2013-05-16T21:39:51.430Z,1368740391.430 [Supervisor](DEBUG): Initializing supervisor.
2013-05-16T21:39:51.435Z,1368740391.434 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-16T21:39:51.435Z,1368740391.435 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-16T21:39:51.436Z,1368740391.436 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-16T21:39:51.440Z,1368740391.440 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-16T21:39:51.450Z,1368740391.450 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-16T21:39:51.451Z,1368740391.451 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-16T21:39:51.452Z,1368740391.452 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-16T21:39:51.453Z,1368740391.453 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-16T21:39:51.454Z,1368740391.454 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-16T21:39:51.458Z,1368740391.458 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-16T21:39:51.753Z,1368740391.753 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-16T21:39:51.754Z,1368740391.754 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-16T21:39:51.947Z,1368740391.947 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-16T21:39:51.948Z,1368740391.948 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-16T21:39:52.034Z,1368740392.034 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-16T21:39:52.036Z,1368740392.036 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-16T21:39:52.243Z,1368740392.243 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-16T21:39:52.244Z,1368740392.244 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-16T21:39:52.384Z,1368740392.384 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-16T21:39:52.386Z,1368740392.386 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-16T21:39:52.627Z,1368740392.627 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-16T21:39:52.627Z,1368740392.627 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-16T21:39:52.802Z,1368740392.802 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-16T21:39:52.804Z,1368740392.804 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-16T21:39:53.065Z,1368740393.065 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-16T21:39:53.067Z,1368740393.067 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-16T21:39:53.168Z,1368740393.168 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-16T21:39:53.169Z,1368740393.169 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-16T21:39:53.582Z,1368740393.582 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-16T21:39:53.583Z,1368740393.583 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-16T21:39:53.699Z,1368740393.699 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-16T21:39:53.700Z,1368740393.700 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-16T21:39:53.786Z,1368740393.786 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-16T21:39:53.790Z,1368740393.790 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-16T21:39:53.898Z,1368740393.898 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-16T21:39:54.031Z,1368740394.031 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-16T21:39:54.118Z,1368740394.118 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-16T21:39:54.228Z,1368740394.228 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-16T21:39:54.332Z,1368740394.332 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-16T21:39:54.457Z,1368740394.457 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-16T21:39:54.555Z,1368740394.556 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-16T21:39:54.645Z,1368740394.645 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-05-16T21:39:54.672Z,1368740394.672 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-16T21:39:54.854Z,1368740394.854 [InternalSim] Loaded
2013-05-16T21:39:54.854Z,1368740394.854 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-16T21:39:54.855Z,1368740394.855 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-16T21:39:54.855Z,1368740394.855 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-16T21:39:54.935Z,1368740394.935 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-16T21:39:54.964Z,1368740394.964 [SBIT] Loaded
2013-05-16T21:39:54.964Z,1368740394.964 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-16T21:39:54.965Z,1368740394.965 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-16T21:39:54.994Z,1368740394.994 [IBIT] Loaded
2013-05-16T21:39:54.995Z,1368740394.995 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-16T21:39:54.998Z,1368740394.998 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-16T21:39:55.120Z,1368740395.120 [CBIT] Loaded
2013-05-16T21:39:55.120Z,1368740395.120 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-16T21:39:55.120Z,1368740395.120 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-16T21:39:55.121Z,1368740395.121 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-16T21:39:55.315Z,1368740395.315 [BuoyancyServo] Loaded
2013-05-16T21:39:55.315Z,1368740395.316 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-16T21:39:55.328Z,1368740395.328 [ElevatorServo] Loaded
2013-05-16T21:39:55.328Z,1368740395.328 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-16T21:39:55.340Z,1368740395.340 [MassServo] Loaded
2013-05-16T21:39:55.340Z,1368740395.340 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-16T21:39:55.352Z,1368740395.352 [RudderServo] Loaded
2013-05-16T21:39:55.353Z,1368740395.353 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-16T21:39:55.364Z,1368740395.365 [ThrusterServo] Loaded
2013-05-16T21:39:55.365Z,1368740395.365 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-16T21:39:55.365Z,1368740395.365 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-16T21:39:55.366Z,1368740395.366 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-16T21:39:56.872Z,1368740396.872 [DepthRateCalculator] Loaded
