2013-04-24T15:19:10.148Z,1366816750.148 [Supervisor](DEBUG): Initializing supervisor.
2013-04-24T15:19:10.151Z,1366816750.151 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-04-24T15:19:10.151Z,1366816750.151 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-04-24T15:19:10.152Z,1366816750.152 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-04-24T15:19:10.171Z,1366816750.171 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-04-24T15:19:10.182Z,1366816750.182 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-04-24T15:19:10.183Z,1366816750.183 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-04-24T15:19:10.184Z,1366816750.184 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-04-24T15:19:10.185Z,1366816750.185 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-04-24T15:19:10.186Z,1366816750.186 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-04-24T15:19:10.187Z,1366816750.187 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-04-24T15:19:10.539Z,1366816750.539 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-04-24T15:19:10.539Z,1366816750.539 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-04-24T15:19:10.727Z,1366816750.727 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-04-24T15:19:10.728Z,1366816750.728 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-04-24T15:19:10.812Z,1366816750.812 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-04-24T15:19:10.813Z,1366816750.813 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-04-24T15:19:11.009Z,1366816751.009 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-04-24T15:19:11.009Z,1366816751.009 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-04-24T15:19:11.144Z,1366816751.144 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-04-24T15:19:11.145Z,1366816751.145 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-04-24T15:19:11.379Z,1366816751.379 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-04-24T15:19:11.380Z,1366816751.380 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-04-24T15:19:11.548Z,1366816751.548 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-04-24T15:19:11.548Z,1366816751.548 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-04-24T15:19:11.806Z,1366816751.806 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-04-24T15:19:11.807Z,1366816751.807 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-04-24T15:19:11.905Z,1366816751.905 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-04-24T15:19:11.906Z,1366816751.906 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-04-24T15:19:12.304Z,1366816752.304 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-04-24T15:19:12.305Z,1366816752.305 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-04-24T15:19:12.418Z,1366816752.418 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-04-24T15:19:12.419Z,1366816752.419 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-04-24T15:19:12.505Z,1366816752.505 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-04-24T15:19:12.506Z,1366816752.506 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-04-24T15:19:12.618Z,1366816752.618 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-04-24T15:19:12.745Z,1366816752.745 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-04-24T15:19:12.830Z,1366816752.830 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-04-24T15:19:12.935Z,1366816752.935 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-04-24T15:19:13.036Z,1366816753.036 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-04-24T15:19:13.156Z,1366816753.156 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-04-24T15:19:13.251Z,1366816753.251 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-04-24T15:19:13.337Z,1366816753.337 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-04-24T15:19:13.366Z,1366816753.366 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-04-24T15:19:13.517Z,1366816753.517 [InternalSim] Loaded
2013-04-24T15:19:13.517Z,1366816753.517 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-04-24T15:19:13.518Z,1366816753.518 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-04-24T15:19:13.518Z,1366816753.519 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-04-24T15:19:13.579Z,1366816753.579 [SBIT](DEBUG): Construct Startup Built In Test.
