2013-04-24T15:20:40.984Z,1366816840.984 [Supervisor](DEBUG): Initializing supervisor.
2013-04-24T15:20:40.987Z,1366816840.987 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-04-24T15:20:40.988Z,1366816840.988 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-04-24T15:20:40.989Z,1366816840.989 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-04-24T15:20:40.992Z,1366816840.992 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-04-24T15:20:41.002Z,1366816841.003 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-04-24T15:20:41.004Z,1366816841.003 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-04-24T15:20:41.004Z,1366816841.004 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-04-24T15:20:41.005Z,1366816841.005 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-04-24T15:20:41.006Z,1366816841.006 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-04-24T15:20:41.007Z,1366816841.007 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-04-24T15:20:41.283Z,1366816841.283 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-04-24T15:20:41.284Z,1366816841.284 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-04-24T15:20:41.469Z,1366816841.469 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-04-24T15:20:41.470Z,1366816841.470 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-04-24T15:20:41.553Z,1366816841.553 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-04-24T15:20:41.554Z,1366816841.554 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-04-24T15:20:41.750Z,1366816841.750 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-04-24T15:20:41.751Z,1366816841.750 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-04-24T15:20:41.887Z,1366816841.886 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-04-24T15:20:41.887Z,1366816841.887 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-04-24T15:20:42.116Z,1366816842.116 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-04-24T15:20:42.116Z,1366816842.116 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-04-24T15:20:42.285Z,1366816842.285 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-04-24T15:20:42.285Z,1366816842.285 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-04-24T15:20:42.533Z,1366816842.533 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-04-24T15:20:42.534Z,1366816842.534 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-04-24T15:20:42.631Z,1366816842.631 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-04-24T15:20:42.632Z,1366816842.632 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-04-24T15:20:43.027Z,1366816843.027 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-04-24T15:20:43.028Z,1366816843.028 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-04-24T15:20:43.140Z,1366816843.141 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-04-24T15:20:43.141Z,1366816843.141 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-04-24T15:20:43.226Z,1366816843.226 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-04-24T15:20:43.227Z,1366816843.227 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-04-24T15:20:43.330Z,1366816843.330 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-04-24T15:20:43.457Z,1366816843.457 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-04-24T15:20:43.542Z,1366816843.542 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-04-24T15:20:43.648Z,1366816843.648 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-04-24T15:20:43.749Z,1366816843.749 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-04-24T15:20:43.869Z,1366816843.869 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-04-24T15:20:43.964Z,1366816843.964 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-04-24T15:20:44.051Z,1366816844.051 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-04-24T15:20:44.085Z,1366816844.085 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-04-24T15:20:44.234Z,1366816844.234 [InternalSim] Loaded
2013-04-24T15:20:44.234Z,1366816844.234 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-04-24T15:20:44.235Z,1366816844.235 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-04-24T15:20:44.236Z,1366816844.236 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-04-24T15:20:44.314Z,1366816844.314 [SBIT](DEBUG): Construct Startup Built In Test.
2013-04-24T15:20:44.342Z,1366816844.342 [SBIT] Loaded
2013-04-24T15:20:44.343Z,1366816844.343 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-04-24T15:20:44.344Z,1366816844.344 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-04-24T15:20:44.372Z,1366816844.372 [IBIT] Loaded
2013-04-24T15:20:44.373Z,1366816844.372 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-04-24T15:20:44.376Z,1366816844.376 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-04-24T15:20:44.495Z,1366816844.495 [CBIT] Loaded