2013-05-16T21:39:56.873Z,1368740396.873 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-16T21:40:01.647Z,1368740401.647 [HFRadarModelCalc] Loaded
2013-05-16T21:40:01.647Z,1368740401.647 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-16T21:40:01.663Z,1368740401.663 [NavChart] Loaded
2013-05-16T21:40:01.664Z,1368740401.664 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-16T21:40:01.669Z,1368740401.669 [PitchRateCalculator] Loaded
2013-05-16T21:40:01.670Z,1368740401.670 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-16T21:40:01.680Z,1368740401.681 [SpeedCalculator] Loaded
2013-05-16T21:40:01.681Z,1368740401.681 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-16T21:40:01.697Z,1368740401.697 [TempGradientCalculator] Loaded
2013-05-16T21:40:01.697Z,1368740401.697 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-16T21:40:01.703Z,1368740401.703 [YawRateCalculator] Loaded
2013-05-16T21:40:01.703Z,1368740401.703 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-16T21:40:01.750Z,1368740401.750 [Navigation] Loaded
2013-05-16T21:40:01.750Z,1368740401.750 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-16T21:40:01.751Z,1368740401.751 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-16T21:40:01.751Z,1368740401.751 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-16T21:40:02.002Z,1368740402.002 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-16T21:40:02.003Z,1368740402.003 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-16T21:40:02.048Z,1368740402.048 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-16T21:40:02.048Z,1368740402.048 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-16T21:40:02.108Z,1368740402.108 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-16T21:40:02.201Z,1368740402.201 [VerticalControl] Loaded
2013-05-16T21:40:02.201Z,1368740402.201 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-16T21:40:02.202Z,1368740402.202 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-16T21:40:02.258Z,1368740402.258 [HorizontalControl] Loaded
2013-05-16T21:40:02.259Z,1368740402.259 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-16T21:40:02.260Z,1368740402.260 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-16T21:40:02.261Z,1368740402.261 [SpeedControl] Loaded
2013-05-16T21:40:02.262Z,1368740402.262 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-16T21:40:02.262Z,1368740402.263 [LoopControl](DEBUG): Construct LoopControl.
2013-05-16T21:40:02.263Z,1368740402.263 [LoopControl] Loaded
2013-05-16T21:40:02.263Z,1368740402.263 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-16T21:40:02.264Z,1368740402.264 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-16T21:40:02.264Z,1368740402.264 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-16T21:40:02.272Z,1368740402.272 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-16T21:40:02.278Z,1368740402.278 [AsyncPiEstimator] Loaded
2013-05-16T21:40:02.278Z,1368740402.278 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-16T21:40:02.279Z,1368740402.279 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-16T21:40:02.280Z,1368740402.280 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-16T21:40:02.280Z,1368740402.280 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-16T21:40:02.447Z,1368740402.447 [AHRS_sp3003D] Loaded
2013-05-16T21:40:02.448Z,1368740402.448 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-16T21:40:02.716Z,1368740402.717 [Batt_Ocean_Server] Loaded
2013-05-16T21:40:02.717Z,1368740402.717 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-16T21:40:02.731Z,1368740402.731 [Depth_Keller] Loaded
2013-05-16T21:40:02.731Z,1368740402.731 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-16T21:40:02.737Z,1368740402.737 [DropWeight] Loaded
2013-05-16T21:40:02.737Z,1368740402.737 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-16T21:40:02.915Z,1368740402.915 [DVL_micro] Loaded
2013-05-16T21:40:02.915Z,1368740402.915 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-16T21:40:02.916Z,1368740402.917 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406BD4E0
2013-05-16T21:40:03.002Z,1368740403.002 [NAL9602] Loaded
2013-05-16T21:40:03.003Z,1368740403.003 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-16T21:40:03.055Z,1368740403.055 [Onboard] Loaded
2013-05-16T21:40:03.055Z,1368740403.055 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-16T21:40:03.062Z,1368740403.062 [Radio_Freewave] Loaded
2013-05-16T21:40:03.062Z,1368740403.062 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-16T21:40:03.188Z,1368740403.188 [DAT] Loaded
2013-05-16T21:40:03.188Z,1368740403.188 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-05-16T21:40:03.189Z,1368740403.189 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-16T21:40:03.189Z,1368740403.189 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-16T21:40:03.284Z,1368740403.284 [CTD_NeilBrown] Loaded
2013-05-16T21:40:03.285Z,1368740403.285 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-16T21:40:03.286Z,1368740403.286 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4070F4E0
2013-05-16T21:40:03.318Z,1368740403.318 [WetLabsBB2FL] Loaded
2013-05-16T21:40:03.318Z,1368740403.318 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-16T21:40:03.319Z,1368740403.319 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4073F4E0
2013-05-16T21:40:03.320Z,1368740403.320 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-16T21:40:03.322Z,1368740403.322 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-16T21:40:03.323Z,1368740403.323 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-16T21:40:03.334Z,1368740403.334 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-16T21:40:03.335Z,1368740403.335 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2013-05-16T21:40:03.339Z,1368740403.339 [Supervisor](DEBUG): Running supervisor.