2013-04-24T15:19:13.608Z,1366816753.608 [SBIT] Loaded
2013-04-24T15:19:13.608Z,1366816753.608 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-04-24T15:19:13.609Z,1366816753.609 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-04-24T15:19:13.638Z,1366816753.638 [IBIT] Loaded
2013-04-24T15:19:13.639Z,1366816753.639 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-04-24T15:19:13.642Z,1366816753.642 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-04-24T15:19:13.758Z,1366816753.758 [CBIT] Loaded
2013-04-24T15:19:13.758Z,1366816753.758 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-04-24T15:19:13.759Z,1366816753.759 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-04-24T15:19:13.759Z,1366816753.759 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-04-24T15:19:13.911Z,1366816753.911 [BuoyancyServo] Loaded
2013-04-24T15:19:13.912Z,1366816753.912 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-04-24T15:19:13.924Z,1366816753.924 [ElevatorServo] Loaded
2013-04-24T15:19:13.924Z,1366816753.924 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-04-24T15:19:13.936Z,1366816753.936 [MassServo] Loaded
2013-04-24T15:19:13.936Z,1366816753.936 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-04-24T15:19:13.948Z,1366816753.948 [RudderServo] Loaded
2013-04-24T15:19:13.948Z,1366816753.948 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-04-24T15:19:13.960Z,1366816753.960 [ThrusterServo] Loaded
2013-04-24T15:19:13.960Z,1366816753.960 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-04-24T15:19:13.961Z,1366816753.961 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-04-24T15:19:13.961Z,1366816753.961 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-04-24T15:19:13.979Z,1366816753.979 [DepthRateCalculator] Loaded
2013-04-24T15:19:13.979Z,1366816753.979 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-04-24T15:19:16.969Z,1366816756.969 [HFRadarModelCalc] Loaded
2013-04-24T15:19:16.970Z,1366816756.970 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-04-24T15:19:16.985Z,1366816756.985 [NavChart] Loaded
2013-04-24T15:19:16.986Z,1366816756.986 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-04-24T15:19:16.991Z,1366816756.991 [PitchRateCalculator] Loaded
2013-04-24T15:19:16.992Z,1366816756.992 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-04-24T15:19:16.998Z,1366816756.998 [SpeedCalculator] Loaded
2013-04-24T15:19:16.998Z,1366816756.998 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-04-24T15:19:17.013Z,1366816757.013 [TempGradientCalculator] Loaded
2013-04-24T15:19:17.013Z,1366816757.013 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-04-24T15:19:17.019Z,1366816757.019 [YawRateCalculator] Loaded
2013-04-24T15:19:17.019Z,1366816757.019 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-04-24T15:19:17.060Z,1366816757.060 [Navigation] Loaded
2013-04-24T15:19:17.061Z,1366816757.061 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-04-24T15:19:17.061Z,1366816757.061 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-04-24T15:19:17.062Z,1366816757.062 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-04-24T15:19:17.291Z,1366816757.291 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-04-24T15:19:17.292Z,1366816757.292 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-04-24T15:19:17.314Z,1366816757.314 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-04-24T15:19:17.314Z,1366816757.314 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-04-24T15:19:17.355Z,1366816757.355 [VerticalControl](DEBUG): Construct VerticalControl.
2013-04-24T15:19:17.447Z,1366816757.447 [VerticalControl] Loaded
2013-04-24T15:19:17.447Z,1366816757.447 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-04-24T15:19:17.448Z,1366816757.448 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-04-24T15:19:17.503Z,1366816757.503 [HorizontalControl] Loaded
2013-04-24T15:19:17.503Z,1366816757.503 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-04-24T15:19:17.504Z,1366816757.504 [SpeedControl](DEBUG): Construct SpeedControl.
2013-04-24T15:19:17.506Z,1366816757.506 [SpeedControl] Loaded
2013-04-24T15:19:17.506Z,1366816757.506 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-04-24T15:19:17.507Z,1366816757.507 [LoopControl](DEBUG): Construct LoopControl.
2013-04-24T15:19:17.508Z,1366816757.508 [LoopControl] Loaded
2013-04-24T15:19:17.508Z,1366816757.508 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-04-24T15:19:17.508Z,1366816757.508 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-04-24T15:19:17.509Z,1366816757.509 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-04-24T15:19:17.514Z,1366816757.514 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-04-24T15:19:17.519Z,1366816757.519 [AsyncPiEstimator] Loaded
2013-04-24T15:19:17.519Z,1366816757.519 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-04-24T15:19:17.522Z,1366816757.522 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-04-24T15:19:17.522Z,1366816757.522 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-04-24T15:19:17.523Z,1366816757.523 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-04-24T15:19:17.651Z,1366816757.651 [AHRS_sp3003D] Loaded