2013-04-24T15:20:44.495Z,1366816844.495 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-04-24T15:20:44.495Z,1366816844.495 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-04-24T15:20:44.496Z,1366816844.496 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-04-24T15:20:44.676Z,1366816844.676 [BuoyancyServo] Loaded
2013-04-24T15:20:44.676Z,1366816844.676 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-04-24T15:20:44.688Z,1366816844.688 [ElevatorServo] Loaded
2013-04-24T15:20:44.689Z,1366816844.689 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-04-24T15:20:44.701Z,1366816844.701 [MassServo] Loaded
2013-04-24T15:20:44.701Z,1366816844.701 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-04-24T15:20:44.713Z,1366816844.713 [RudderServo] Loaded
2013-04-24T15:20:44.713Z,1366816844.713 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-04-24T15:20:44.725Z,1366816844.725 [ThrusterServo] Loaded
2013-04-24T15:20:44.725Z,1366816844.725 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-04-24T15:20:44.726Z,1366816844.726 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-04-24T15:20:44.726Z,1366816844.726 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-04-24T15:20:44.743Z,1366816844.743 [DepthRateCalculator] Loaded
2013-04-24T15:20:44.743Z,1366816844.743 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-04-24T15:20:47.775Z,1366816847.775 [HFRadarModelCalc] Loaded
2013-04-24T15:20:47.775Z,1366816847.775 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-04-24T15:20:47.791Z,1366816847.792 [NavChart] Loaded
2013-04-24T15:20:47.792Z,1366816847.792 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-04-24T15:20:47.798Z,1366816847.798 [PitchRateCalculator] Loaded
2013-04-24T15:20:47.798Z,1366816847.798 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-04-24T15:20:47.804Z,1366816847.804 [SpeedCalculator] Loaded
2013-04-24T15:20:47.804Z,1366816847.805 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-04-24T15:20:47.820Z,1366816847.820 [TempGradientCalculator] Loaded
2013-04-24T15:20:47.820Z,1366816847.820 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-04-24T15:20:47.826Z,1366816847.826 [YawRateCalculator] Loaded
2013-04-24T15:20:47.826Z,1366816847.826 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-04-24T15:20:47.867Z,1366816847.866 [Navigation] Loaded
2013-04-24T15:20:47.867Z,1366816847.867 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-04-24T15:20:47.867Z,1366816847.867 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-04-24T15:20:47.868Z,1366816847.868 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-04-24T15:20:48.079Z,1366816848.079 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-04-24T15:20:48.080Z,1366816848.080 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-04-24T15:20:48.101Z,1366816848.101 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-04-24T15:20:48.101Z,1366816848.102 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-04-24T15:20:48.142Z,1366816848.142 [VerticalControl](DEBUG): Construct VerticalControl.
2013-04-24T15:20:48.236Z,1366816848.236 [VerticalControl] Loaded
2013-04-24T15:20:48.236Z,1366816848.236 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-04-24T15:20:48.237Z,1366816848.237 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-04-24T15:20:48.294Z,1366816848.294 [HorizontalControl] Loaded
2013-04-24T15:20:48.294Z,1366816848.294 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-04-24T15:20:48.295Z,1366816848.295 [SpeedControl](DEBUG): Construct SpeedControl.
2013-04-24T15:20:48.297Z,1366816848.297 [SpeedControl] Loaded
2013-04-24T15:20:48.297Z,1366816848.297 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-04-24T15:20:48.298Z,1366816848.298 [LoopControl](DEBUG): Construct LoopControl.
2013-04-24T15:20:48.298Z,1366816848.298 [LoopControl] Loaded
2013-04-24T15:20:48.299Z,1366816848.299 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-04-24T15:20:48.299Z,1366816848.299 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-04-24T15:20:48.300Z,1366816848.300 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-04-24T15:20:48.305Z,1366816848.305 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-04-24T15:20:48.310Z,1366816848.310 [AsyncPiEstimator] Loaded
2013-04-24T15:20:48.310Z,1366816848.310 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-04-24T15:20:48.311Z,1366816848.311 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-04-24T15:20:48.312Z,1366816848.312 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-04-24T15:20:48.312Z,1366816848.312 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-04-24T15:20:48.436Z,1366816848.436 [AHRS_sp3003D] Loaded
2013-04-24T15:20:48.437Z,1366816848.437 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-04-24T15:20:48.693Z,1366816848.693 [Batt_Ocean_Server] Loaded
2013-04-24T15:20:48.693Z,1366816848.693 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-04-24T15:20:48.707Z,1366816848.707 [Depth_Keller] Loaded
