749.450 [CTD_NeilBrown](INFO): Thread ID is 8222
2013-04-01T21:45:49.450Z,1364852749.450 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-04-01T21:45:49.453Z,1364852749.453 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-04-01T21:45:49.459Z,1364852749.459 [WetLabsBB2FL](INFO): Thread ID is 8223
2013-04-01T21:45:49.459Z,1364852749.459 [WetLabsBB2FL](INFO): Powering down
2013-04-01T21:45:49.506Z,1364852749.506 [NavChartDb](INFO): Thread ID is 8224
2013-04-01T21:45:49.508Z,1364852749.508 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-04-01T21:45:49.510Z,1364852749.510 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-04-01T21:45:49.510Z,1364852749.510 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-04-01T21:45:49.510Z,1364852749.510 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-04-01T21:45:49.510Z,1364852749.510 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-04-01T21:45:49.511Z,1364852749.511 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-04-01T21:45:49.511Z,1364852749.511 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-04-01T21:45:49.511Z,1364852749.511 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-04-01T21:45:49.511Z,1364852749.511 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-04-01T21:45:51.150Z,1364852751.150 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-04-01T21:45:51.190Z,1364852751.190 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-04-01T21:45:51.225Z,1364852751.225 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-01T21:45:51.243Z,1364852751.243 [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>


2013-04-01T21:45:51.244Z,1364852751.244 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-04-01T21:45:51.332Z,1364852751.332 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-04-01T21:45:51.334Z,1364852751.334 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-04-01T21:45:51.338Z,1364852751.338 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-01T21:45:51.356Z,1364852751.356 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-04-01T21:45:51.359Z,1364852751.359 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-01T21:45:51.394Z,1364852751.394 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-04-01T21:45:51.420Z,1364852751.420 [Default:D.SetSpeed](DEBUG): Construct.
2013-04-01T21:45:51.423Z,1364852751.423 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-01T21:45:51.428Z,1364852751.428 [Default:F.Wait](DEBUG): Construct Wait.
2013-04-01T21:45:51.443Z,1364852751.443 [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>


2013-04-01T21:45:51.448Z,1364852751.448 [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,
2013-04-01T21:45:51.509Z,1364852751.509 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-04-01T21:45:51.510Z,1364852751.510 [DVL_micro](INFO): Querying output modes
2013-04-01T21:45:51.510Z,1364852751.510 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-04-01T21:45:51.521Z,1364852751.521 [DVL_micro](DEBUG): cmdResponse: 01
2013-04-01T21:45:51.521Z,1364852751.521 [DVL_micro](INFO): NQ1 output enabled
2013-04-01T21:45:51.521Z,1364852751.522 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-04-01T21:45:51.528Z,1364852751.528 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-04-01T21:45:51.533Z,1364852751.533 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-04-01T21:45:51.538Z,1364852751.538 [DVL_micro](INFO): pause:Powering down
2013-04-01T21:45:51.598Z,1364852751.598 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-04-01T21:45:52.020Z,1364852752.020 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-04-01T21:45:52.029Z,1364852752.029 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-04-01T21:45:52.036Z,1364852752.036 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-04-01T21:45:52.049Z,1364852752.049 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-04-01T21:45:52.055Z,1364852752.055 [MassServo](DEBUG): Initializing EZServoServo.
2013-04-01T21:45:52.085Z,1364852752.085 [MassServo](DEBUG): Initializing MassServo.
2013-04-01T21:45:52.091Z,1364852752.091 [RudderServo](DEBUG): Initializing EZServoServo.
2013-04-01T21:45:52.097Z,1364852752.097 [RudderServo](DEBUG): Initializing RudderServo.