2013-04-24T15:19:17.651Z,1366816757.651 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-04-24T15:19:17.906Z,1366816757.906 [Batt_Ocean_Server] Loaded
2013-04-24T15:19:17.906Z,1366816757.906 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-04-24T15:19:17.919Z,1366816757.920 [Depth_Keller] Loaded
2013-04-24T15:19:17.920Z,1366816757.920 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-04-24T15:19:17.925Z,1366816757.925 [DropWeight] Loaded
2013-04-24T15:19:17.926Z,1366816757.926 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-04-24T15:19:18.095Z,1366816758.095 [DVL_micro] Loaded
2013-04-24T15:19:18.096Z,1366816758.096 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-04-24T15:19:18.097Z,1366816758.097 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406BF4E0
2013-04-24T15:19:18.177Z,1366816758.177 [NAL9602] Loaded
2013-04-24T15:19:18.177Z,1366816758.178 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-04-24T15:19:18.227Z,1366816758.227 [Onboard] Loaded
2013-04-24T15:19:18.228Z,1366816758.228 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-04-24T15:19:18.235Z,1366816758.234 [Radio_Freewave] Loaded
2013-04-24T15:19:18.235Z,1366816758.235 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-04-24T15:19:18.326Z,1366816758.326 [DAT] Loaded
2013-04-24T15:19:18.326Z,1366816758.326 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-04-24T15:19:18.327Z,1366816758.327 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-04-24T15:19:18.327Z,1366816758.328 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-04-24T15:19:18.400Z,1366816758.400 [CTD_NeilBrown] Loaded
2013-04-24T15:19:18.400Z,1366816758.400 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-04-24T15:19:18.401Z,1366816758.401 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407114E0
2013-04-24T15:19:18.433Z,1366816758.433 [WetLabsBB2FL] Loaded
2013-04-24T15:19:18.433Z,1366816758.433 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-04-24T15:19:18.434Z,1366816758.434 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407414E0
2013-04-24T15:19:18.435Z,1366816758.435 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-04-24T15:19:18.437Z,1366816758.437 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-04-24T15:19:18.438Z,1366816758.438 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-04-24T15:19:18.445Z,1366816758.445 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-04-24T15:19:18.446Z,1366816758.446 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407714E0
2013-04-24T15:19:18.450Z,1366816758.450 [Supervisor](DEBUG): Running supervisor.
2013-04-24T15:19:18.451Z,1366816758.451 [CommandLine](INFO): Thread ID is 2566
2013-04-24T15:19:18.454Z,1366816758.454 [controlThread](INFO): Thread ID is 2565
2013-04-24T15:19:18.454Z,1366816758.454 [controlThread](DEBUG): Initializing ControlThread
2013-04-24T15:19:18.455Z,1366816758.455 [CycleStarter](INFO): Thread ID is 2564
2013-04-24T15:19:18.455Z,1366816758.455 [InternalSim](DEBUG):  InternalSim initializing...
2013-04-24T15:19:18.555Z,1366816758.555 [logger](INFO): Thread ID is 2567
2013-04-24T15:19:18.647Z,1366816758.647 [AsyncPiEstimator](INFO): Thread ID is 2628
2013-04-24T15:19:18.647Z,1366816758.647 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-04-24T15:19:18.656Z,1366816758.656 [DVL_micro](INFO): Thread ID is 2629
2013-04-24T15:19:18.808Z,1366816758.808 [CTD_NeilBrown](INFO): Thread ID is 2630
2013-04-24T15:19:18.809Z,1366816758.809 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-04-24T15:19:18.819Z,1366816758.819 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-04-24T15:19:18.828Z,1366816758.828 [WetLabsBB2FL](INFO): Thread ID is 2631
2013-04-24T15:19:18.828Z,1366816758.828 [WetLabsBB2FL](INFO): Powering down
2013-04-24T15:19:18.859Z,1366816758.859 [DVL_micro](INFO): Initializing
2013-04-24T15:19:18.860Z,1366816758.860 [DVL_micro](INFO): start:Powering up
2013-04-24T15:19:18.860Z,1366816758.860 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-04-24T15:19:18.861Z,1366816758.861 [DVL_micro](INFO): Cycling power to configure device.
2013-04-24T15:19:18.887Z,1366816758.887 [NavChartDb](INFO): Thread ID is 2632
2013-04-24T15:19:18.896Z,1366816758.896 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-04-24T15:19:18.897Z,1366816758.897 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-04-24T15:19:18.897Z,1366816758.897 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-04-24T15:19:18.897Z,1366816758.897 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-04-24T15:19:18.898Z,1366816758.898 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-04-24T15:19:18.898Z,1366816758.898 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-04-24T15:19:18.899Z,1366816758.898 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-04-24T15:19:18.899Z,1366816758.899 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-04-24T15:19:18.899Z,1366816758.899 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-04-24T15:19:18.923Z,1366816758.922 [SBIT](INFO): Initialize SBIT Component.