2013-05-16T21:40:03.340Z,1368740403.340 [CommandLine](INFO): Thread ID is 747
2013-05-16T21:40:03.343Z,1368740403.343 [controlThread](INFO): Thread ID is 746
2013-05-16T21:40:03.343Z,1368740403.343 [controlThread](DEBUG): Initializing ControlThread
2013-05-16T21:40:03.344Z,1368740403.344 [CycleStarter](INFO): Thread ID is 745
2013-05-16T21:40:03.344Z,1368740403.344 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-16T21:40:03.375Z,1368740403.375 [logger](INFO): Thread ID is 748
2013-05-16T21:40:03.481Z,1368740403.481 [AsyncPiEstimator](INFO): Thread ID is 809
2013-05-16T21:40:03.481Z,1368740403.481 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-16T21:40:03.499Z,1368740403.499 [DVL_micro](INFO): Thread ID is 810
2013-05-16T21:40:03.631Z,1368740403.631 [CTD_NeilBrown](INFO): Thread ID is 811
2013-05-16T21:40:03.631Z,1368740403.631 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-16T21:40:03.638Z,1368740403.638 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-16T21:40:03.660Z,1368740403.660 [WetLabsBB2FL](INFO): Thread ID is 812
2013-05-16T21:40:03.661Z,1368740403.661 [WetLabsBB2FL](INFO): Powering down
2013-05-16T21:40:03.723Z,1368740403.723 [NavChartDb](INFO): Thread ID is 813
2013-05-16T21:40:03.726Z,1368740403.726 [DVL_micro](INFO): Initializing
2013-05-16T21:40:03.726Z,1368740403.726 [DVL_micro](INFO): start:Powering up
2013-05-16T21:40:03.727Z,1368740403.727 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T21:40:03.731Z,1368740403.731 [DVL_micro](INFO): Cycling power to configure device.
2013-05-16T21:40:03.734Z,1368740403.734 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-16T21:40:03.735Z,1368740403.735 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-16T21:40:03.735Z,1368740403.735 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-16T21:40:03.735Z,1368740403.735 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-16T21:40:03.735Z,1368740403.736 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-16T21:40:03.736Z,1368740403.736 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-16T21:40:03.736Z,1368740403.736 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-16T21:40:03.736Z,1368740403.736 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-16T21:40:03.737Z,1368740403.737 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-16T21:40:03.775Z,1368740403.775 [SBIT](INFO): Initialize SBIT Component.
2013-05-16T21:40:03.776Z,1368740403.776 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10359
2013-05-16T21:40:03.776Z,1368740403.776 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-16T21:40:03.776Z,1368740403.776 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-16T21:40:03.777Z,1368740403.777 [IBIT](INFO): Initialize IBIT Component.
2013-05-16T21:40:03.814Z,1368740403.814 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-16T21:40:03.815Z,1368740403.815 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-05-16T21:40:03.815Z,1368740403.815 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-05-16T21:40:03.839Z,1368740403.839 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-16T21:40:03.840Z,1368740403.840 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-16T21:40:03.840Z,1368740403.840 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-16T21:40:03.840Z,1368740403.840 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-16T21:40:03.841Z,1368740403.841 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-16T21:40:03.842Z,1368740403.842 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-16T21:40:03.843Z,1368740403.843 [Navigation](DEBUG): Initializing Navigation.