2013-04-01T21:45:52.103Z,1364852752.103 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-04-01T21:45:52.109Z,1364852752.109 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-04-01T21:45:54.232Z,1364852754.232 [NAL9602](INFO): Powering up NAL9602
2013-04-01T21:46:01.984Z,1364852761.984 [Aanderaa_O2](FAULT): Timed out starting
2013-04-01T21:46:01.984Z,1364852761.984 [Aanderaa_O2] Communications Fault, FailCount= 1
2013-04-01T21:46:01.984Z,1364852761.984 [Aanderaa_O2](ERROR): Communications Fault
2013-04-01T21:46:02.081Z,1364852762.081 [CBIT](ERROR): Communications Fault in component: Aanderaa_O2
2013-04-01T21:46:02.421Z,1364852762.421 [Aanderaa_O2](INFO): Powering down
2013-04-01T21:46:03.233Z,1364852763.233 [CBIT](INFO): Clearing failed state for component Aanderaa_O2
2013-04-01T21:46:03.233Z,1364852763.233 [Aanderaa_O2] No Fault, FailCount= 1
2013-04-01T21:46:04.757Z,1364852764.757 [NAL9602](INFO): NAL9602 initialized
2013-04-01T21:46:04.839Z,1364852764.839 [SBIT](IMPORTANT): Beginning Startup BIT
2013-04-01T21:46:04.841Z,1364852764.842 [CBIT](IMPORTANT): Beginning GF scan
2013-04-01T21:46:13.827Z,1364852773.827 [Aanderaa_O2](FAULT): Timed out starting
2013-04-01T21:46:13.827Z,1364852773.827 [Aanderaa_O2] Communications Fault, FailCount= 2
2013-04-01T21:46:13.827Z,1364852773.827 [Aanderaa_O2](ERROR): Communications Fault
2013-04-01T21:46:13.956Z,1364852773.956 [CBIT](ERROR): Communications Fault in component: Aanderaa_O2
2013-04-01T21:46:14.277Z,1364852774.277 [Aanderaa_O2](INFO): Powering down
2013-04-01T21:46:15.184Z,1364852775.184 [CBIT](INFO): Clearing failed state for component Aanderaa_O2
2013-04-01T21:46:15.184Z,1364852775.184 [Aanderaa_O2] No Fault, FailCount= 2
2013-04-01T21:46:25.692Z,1364852785.692 [Aanderaa_O2](FAULT): Timed out starting
2013-04-01T21:46:25.692Z,1364852785.692 [Aanderaa_O2] Communications Fault, FailCount= 3
2013-04-01T21:46:25.692Z,1364852785.692 [Aanderaa_O2](ERROR): Communications Fault
2013-04-01T21:46:25.745Z,1364852785.745 [CBIT](ERROR): Communications Fault in component: Aanderaa_O2
2013-04-01T21:46:25.745Z,1364852785.745 [CBIT](FAULT): Communications Fault in component: Aanderaa_O2
2013-04-01T21:46:26.229Z,1364852786.229 [Aanderaa_O2](INFO): Powering down
2013-04-01T21:46:31.345Z,1364852791.345 [CBIT](IMPORTANT): No ground fault detected
2013-04-01T21:46:43.913Z,1364852803.913 [CommandLine](IMPORTANT): got command failComponent
2013-04-01T21:46:43.923Z,1364852803.923 [CommandLine](IMPORTANT): Failed components:
2013-04-01T21:46:43.924Z,1364852803.924 [CommandLine](IMPORTANT): Aanderaa_O2: Communications Fault
2013-04-01T21:46:58.695Z,1364852818.694 [SBIT](IMPORTANT): SBIT PASSED
2013-04-01T21:46:59.103Z,1364852819.103 [MissionManager](IMPORTANT): Started mission Startup
2013-04-01T21:46:59.103Z,1364852819.103 [Startup] Running Loop=1
2013-04-01T21:46:59.103Z,1364852819.103 [Startup](INFO): Aggregate::initialize Startup
2013-04-01T21:46:59.103Z,1364852819.103 [Startup:A.GoToSurface] Running Loop=1
2013-04-01T21:46:59.103Z,1364852819.103 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-04-01T21:46:59.110Z,1364852819.110 [Startup:StartupSatComms] Running Loop=1
2013-04-01T21:46:59.110Z,1364852819.110 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-04-01T21:46:59.110Z,1364852819.110 [Startup:StartupSatComms:A] Running Loop=1
2013-04-01T21:46:59.470Z,1364852819.470 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-04-01T21:47:06.701Z,1364852826.701 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2013-04-01T21:47:06.702Z,1364852826.702 [CommandLine](IMPORTANT): platform_mass_position 0.369117 centimeter
2013-04-01T21:47:09.633Z,1364852829.633 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2013-04-01T21:47:09.634Z,1364852829.634 [CommandLine](IMPORTANT): platform_mass_position 0.605178 centimeter
2013-04-01T21:47:12.081Z,1364852832.081 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2013-04-01T21:47:12.082Z,1364852832.082 [CommandLine](IMPORTANT): platform_mass_position 0.784789 centimeter
2013-04-01T21:47:14.452Z,1364852834.452 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2013-04-01T21:47:14.453Z,1364852834.453 [CommandLine](IMPORTANT): platform_mass_position 0.898095 centimeter