2013-04-24T15:20:48.707Z,1366816848.707 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-04-24T15:20:48.713Z,1366816848.713 [DropWeight] Loaded
2013-04-24T15:20:48.713Z,1366816848.713 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-04-24T15:20:48.886Z,1366816848.886 [DVL_micro] Loaded
2013-04-24T15:20:48.886Z,1366816848.886 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-04-24T15:20:48.887Z,1366816848.887 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406BF4E0
2013-04-24T15:20:48.969Z,1366816848.969 [NAL9602] Loaded
2013-04-24T15:20:48.970Z,1366816848.970 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-04-24T15:20:49.020Z,1366816849.020 [Onboard] Loaded
2013-04-24T15:20:49.021Z,1366816849.021 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-04-24T15:20:49.027Z,1366816849.027 [Radio_Freewave] Loaded
2013-04-24T15:20:49.028Z,1366816849.028 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-04-24T15:20:49.122Z,1366816849.122 [DAT] Loaded
2013-04-24T15:20:49.122Z,1366816849.122 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-04-24T15:20:49.122Z,1366816849.122 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-04-24T15:20:49.123Z,1366816849.123 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-04-24T15:20:49.193Z,1366816849.193 [CTD_NeilBrown] Loaded
2013-04-24T15:20:49.193Z,1366816849.194 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-04-24T15:20:49.195Z,1366816849.195 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407114E0
2013-04-24T15:20:49.226Z,1366816849.226 [WetLabsBB2FL] Loaded
2013-04-24T15:20:49.226Z,1366816849.226 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-04-24T15:20:49.228Z,1366816849.227 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407414E0
2013-04-24T15:20:49.228Z,1366816849.228 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-04-24T15:20:49.230Z,1366816849.230 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-04-24T15:20:49.231Z,1366816849.231 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-04-24T15:20:49.238Z,1366816849.238 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-04-24T15:20:49.239Z,1366816849.239 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407714E0
2013-04-24T15:20:49.243Z,1366816849.243 [Supervisor](DEBUG): Running supervisor.
2013-04-24T15:20:49.244Z,1366816849.244 [CommandLine](INFO): Thread ID is 2717
2013-04-24T15:20:49.247Z,1366816849.247 [controlThread](INFO): Thread ID is 2716
2013-04-24T15:20:49.247Z,1366816849.247 [controlThread](DEBUG): Initializing ControlThread
2013-04-24T15:20:49.248Z,1366816849.248 [CycleStarter](INFO): Thread ID is 2715
2013-04-24T15:20:49.248Z,1366816849.248 [InternalSim](DEBUG):  InternalSim initializing...
2013-04-24T15:20:49.283Z,1366816849.283 [logger](INFO): Thread ID is 2718
2013-04-24T15:20:49.307Z,1366816849.307 [SBIT](INFO): Initialize SBIT Component.
2013-04-24T15:20:49.308Z,1366816849.308 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10307
2013-04-24T15:20:49.308Z,1366816849.308 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-04-24T15:20:49.309Z,1366816849.309 [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
2013-04-24T15:20:49.309Z,1366816849.309 [IBIT](INFO): Initialize IBIT Component.
2013-04-24T15:20:49.310Z,1366816849.310 [CBIT](DEBUG): Initialize CBIT Component.
2013-04-24T15:20:49.310Z,1366816849.310 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2013-04-24T15:20:49.323Z,1366816849.323 [AsyncPiEstimator](INFO): Thread ID is 2779
2013-04-24T15:20:49.323Z,1366816849.323 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-04-24T15:20:49.336Z,1366816849.336 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-04-24T15:20:49.336Z,1366816849.336 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-04-24T15:20:49.336Z,1366816849.336 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-04-24T15:20:49.337Z,1366816849.337 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-04-24T15:20:49.337Z,1366816849.337 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-04-24T15:20:49.339Z,1366816849.339 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-04-24T15:20:49.339Z,1366816849.339 [Navigation](DEBUG): Initializing Navigation.
2013-04-24T15:20:49.339Z,1366816849.339 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-04-24T15:20:49.341Z,1366816849.341 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-04-24T15:20:49.342Z,1366816849.342 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-04-24T15:20:49.343Z,1366816849.343 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-04-24T15:20:49.349Z,1366816849.349 [DVL_micro](INFO): Thread ID is 2780
2013-04-24T15:20:49.359Z,1366816849.359 [DVL_micro](INFO): Initializing
2013-04-24T15:20:49.359Z,1366816849.359 [DVL_micro](INFO): start:Powering up
2013-04-24T15:20:49.359Z,1366816849.359 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-04-24T15:20:49.360Z,1366816849.360 [DVL_micro](INFO): Cycling power to configure device.