2013-04-24T15:19:18.923Z,1366816758.923 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10307
2013-04-24T15:19:18.923Z,1366816758.923 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-04-24T15:19:18.924Z,1366816758.924 [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
2013-04-24T15:19:18.924Z,1366816758.924 [IBIT](INFO): Initialize IBIT Component.
2013-04-24T15:19:18.925Z,1366816758.925 [CBIT](DEBUG): Initialize CBIT Component.
2013-04-24T15:19:18.925Z,1366816758.925 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-04-24T15:19:18.926Z,1366816758.926 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2013-04-24T15:19:18.960Z,1366816758.960 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-04-24T15:19:18.960Z,1366816758.960 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-04-24T15:19:18.961Z,1366816758.961 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-04-24T15:19:18.961Z,1366816758.961 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-04-24T15:19:18.961Z,1366816758.961 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-04-24T15:19:18.963Z,1366816758.963 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-04-24T15:19:18.963Z,1366816758.963 [Navigation](DEBUG): Initializing Navigation.
2013-04-24T15:19:18.964Z,1366816758.964 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-04-24T15:19:18.966Z,1366816758.966 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-04-24T15:19:18.970Z,1366816758.970 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-04-24T15:19:18.971Z,1366816758.971 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-04-24T15:19:20.492Z,1366816760.492 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-04-24T15:19:20.529Z,1366816760.529 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-04-24T15:19:20.556Z,1366816760.556 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-24T15:19:20.604Z,1366816760.604 [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>


2013-04-24T15:19:20.605Z,1366816760.605 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-04-24T15:19:20.700Z,1366816760.700 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-04-24T15:19:20.702Z,1366816760.702 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-04-24T15:19:20.705Z,1366816760.705 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-24T15:19:20.737Z,1366816760.737 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-04-24T15:19:20.761Z,1366816760.760 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-24T15:19:20.783Z,1366816760.783 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-04-24T15:19:20.803Z,1366816760.803 [Default:D.SetSpeed](DEBUG): Construct.
2013-04-24T15:19:20.823Z,1366816760.823 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-24T15:19:20.837Z,1366816760.837 [Default:F.Wait](DEBUG): Construct Wait.
2013-04-24T15:19:20.840Z,1366816760.840 [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>


2013-04-24T15:19:20.854Z,1366816760.854 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-04-24T15:19:20.931Z,1366816760.931 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-04-24T15:19:20.955Z,1366816760.955 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-04-24T15:19:20.955Z,1366816760.955 [DVL_micro](INFO): Querying output modes
2013-04-24T15:19:20.955Z,1366816760.955 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-04-24T15:19:20.966Z,1366816760.966 [DVL_micro](DEBUG): cmdResponse: 01
2013-04-24T15:19:20.967Z,1366816760.967 [DVL_micro](INFO): NQ1 output enabled
2013-04-24T15:19:20.967Z,1366816760.967 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-04-24T15:19:20.978Z,1366816760.978 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-04-24T15:19:20.986Z,1366816760.986 [DVL_micro](INFO): pause:Powering down
2013-04-24T15:19:21.165Z,1366816761.165 [Radio_Freewave](INFO): Powering up
2013-04-24T15:19:21.169Z,1366816761.169 [DAT](INFO): Powering up
2013-04-24T15:19:21.170Z,1366816761.170 [DAT](DEBUG): Initializing DAT.
2013-04-24T15:19:21.366Z,1366816761.366 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:19:21.379Z,1366816761.379 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-04-24T15:19:21.385Z,1366816761.385 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:19:21.391Z,1366816761.391 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-04-24T15:19:21.397Z,1366816761.397 [MassServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:19:21.403Z,1366816761.402 [MassServo](DEBUG): Initializing MassServo.
2013-04-24T15:19:21.408Z,1366816761.408 [RudderServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:19:21.414Z,1366816761.414 [RudderServo](DEBUG): Initializing RudderServo.
