2013-04-24T15:21:21.913Z,1366816881.913 [Supervisor](DEBUG): Initializing supervisor.
2013-04-24T15:21:21.916Z,1366816881.916 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-04-24T15:21:21.916Z,1366816881.916 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-04-24T15:21:21.917Z,1366816881.917 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-04-24T15:21:21.921Z,1366816881.921 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-04-24T15:21:21.931Z,1366816881.931 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-04-24T15:21:21.932Z,1366816881.932 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-04-24T15:21:21.933Z,1366816881.933 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-04-24T15:21:21.934Z,1366816881.934 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-04-24T15:21:21.935Z,1366816881.935 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-04-24T15:21:21.936Z,1366816881.936 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-04-24T15:21:22.226Z,1366816882.226 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-04-24T15:21:22.226Z,1366816882.226 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-04-24T15:21:22.411Z,1366816882.411 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-04-24T15:21:22.412Z,1366816882.412 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-04-24T15:21:22.495Z,1366816882.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-04-24T15:21:22.496Z,1366816882.496 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-04-24T15:21:22.692Z,1366816882.693 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-04-24T15:21:22.693Z,1366816882.693 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-04-24T15:21:22.829Z,1366816882.829 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-04-24T15:21:22.829Z,1366816882.829 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-04-24T15:21:23.058Z,1366816883.058 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-04-24T15:21:23.058Z,1366816883.058 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-04-24T15:21:23.226Z,1366816883.226 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-04-24T15:21:23.227Z,1366816883.227 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-04-24T15:21:23.473Z,1366816883.473 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-04-24T15:21:23.474Z,1366816883.474 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-04-24T15:21:23.572Z,1366816883.572 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-04-24T15:21:23.572Z,1366816883.572 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-04-24T15:21:23.965Z,1366816883.965 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-04-24T15:21:23.966Z,1366816883.966 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-04-24T15:21:24.079Z,1366816884.079 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-04-24T15:21:24.079Z,1366816884.079 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-04-24T15:21:24.165Z,1366816884.165 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-04-24T15:21:24.166Z,1366816884.166 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-04-24T15:21:24.269Z,1366816884.270 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-04-24T15:21:24.397Z,1366816884.397 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-04-24T15:21:24.482Z,1366816884.482 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-04-24T15:21:24.588Z,1366816884.588 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-04-24T15:21:24.689Z,1366816884.689 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-04-24T15:21:24.810Z,1366816884.810 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-04-24T15:21:24.905Z,1366816884.905 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-04-24T15:21:24.992Z,1366816884.992 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-04-24T15:21:25.023Z,1366816885.023 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-04-24T15:21:25.169Z,1366816885.169 [InternalSim] Loaded
2013-04-24T15:21:25.169Z,1366816885.169 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-04-24T15:21:25.170Z,1366816885.170 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-04-24T15:21:25.171Z,1366816885.171 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-04-24T15:21:25.227Z,1366816885.227 [SBIT](DEBUG): Construct Startup Built In Test.