2013-04-24T15:20:49.371Z,1366816849.371 [CTD_NeilBrown](INFO): Thread ID is 2781
2013-04-24T15:20:49.372Z,1366816849.372 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-04-24T15:20:49.379Z,1366816849.379 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-04-24T15:20:49.385Z,1366816849.385 [WetLabsBB2FL](INFO): Thread ID is 2782
2013-04-24T15:20:49.385Z,1366816849.385 [WetLabsBB2FL](INFO): Powering down
2013-04-24T15:20:49.430Z,1366816849.430 [NavChartDb](INFO): Thread ID is 2783
2013-04-24T15:20:49.433Z,1366816849.433 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-04-24T15:20:49.434Z,1366816849.434 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-04-24T15:20:49.435Z,1366816849.435 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-04-24T15:20:49.435Z,1366816849.435 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-04-24T15:20:49.435Z,1366816849.435 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-04-24T15:20:49.436Z,1366816849.436 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-04-24T15:20:49.436Z,1366816849.436 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-04-24T15:20:49.436Z,1366816849.436 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-04-24T15:20:49.437Z,1366816849.437 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-04-24T15:20:49.827Z,1366816849.827 [WetLabsBB2FL](FAULT): LCB fault:  Software Overcurrent.
2013-04-24T15:20:49.827Z,1366816849.827 [WetLabsBB2FL] Hardware Fault, FailCount= 1
2013-04-24T15:20:49.827Z,1366816849.827 [WetLabsBB2FL](ERROR): Hardware Fault
2013-04-24T15:20:50.779Z,1366816850.779 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-04-24T15:20:50.813Z,1366816850.813 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-04-24T15:20:50.852Z,1366816850.852 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-24T15:20:50.874Z,1366816850.874 [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>


2013-04-24T15:20:50.907Z,1366816850.907 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-04-24T15:20:51.016Z,1366816851.016 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-04-24T15:20:51.018Z,1366816851.018 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-04-24T15:20:51.021Z,1366816851.021 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-24T15:20:51.054Z,1366816851.054 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-04-24T15:20:51.073Z,1366816851.073 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-24T15:20:51.108Z,1366816851.108 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-04-24T15:20:51.144Z,1366816851.144 [Default:D.SetSpeed](DEBUG): Construct.
2013-04-24T15:20:51.151Z,1366816851.151 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-24T15:20:51.156Z,1366816851.156 [Default:F.Wait](DEBUG): Construct Wait.
2013-04-24T15:20:51.176Z,1366816851.176 [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>


2013-04-24T15:20:51.180Z,1366816851.180 [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,
2013-04-24T15:20:51.278Z,1366816851.278 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-04-24T15:20:51.435Z,1366816851.435 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-04-24T15:20:51.435Z,1366816851.435 [DVL_micro](INFO): Querying output modes
2013-04-24T15:20:51.435Z,1366816851.435 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-04-24T15:20:51.447Z,1366816851.447 [DVL_micro](DEBUG): cmdResponse: 01
2013-04-24T15:20:51.447Z,1366816851.447 [DVL_micro](INFO): NQ1 output enabled
2013-04-24T15:20:51.447Z,1366816851.447 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-04-24T15:20:51.458Z,1366816851.458 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-04-24T15:20:51.463Z,1366816851.463 [DVL_micro](INFO): pause:Powering down
2013-04-24T15:20:51.530Z,1366816851.530 [Radio_Freewave](INFO): Powering up
2013-04-24T15:20:51.548Z,1366816851.548 [DAT](INFO): Powering up
2013-04-24T15:20:51.548Z,1366816851.548 [DAT](DEBUG): Initializing DAT.
2013-04-24T15:20:51.783Z,1366816851.783 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:20:51.803Z,1366816851.803 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-04-24T15:20:51.813Z,1366816851.813 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:20:51.826Z,1366816851.826 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-04-24T15:20:51.848Z,1366816851.848 [MassServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:20:51.850Z,1366816851.851 [MassServo](DEBUG): Initializing MassServo.
2013-04-24T15:20:51.869Z,1366816851.869 [RudderServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:20:51.874Z,1366816851.875 [RudderServo](DEBUG): Initializing RudderServo.