2013-04-24T15:19:21.420Z,1366816761.420 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:19:21.426Z,1366816761.427 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-04-24T15:19:22.518Z,1366816762.518 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-04-24T15:19:22.518Z,1366816762.519 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-04-24T15:19:22.519Z,1366816762.519 [BuoyancyServo] Communications Fault, FailCount= 1
2013-04-24T15:19:22.519Z,1366816762.519 [BuoyancyServo](ERROR): Communications Fault
2013-04-24T15:19:22.728Z,1366816762.728 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-04-24T15:19:22.971Z,1366816762.971 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-04-24T15:19:22.973Z,1366816762.973 [BuoyancyServo](INFO): Powering down
2013-04-24T15:19:23.315Z,1366816763.315 [NAL9602](INFO): Powering up NAL9602
2013-04-24T15:19:25.177Z,1366816765.177 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-04-24T15:19:25.177Z,1366816765.177 [BuoyancyServo] No Fault, FailCount= 1
2013-04-24T15:19:25.428Z,1366816765.428 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:19:25.551Z,1366816765.551 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-04-24T15:19:33.943Z,1366816773.943 [NAL9602](INFO): NAL9602 initialized
2013-04-24T15:19:34.397Z,1366816774.397 [SBIT](IMPORTANT): Beginning Startup BIT
2013-04-24T15:19:34.399Z,1366816774.399 [CBIT](IMPORTANT): Beginning GF scan
2013-04-24T15:19:34.642Z,1366816774.642 [CommandLine](IMPORTANT): got command quit
2013-04-24T15:19:35.682Z,1366816775.682 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-04-24T15:19:35.682Z,1366816775.682 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-04-24T15:19:36.354Z,1366816776.354 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-04-24T15:19:36.643Z,1366816776.643 [WetLabsBB2FL](INFO): Powering down
2013-04-24T15:19:36.658Z,1366816776.658 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-04-24T15:19:36.899Z,1366816776.899 [CTD_NeilBrown](INFO): Powering down
2013-04-24T15:19:36.902Z,1366816776.902 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-04-24T15:19:37.151Z,1366816777.151 [DVL_micro](INFO): uninitialize:Powering down
2013-04-24T15:19:37.162Z,1366816777.162 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-04-24T15:19:37.319Z,1366816777.319 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-04-24T15:19:37.323Z,1366816777.323 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-04-24T15:19:37.343Z,1366816777.343 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-04-24T15:19:37.345Z,1366816777.345 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-04-24T15:19:37.463Z,1366816777.463 [controlThread](DEBUG): Uninitializing ControlThread
2013-04-24T15:19:37.463Z,1366816777.463 [AHRS_sp3003D](INFO): Powering down
2013-04-24T15:19:37.551Z,1366816777.551 [NAL9602](INFO): Powering down
2013-04-24T15:19:37.553Z,1366816777.553 [DAT](INFO): Powering down
2013-04-24T15:19:37.691Z,1366816777.691 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-04-24T15:19:37.691Z,1366816777.691 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-04-24T15:19:37.696Z,1366816777.696 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-04-24T15:19:37.696Z,1366816777.696 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-04-24T15:19:37.697Z,1366816777.697 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-04-24T15:19:37.697Z,1366816777.697 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-04-24T15:19:37.697Z,1366816777.697 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-04-24T15:19:37.698Z,1366816777.698 [BuoyancyServo](INFO): Powering down
2013-04-24T15:19:37.715Z,1366816777.714 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-04-24T15:19:37.715Z,1366816777.715 [ElevatorServo](INFO): Powering down
2013-04-24T15:19:37.716Z,1366816777.716 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-04-24T15:19:37.716Z,1366816777.716 [MassServo](INFO): Powering down
2013-04-24T15:19:37.717Z,1366816777.717 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-04-24T15:19:37.717Z,1366816777.717 [RudderServo](INFO): Powering down
2013-04-24T15:19:37.718Z,1366816777.718 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-04-24T15:19:37.718Z,1366816777.718 [ThrusterServo](INFO): Powering down
2013-04-24T15:19:37.719Z,1366816777.719 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-04-24T15:19:37.719Z,1366816777.719 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-04-24T15:19:37.720Z,1366816777.720 [CBIT](DEBUG): Uninitialize CBIT Component.