2013-04-24T15:21:25.255Z,1366816885.255 [SBIT] Loaded
2013-04-24T15:21:25.255Z,1366816885.255 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-04-24T15:21:25.256Z,1366816885.256 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-04-24T15:21:25.284Z,1366816885.284 [IBIT] Loaded
2013-04-24T15:21:25.284Z,1366816885.284 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-04-24T15:21:25.288Z,1366816885.288 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-04-24T15:21:25.403Z,1366816885.404 [CBIT] Loaded
2013-04-24T15:21:25.404Z,1366816885.404 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-04-24T15:21:25.404Z,1366816885.404 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-04-24T15:21:25.405Z,1366816885.405 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-04-24T15:21:25.551Z,1366816885.551 [BuoyancyServo] Loaded
2013-04-24T15:21:25.552Z,1366816885.552 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-04-24T15:21:25.564Z,1366816885.564 [ElevatorServo] Loaded
2013-04-24T15:21:25.564Z,1366816885.564 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-04-24T15:21:25.576Z,1366816885.576 [MassServo] Loaded
2013-04-24T15:21:25.576Z,1366816885.576 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-04-24T15:21:25.588Z,1366816885.588 [RudderServo] Loaded
2013-04-24T15:21:25.588Z,1366816885.588 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-04-24T15:21:25.600Z,1366816885.599 [ThrusterServo] Loaded
2013-04-24T15:21:25.600Z,1366816885.600 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-04-24T15:21:25.600Z,1366816885.600 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-04-24T15:21:25.601Z,1366816885.601 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-04-24T15:21:25.618Z,1366816885.618 [DepthRateCalculator] Loaded
2013-04-24T15:21:25.618Z,1366816885.618 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-04-24T15:21:28.513Z,1366816888.513 [HFRadarModelCalc] Loaded
2013-04-24T15:21:28.513Z,1366816888.513 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-04-24T15:21:28.529Z,1366816888.529 [NavChart] Loaded
2013-04-24T15:21:28.529Z,1366816888.529 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-04-24T15:21:28.535Z,1366816888.535 [PitchRateCalculator] Loaded
2013-04-24T15:21:28.535Z,1366816888.535 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-04-24T15:21:28.541Z,1366816888.541 [SpeedCalculator] Loaded
2013-04-24T15:21:28.542Z,1366816888.542 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-04-24T15:21:28.557Z,1366816888.556 [TempGradientCalculator] Loaded
2013-04-24T15:21:28.557Z,1366816888.557 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-04-24T15:21:28.562Z,1366816888.562 [YawRateCalculator] Loaded
2013-04-24T15:21:28.563Z,1366816888.563 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-04-24T15:21:28.602Z,1366816888.602 [Navigation] Loaded
2013-04-24T15:21:28.603Z,1366816888.603 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-04-24T15:21:28.603Z,1366816888.603 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-04-24T15:21:28.604Z,1366816888.603 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-04-24T15:21:28.830Z,1366816888.830 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-04-24T15:21:28.830Z,1366816888.830 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-04-24T15:21:28.851Z,1366816888.851 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-04-24T15:21:28.852Z,1366816888.852 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-04-24T15:21:28.891Z,1366816888.891 [VerticalControl](DEBUG): Construct VerticalControl.
2013-04-24T15:21:28.982Z,1366816888.982 [VerticalControl] Loaded
2013-04-24T15:21:28.983Z,1366816888.983 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-04-24T15:21:28.983Z,1366816888.983 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-04-24T15:21:29.039Z,1366816889.039 [HorizontalControl] Loaded
2013-04-24T15:21:29.039Z,1366816889.039 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-04-24T15:21:29.040Z,1366816889.040 [SpeedControl](DEBUG): Construct SpeedControl.
2013-04-24T15:21:29.042Z,1366816889.042 [SpeedControl] Loaded
2013-04-24T15:21:29.042Z,1366816889.042 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-04-24T15:21:29.043Z,1366816889.043 [LoopControl](DEBUG): Construct LoopControl.