2013-05-16T21:40:03.843Z,1368740403.843 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-16T21:40:03.845Z,1368740403.845 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-16T21:40:03.846Z,1368740403.846 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-16T21:40:03.846Z,1368740403.846 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-16T21:40:05.417Z,1368740405.417 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-16T21:40:05.447Z,1368740405.447 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-05-16T21:40:05.447Z,1368740405.447 [DropWeight] Hardware Fault, FailCount= 1
2013-05-16T21:40:05.447Z,1368740405.447 [DropWeight](ERROR): Hardware Fault
2013-05-16T21:40:05.449Z,1368740405.448 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-16T21:40:05.473Z,1368740405.473 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:40:05.507Z,1368740405.507 [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>


2013-05-16T21:40:05.507Z,1368740405.507 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-16T21:40:05.589Z,1368740405.589 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-16T21:40:05.591Z,1368740405.591 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-16T21:40:05.622Z,1368740405.622 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:40:05.642Z,1368740405.642 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-16T21:40:05.645Z,1368740405.645 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:40:05.661Z,1368740405.661 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-16T21:40:05.682Z,1368740405.682 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-16T21:40:05.685Z,1368740405.685 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:40:05.726Z,1368740405.726 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-16T21:40:05.729Z,1368740405.729 [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>


2013-05-16T21:40:05.734Z,1368740405.734 [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,
2013-05-16T21:40:05.779Z,1368740405.779 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-16T21:40:05.852Z,1368740405.852 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-05-16T21:40:05.866Z,1368740405.866 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T21:40:05.867Z,1368740405.867 [DVL_micro](INFO): Querying output modes
2013-05-16T21:40:05.867Z,1368740405.867 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-16T21:40:05.878Z,1368740405.878 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-05-16T21:40:05.878Z,1368740405.878 [DVL_micro](INFO): NQ1 output enabled
2013-05-16T21:40:05.878Z,1368740405.878 [DVL_micro](INFO): RSSI output enabled
2013-05-16T21:40:05.879Z,1368740405.879 [DVL_micro](INFO): ADCP output enabled
2013-05-16T21:40:05.879Z,1368740405.879 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-16T21:40:05.886Z,1368740405.886 [Radio_Freewave](INFO): Powering up
2013-05-16T21:40:05.890Z,1368740405.890 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-16T21:40:05.922Z,1368740405.922 [DVL_micro](INFO): pause:Powering down
2013-05-16T21:40:05.925Z,1368740405.925 [DAT](INFO): Powering up
2013-05-16T21:40:05.930Z,1368740405.930 [DAT](DEBUG): Initializing DAT.
2013-05-16T21:40:06.126Z,1368740406.126 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:40:06.134Z,1368740406.134 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-16T21:40:06.155Z,1368740406.155 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:40:06.162Z,1368740406.162 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-16T21:40:06.168Z,1368740406.168 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:40:06.174Z,1368740406.174 [MassServo](DEBUG): Initializing MassServo.