2013-04-01T21:47:17.169Z,1364852837.169 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2013-04-01T21:47:17.170Z,1364852837.170 [CommandLine](IMPORTANT): platform_mass_position 0.898095 centimeter
2013-04-01T21:47:20.401Z,1364852840.401 [CommandLine](IMPORTANT): got command get platform_mass_position centimeter
2013-04-01T21:47:20.402Z,1364852840.402 [CommandLine](IMPORTANT): platform_mass_position 0.898095 centimeter
2013-04-01T21:47:23.457Z,1364852843.457 [CommandLine](IMPORTANT): got command restart application
2013-04-01T21:47:24.509Z,1364852844.509 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-04-01T21:47:24.509Z,1364852844.509 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-04-01T21:47:24.609Z,1364852844.609 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-04-01T21:47:24.933Z,1364852844.933 [WetLabsBB2FL](INFO): Powering down
2013-04-01T21:47:24.941Z,1364852844.941 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-04-01T21:47:25.133Z,1364852845.133 [CTD_NeilBrown](INFO): Powering down
2013-04-01T21:47:25.141Z,1364852845.141 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-04-01T21:47:25.321Z,1364852845.321 [DVL_micro](INFO): uninitialize:Powering down
2013-04-01T21:47:25.341Z,1364852845.341 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-04-01T21:47:25.397Z,1364852845.397 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-04-01T21:47:25.402Z,1364852845.402 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-04-01T21:47:25.463Z,1364852845.463 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-04-01T21:47:25.464Z,1364852845.464 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-04-01T21:47:25.478Z,1364852845.478 [controlThread](DEBUG): Uninitializing ControlThread
2013-04-01T21:47:25.479Z,1364852845.478 [AHRS_sp3003D](INFO): Powering down
2013-04-01T21:47:25.566Z,1364852845.566 [NAL9602](INFO): Powering down
2013-04-01T21:47:25.567Z,1364852845.567 [Aanderaa_O2](INFO): Powering down
2013-04-01T21:47:25.568Z,1364852845.569 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-04-01T21:47:25.569Z,1364852845.569 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-04-01T21:47:25.573Z,1364852845.573 [Startup] Stopped
2013-04-01T21:47:25.573Z,1364852845.573 [Startup](INFO): Aggregate::uninitialize Startup
2013-04-01T21:47:25.573Z,1364852845.573 [Startup:A.GoToSurface] Stopped
2013-04-01T21:47:25.574Z,1364852845.574 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-04-01T21:47:25.574Z,1364852845.574 [Startup:StartupSatComms] Stopped
2013-04-01T21:47:25.574Z,1364852845.574 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-04-01T21:47:25.574Z,1364852845.574 [Startup:StartupSatComms:A] Stopped
2013-04-01T21:47:25.575Z,1364852845.575 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-04-01T21:47:25.576Z,1364852845.576 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-04-01T21:47:25.576Z,1364852845.576 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-04-01T21:47:25.576Z,1364852845.576 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-04-01T21:47:25.576Z,1364852845.576 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-04-01T21:47:25.577Z,1364852845.577 [BuoyancyServo](INFO): Powering down
2013-04-01T21:47:25.589Z,1364852845.589 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-04-01T21:47:25.589Z,1364852845.589 [ElevatorServo](INFO): Powering down
2013-04-01T21:47:25.590Z,1364852845.590 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-04-01T21:47:25.590Z,1364852845.590 [MassServo](INFO): Powering down
2013-04-01T21:47:25.591Z,1364852845.591 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-04-01T21:47:25.591Z,1364852845.591 [RudderServo](INFO): Powering down
2013-04-01T21:47:25.592Z,1364852845.592 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-04-01T21:47:25.592Z,1364852845.592 [ThrusterServo](INFO): Powering down
2013-04-01T21:47:25.593Z,1364852845.593 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-04-01T21:47:25.593Z,1364852845.593 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-04-01T21:47:25.594Z,1364852845.593 [CBIT](DEBUG): Uninitialize CBIT Component.