2013-04-24T15:21:29.043Z,1366816889.043 [LoopControl] Loaded
2013-04-24T15:21:29.044Z,1366816889.044 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-04-24T15:21:29.044Z,1366816889.044 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-04-24T15:21:29.045Z,1366816889.045 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-04-24T15:21:29.050Z,1366816889.050 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-04-24T15:21:29.054Z,1366816889.055 [AsyncPiEstimator] Loaded
2013-04-24T15:21:29.055Z,1366816889.055 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-04-24T15:21:29.056Z,1366816889.056 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-04-24T15:21:29.057Z,1366816889.057 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-04-24T15:21:29.057Z,1366816889.057 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-04-24T15:21:29.179Z,1366816889.179 [AHRS_sp3003D] Loaded
2013-04-24T15:21:29.180Z,1366816889.180 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-04-24T15:21:29.433Z,1366816889.434 [Batt_Ocean_Server] Loaded
2013-04-24T15:21:29.434Z,1366816889.434 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-04-24T15:21:29.447Z,1366816889.447 [Depth_Keller] Loaded
2013-04-24T15:21:29.447Z,1366816889.447 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-04-24T15:21:29.453Z,1366816889.453 [DropWeight] Loaded
2013-04-24T15:21:29.453Z,1366816889.453 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-04-24T15:21:29.622Z,1366816889.622 [DVL_micro] Loaded
2013-04-24T15:21:29.623Z,1366816889.622 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-04-24T15:21:29.624Z,1366816889.624 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406BF4E0
2013-04-24T15:21:29.705Z,1366816889.704 [NAL9602] Loaded
2013-04-24T15:21:29.705Z,1366816889.705 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-04-24T15:21:29.754Z,1366816889.754 [Onboard] Loaded
2013-04-24T15:21:29.755Z,1366816889.755 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-04-24T15:21:29.762Z,1366816889.761 [Radio_Freewave] Loaded
2013-04-24T15:21:29.762Z,1366816889.762 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-04-24T15:21:29.853Z,1366816889.853 [DAT] Loaded
2013-04-24T15:21:29.854Z,1366816889.854 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-04-24T15:21:29.854Z,1366816889.854 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-04-24T15:21:29.855Z,1366816889.855 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-04-24T15:21:29.924Z,1366816889.924 [CTD_NeilBrown] Loaded
2013-04-24T15:21:29.924Z,1366816889.924 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-04-24T15:21:29.925Z,1366816889.925 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407114E0
2013-04-24T15:21:29.957Z,1366816889.957 [WetLabsBB2FL] Loaded
2013-04-24T15:21:29.957Z,1366816889.957 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-04-24T15:21:29.958Z,1366816889.958 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407414E0
2013-04-24T15:21:29.959Z,1366816889.959 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-04-24T15:21:29.961Z,1366816889.961 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-04-24T15:21:29.962Z,1366816889.962 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-04-24T15:21:29.968Z,1366816889.968 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-04-24T15:21:29.970Z,1366816889.970 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407714E0
2013-04-24T15:21:29.974Z,1366816889.974 [Supervisor](DEBUG): Running supervisor.
2013-04-24T15:21:29.975Z,1366816889.975 [CommandLine](INFO): Thread ID is 2815
2013-04-24T15:21:29.977Z,1366816889.977 [controlThread](INFO): Thread ID is 2814
2013-04-24T15:21:29.978Z,1366816889.977 [controlThread](DEBUG): Initializing ControlThread
2013-04-24T15:21:29.978Z,1366816889.978 [CycleStarter](INFO): Thread ID is 2813
2013-04-24T15:21:29.979Z,1366816889.978 [InternalSim](DEBUG):  InternalSim initializing...
2013-04-24T15:21:30.014Z,1366816890.014 [logger](INFO): Thread ID is 2816
2013-04-24T15:21:30.034Z,1366816890.034 [SBIT](INFO): Initialize SBIT Component.
2013-04-24T15:21:30.035Z,1366816890.035 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10307
2013-04-24T15:21:30.035Z,1366816890.035 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-04-24T15:21:30.036Z,1366816890.036 [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
2013-04-24T15:21:30.036Z,1366816890.036 [IBIT](INFO): Initialize IBIT Component.
2013-04-24T15:21:30.037Z,1366816890.037 [CBIT](DEBUG): Initialize CBIT Component.
2013-04-24T15:21:30.038Z,1366816890.037 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2013-04-24T15:21:30.047Z,1366816890.047 [AsyncPiEstimator](INFO): Thread ID is 2877
2013-04-24T15:21:30.047Z,1366816890.047 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-04-24T15:21:30.068Z,1366816890.068 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-04-24T15:21:30.068Z,1366816890.068 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-04-24T15:21:30.068Z,1366816890.069 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-04-24T15:21:30.069Z,1366816890.069 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-04-24T15:21:30.069Z,1366816890.069 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-04-24T15:21:30.071Z,1366816890.071 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-04-24T15:21:30.071Z,1366816890.071 [Navigation](DEBUG): Initializing Navigation.