2013-05-16T21:40:06.180Z,1368740406.180 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:40:06.186Z,1368740406.186 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-16T21:40:06.192Z,1368740406.192 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:40:06.222Z,1368740406.222 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-16T21:40:06.260Z,1368740406.260 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-05-16T21:40:06.260Z,1368740406.260 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-05-16T21:40:07.857Z,1368740407.857 [Radio_Freewave](INFO): Powering down
2013-05-16T21:40:08.224Z,1368740408.224 [NAL9602](INFO): Powering up NAL9602
2013-05-16T21:40:18.958Z,1368740418.958 [NAL9602](INFO): NAL9602 initialized
2013-05-16T21:40:19.363Z,1368740419.363 [SBIT](IMPORTANT): Beginning Startup BIT
2013-05-16T21:40:19.366Z,1368740419.366 [CBIT](IMPORTANT): Beginning GF scan
2013-05-16T21:40:26.069Z,1368740426.069 [DAT](INFO): Powering down
2013-05-16T21:40:45.563Z,1368740445.563 [CommandLine](IMPORTANT): got command failComponent
2013-05-16T21:40:45.563Z,1368740445.563 [CommandLine](IMPORTANT): Failed components:
2013-05-16T21:40:45.563Z,1368740445.563 [CommandLine](IMPORTANT): DropWeight: Hardware Fault
2013-05-16T21:40:46.015Z,1368740446.015 [CBIT](IMPORTANT): No ground fault detected
2013-05-16T21:41:12.964Z,1368740472.964 [SBIT](IMPORTANT): SBIT PASSED
2013-05-16T21:41:13.372Z,1368740473.372 [MissionManager](IMPORTANT): Started mission Startup
2013-05-16T21:41:13.372Z,1368740473.372 [Startup] Running Loop=1
2013-05-16T21:41:13.372Z,1368740473.372 [Startup](INFO): Aggregate::initialize Startup
2013-05-16T21:41:13.372Z,1368740473.372 [Startup:A.GoToSurface] Running Loop=1
2013-05-16T21:41:13.372Z,1368740473.372 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T21:41:17.826Z,1368740477.826 [CommandLine](IMPORTANT): got command quit
2013-05-16T21:41:18.866Z,1368740478.866 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-05-16T21:41:18.866Z,1368740478.866 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-05-16T21:41:18.926Z,1368740478.926 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-05-16T21:41:19.266Z,1368740479.266 [WetLabsBB2FL](INFO): Powering down
2013-05-16T21:41:19.270Z,1368740479.270 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-05-16T21:41:19.550Z,1368740479.550 [CTD_NeilBrown](INFO): Powering down
2013-05-16T21:41:19.570Z,1368740479.570 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-05-16T21:41:19.922Z,1368740479.922 [DVL_micro](INFO): uninitialize:Powering down
2013-05-16T21:41:19.930Z,1368740479.930 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-05-16T21:41:20.150Z,1368740480.150 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-05-16T21:41:20.171Z,1368740480.171 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-05-16T21:41:20.211Z,1368740480.211 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-05-16T21:41:20.213Z,1368740480.213 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-05-16T21:41:20.222Z,1368740480.222 [controlThread](DEBUG): Uninitializing ControlThread
2013-05-16T21:41:20.222Z,1368740480.222 [AHRS_sp3003D](INFO): Powering down
2013-05-16T21:41:20.311Z,1368740480.311 [NAL9602](INFO): Powering down
2013-05-16T21:41:20.312Z,1368740480.312 [DAT](INFO): Powering down
2013-05-16T21:41:20.313Z,1368740480.313 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-16T21:41:20.314Z,1368740480.314 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-05-16T21:41:20.318Z,1368740480.318 [Startup] Stopped
2013-05-16T21:41:20.318Z,1368740480.318 [Startup](INFO): Aggregate::uninitialize Startup
2013-05-16T21:41:20.318Z,1368740480.318 [Startup:A.GoToSurface] Stopped
2013-05-16T21:41:20.318Z,1368740480.318 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T21:41:20.320Z,1368740480.320 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-05-16T21:41:20.320Z,1368740480.320 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-05-16T21:41:20.320Z,1368740480.320 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-05-16T21:41:20.320Z,1368740480.320 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-05-16T21:41:20.321Z,1368740480.321 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-05-16T21:41:20.321Z,1368740480.321 [BuoyancyServo](INFO): Powering down
2013-05-16T21:41:20.334Z,1368740480.334 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-05-16T21:41:20.334Z,1368740480.334 [ElevatorServo](INFO): Powering down
2013-05-16T21:41:20.335Z,1368740480.335 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-05-16T21:41:20.335Z,1368740480.335 [MassServo](INFO): Powering down
2013-05-16T21:41:20.336Z,1368740480.336 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-05-16T21:41:20.336Z,1368740480.336 [RudderServo](INFO): Powering down
2013-05-16T21:41:20.337Z,1368740480.337 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-05-16T21:41:20.337Z,1368740480.337 [ThrusterServo](INFO): Powering down
2013-05-16T21:41:20.338Z,1368740480.338 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-05-16T21:41:20.338Z,1368740480.338 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-05-16T21:41:20.339Z,1368740480.339 [CBIT](DEBUG): Uninitialize CBIT Component.