2013-04-24T15:20:51.884Z,1366816851.884 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:20:51.907Z,1366816851.907 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-04-24T15:20:51.958Z,1366816851.958 [CBIT](ERROR): Hardware Fault in component: WetLabsBB2FL
2013-04-24T15:20:51.958Z,1366816851.958 [CBIT](INFO): Clearing failed state for component WetLabsBB2FL
2013-04-24T15:20:51.958Z,1366816851.958 [WetLabsBB2FL] No Fault, FailCount= 1
2013-04-24T15:20:51.966Z,1366816851.967 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=4
2013-04-24T15:20:51.967Z,1366816851.967 [WetLabsBB2FL](INFO): Powering up
2013-04-24T15:20:53.166Z,1366816853.166 [WetLabsBB2FL](INFO): Powering down
2013-04-24T15:20:54.357Z,1366816854.357 [NAL9602](INFO): Powering up NAL9602
2013-04-24T15:21:04.788Z,1366816864.788 [SBIT](IMPORTANT): Beginning Startup BIT
2013-04-24T15:21:04.791Z,1366816864.791 [CBIT](IMPORTANT): Beginning GF scan
2013-04-24T15:21:05.123Z,1366816865.123 [NAL9602](INFO): NAL9602 initialized
2013-04-24T15:21:11.563Z,1366816871.563 [CommandLine](IMPORTANT): got command failComponent
2013-04-24T15:21:11.563Z,1366816871.563 [CommandLine](IMPORTANT): Failed components:
2013-04-24T15:21:11.563Z,1366816871.563 [CommandLine](IMPORTANT): No failed Components.
2013-04-24T15:21:11.811Z,1366816871.811 [DAT](INFO): Powering down
2013-04-24T15:21:16.820Z,1366816876.820 [CommandLine](IMPORTANT): got command restart application
2013-04-24T15:21:17.838Z,1366816877.838 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-04-24T15:21:17.838Z,1366816877.838 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-04-24T15:21:18.798Z,1366816878.798 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-04-24T15:21:19.055Z,1366816879.055 [WetLabsBB2FL](INFO): Powering down
2013-04-24T15:21:19.058Z,1366816879.058 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-04-24T15:21:19.095Z,1366816879.095 [CTD_NeilBrown](INFO): Powering down
2013-04-24T15:21:19.106Z,1366816879.106 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-04-24T15:21:19.363Z,1366816879.362 [DVL_micro](INFO): uninitialize:Powering down
2013-04-24T15:21:19.366Z,1366816879.366 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-04-24T15:21:19.659Z,1366816879.659 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-04-24T15:21:19.660Z,1366816879.660 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-04-24T15:21:19.719Z,1366816879.719 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-04-24T15:21:19.720Z,1366816879.720 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-04-24T15:21:20.623Z,1366816880.624 [controlThread](DEBUG): Uninitializing ControlThread
2013-04-24T15:21:20.624Z,1366816880.624 [AHRS_sp3003D](INFO): Powering down
2013-04-24T15:21:20.711Z,1366816880.711 [NAL9602](INFO): Powering down
2013-04-24T15:21:20.713Z,1366816880.713 [DAT](INFO): Powering down
2013-04-24T15:21:20.714Z,1366816880.714 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-04-24T15:21:20.714Z,1366816880.714 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-04-24T15:21:20.719Z,1366816880.719 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-04-24T15:21:20.720Z,1366816880.720 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-04-24T15:21:20.720Z,1366816880.720 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-04-24T15:21:20.720Z,1366816880.720 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-04-24T15:21:20.721Z,1366816880.721 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-04-24T15:21:20.722Z,1366816880.722 [BuoyancyServo](INFO): Powering down
2013-04-24T15:21:20.738Z,1366816880.738 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-04-24T15:21:20.739Z,1366816880.739 [ElevatorServo](INFO): Powering down
2013-04-24T15:21:20.740Z,1366816880.740 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-04-24T15:21:20.740Z,1366816880.740 [MassServo](INFO): Powering down
2013-04-24T15:21:20.741Z,1366816880.741 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-04-24T15:21:20.741Z,1366816880.741 [RudderServo](INFO): Powering down
2013-04-24T15:21:20.742Z,1366816880.742 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-04-24T15:21:20.742Z,1366816880.742 [ThrusterServo](INFO): Powering down
2013-04-24T15:21:20.743Z,1366816880.743 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-04-24T15:21:20.743Z,1366816880.743 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-04-24T15:21:20.743Z,1366816880.743 [CBIT](DEBUG): Uninitialize CBIT Component.