2013-04-24T15:21:30.071Z,1366816890.071 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-04-24T15:21:30.073Z,1366816890.073 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-04-24T15:21:30.074Z,1366816890.074 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-04-24T15:21:30.075Z,1366816890.075 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-04-24T15:21:30.078Z,1366816890.078 [DVL_micro](INFO): Thread ID is 2878
2013-04-24T15:21:30.087Z,1366816890.087 [DVL_micro](INFO): Initializing
2013-04-24T15:21:30.087Z,1366816890.087 [DVL_micro](INFO): start:Powering up
2013-04-24T15:21:30.088Z,1366816890.088 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-04-24T15:21:30.088Z,1366816890.088 [DVL_micro](INFO): Cycling power to configure device.
2013-04-24T15:21:30.109Z,1366816890.109 [CTD_NeilBrown](INFO): Thread ID is 2879
2013-04-24T15:21:30.109Z,1366816890.109 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-04-24T15:21:30.113Z,1366816890.113 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-04-24T15:21:30.122Z,1366816890.122 [WetLabsBB2FL](INFO): Thread ID is 2880
2013-04-24T15:21:30.123Z,1366816890.123 [WetLabsBB2FL](INFO): Powering down
2013-04-24T15:21:30.155Z,1366816890.155 [NavChartDb](INFO): Thread ID is 2881
2013-04-24T15:21:30.158Z,1366816890.158 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-04-24T15:21:30.159Z,1366816890.159 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-04-24T15:21:30.159Z,1366816890.159 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-04-24T15:21:30.160Z,1366816890.160 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-04-24T15:21:30.160Z,1366816890.160 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-04-24T15:21:30.160Z,1366816890.160 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-04-24T15:21:30.160Z,1366816890.160 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-04-24T15:21:30.161Z,1366816890.161 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-04-24T15:21:30.161Z,1366816890.161 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-04-24T15:21:31.703Z,1366816891.703 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-04-24T15:21:31.741Z,1366816891.741 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-04-24T15:21:31.769Z,1366816891.769 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-24T15:21:31.789Z,1366816891.789 [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>


2013-04-24T15:21:31.789Z,1366816891.789 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-04-24T15:21:31.876Z,1366816891.876 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-04-24T15:21:31.878Z,1366816891.878 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-04-24T15:21:31.881Z,1366816891.881 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-24T15:21:31.901Z,1366816891.901 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-04-24T15:21:31.904Z,1366816891.904 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-24T15:21:31.946Z,1366816891.946 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-04-24T15:21:31.966Z,1366816891.967 [Default:D.SetSpeed](DEBUG): Construct.
2013-04-24T15:21:31.970Z,1366816891.970 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-24T15:21:31.979Z,1366816891.979 [Default:F.Wait](DEBUG): Construct Wait.
2013-04-24T15:21:31.983Z,1366816891.983 [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>


2013-04-24T15:21:31.994Z,1366816891.994 [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,
2013-04-24T15:21:32.069Z,1366816892.069 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-04-24T15:21:32.123Z,1366816892.123 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-04-24T15:21:32.123Z,1366816892.123 [DVL_micro](INFO): Querying output modes
2013-04-24T15:21:32.124Z,1366816892.124 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-04-24T15:21:32.138Z,1366816892.138 [DVL_micro](DEBUG): cmdResponse: 01
2013-04-24T15:21:32.139Z,1366816892.139 [DVL_micro](INFO): NQ1 output enabled
2013-04-24T15:21:32.139Z,1366816892.139 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-04-24T15:21:32.150Z,1366816892.151 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-04-24T15:21:32.155Z,1366816892.155 [DVL_micro](INFO): pause:Powering down
2013-04-24T15:21:32.194Z,1366816892.194 [Radio_Freewave](INFO): Powering up
2013-04-24T15:21:32.199Z,1366816892.200 [DAT](INFO): Powering up
2013-04-24T15:21:32.200Z,1366816892.200 [DAT](DEBUG): Initializing DAT.
2013-04-24T15:21:32.399Z,1366816892.399 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:21:32.407Z,1366816892.407 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-04-24T15:21:32.413Z,1366816892.413 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:21:32.438Z,1366816892.438 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-04-24T15:21:32.444Z,1366816892.444 [MassServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:21:32.451Z,1366816892.451 [MassServo](DEBUG): Initializing MassServo.
2013-04-24T15:21:32.467Z,1366816892.467 [RudderServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:21:32.475Z,1366816892.475 [RudderServo](DEBUG): Initializing RudderServo.
2013-04-24T15:21:32.480Z,1366816892.480 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-04-24T15:21:32.486Z,1366816892.487 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-04-24T15:21:34.937Z,1366816894.937 [NAL9602](INFO): Powering up NAL9602
2013-04-24T15:21:45.389Z,1366816905.389 [SBIT](IMPORTANT): Beginning Startup BIT
2013-04-24T15:21:45.392Z,1366816905.392 [CBIT](IMPORTANT): Beginning GF scan
2013-04-24T15:21:45.675Z,1366816905.675 [NAL9602](INFO): NAL9602 initialized
2013-04-24T15:21:52.331Z,1366816912.331 [DAT](INFO): Powering down
2013-04-24T15:21:57.911Z,1366816917.911 [CommandLine](IMPORTANT): got command quit
2013-04-24T15:21:59.026Z,1366816919.026 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-04-24T15:21:59.026Z,1366816919.026 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-04-24T15:21:59.970Z,1366816919.970 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-04-24T15:22:00.075Z,1366816920.075 [WetLabsBB2FL](INFO): Powering down
2013-04-24T15:22:00.086Z,1366816920.086 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-04-24T15:22:00.287Z,1366816920.287 [CTD_NeilBrown](INFO): Powering down
2013-04-24T15:22:00.294Z,1366816920.295 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-04-24T15:22:00.483Z,1366816920.483 [DVL_micro](INFO): uninitialize:Powering down
2013-04-24T15:22:00.491Z,1366816920.490 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-04-24T15:22:00.715Z,1366816920.715 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-04-24T15:22:00.723Z,1366816920.723 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-04-24T15:22:00.823Z,1366816920.823 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-04-24T15:22:00.843Z,1366816920.843 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-04-24T15:22:01.315Z,1366816921.315 [controlThread](DEBUG): Uninitializing ControlThread
2013-04-24T15:22:01.316Z,1366816921.316 [AHRS_sp3003D](INFO): Powering down
2013-04-24T15:22:01.404Z,1366816921.404 [NAL9602](INFO): Powering down
2013-04-24T15:22:01.405Z,1366816921.405 [DAT](INFO): Powering down
2013-04-24T15:22:01.406Z,1366816921.406 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-04-24T15:22:01.407Z,1366816921.407 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-04-24T15:22:01.412Z,1366816921.412 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-04-24T15:22:01.412Z,1366816921.412 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-04-24T15:22:01.412Z,1366816921.412 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-04-24T15:22:01.413Z,1366816921.413 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-04-24T15:22:01.413Z,1366816921.413 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-04-24T15:22:01.414Z,1366816921.414 [BuoyancyServo](INFO): Powering down
2013-04-24T15:22:01.431Z,1366816921.431 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-04-24T15:22:01.431Z,1366816921.431 [ElevatorServo](INFO): Powering down
2013-04-24T15:22:01.432Z,1366816921.432 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-04-24T15:22:01.432Z,1366816921.432 [MassServo](INFO): Powering down
2013-04-24T15:22:01.433Z,1366816921.433 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-04-24T15:22:01.433Z,1366816921.433 [RudderServo](INFO): Powering down
2013-04-24T15:22:01.434Z,1366816921.434 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-04-24T15:22:01.435Z,1366816921.434 [ThrusterServo](INFO): Powering down
2013-04-24T15:22:01.435Z,1366816921.435 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-04-24T15:22:01.436Z,1366816921.436 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-04-24T15:22:01.436Z,1366816921.436 [CBIT](DEBUG): Uninitialize CBIT Component.