2013-06-04T15:40:02.944Z,1370360402.944 [Supervisor](DEBUG): Initializing supervisor.
2013-06-04T15:40:02.947Z,1370360402.947 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-06-04T15:40:02.947Z,1370360402.947 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-06-04T15:40:02.948Z,1370360402.948 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-06-04T15:40:02.955Z,1370360402.955 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-06-04T15:40:02.973Z,1370360402.973 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-06-04T15:40:02.974Z,1370360402.974 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-06-04T15:40:02.975Z,1370360402.975 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-06-04T15:40:02.976Z,1370360402.976 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-06-04T15:40:02.977Z,1370360402.977 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-06-04T15:40:02.980Z,1370360402.980 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-06-04T15:40:03.353Z,1370360403.353 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-06-04T15:40:03.354Z,1370360403.354 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-06-04T15:40:03.551Z,1370360403.551 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-06-04T15:40:03.551Z,1370360403.551 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-06-04T15:40:03.635Z,1370360403.635 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-06-04T15:40:03.636Z,1370360403.635 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-06-04T15:40:03.777Z,1370360403.777 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-06-04T15:40:03.777Z,1370360403.777 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-06-04T15:40:03.915Z,1370360403.915 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-06-04T15:40:03.916Z,1370360403.916 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-06-04T15:40:04.166Z,1370360404.165 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-06-04T15:40:04.166Z,1370360404.166 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-06-04T15:40:04.337Z,1370360404.337 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-06-04T15:40:04.337Z,1370360404.337 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-06-04T15:40:04.595Z,1370360404.595 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-06-04T15:40:04.595Z,1370360404.595 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-06-04T15:40:04.694Z,1370360404.694 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-06-04T15:40:04.694Z,1370360404.694 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-06-04T15:40:05.099Z,1370360405.099 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-06-04T15:40:05.099Z,1370360405.099 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-06-04T15:40:05.213Z,1370360405.213 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-06-04T15:40:05.214Z,1370360405.214 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-06-04T15:40:05.299Z,1370360405.299 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-06-04T15:40:05.300Z,1370360405.300 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-06-04T15:40:05.404Z,1370360405.404 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-06-04T15:40:05.537Z,1370360405.537 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-06-04T15:40:05.627Z,1370360405.628 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-06-04T15:40:05.733Z,1370360405.733 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-06-04T15:40:05.833Z,1370360405.833 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-06-04T15:40:05.951Z,1370360405.951 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-06-04T15:40:06.044Z,1370360406.044 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-06-04T15:40:06.131Z,1370360406.131 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-06-04T15:40:06.131Z,1370360406.131 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-06-04T15:40:06.138Z,1370360406.138 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-06-04T15:40:06.290Z,1370360406.290 [InternalSim] Loaded
2013-06-04T15:40:06.290Z,1370360406.290 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-06-04T15:40:06.291Z,1370360406.291 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-06-04T15:40:06.291Z,1370360406.291 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-06-04T15:40:06.351Z,1370360406.351 [SBIT](DEBUG): Construct Startup Built In Test.
2013-06-04T15:40:06.380Z,1370360406.380 [SBIT] Loaded
2013-06-04T15:40:06.380Z,1370360406.380 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-06-04T15:40:06.381Z,1370360406.381 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-06-04T15:40:06.409Z,1370360406.409 [IBIT] Loaded
2013-06-04T15:40:06.410Z,1370360406.410 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-06-04T15:40:06.413Z,1370360406.413 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-06-04T15:40:06.528Z,1370360406.528 [CBIT] Loaded
2013-06-04T15:40:06.528Z,1370360406.528 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-06-04T15:40:06.529Z,1370360406.529 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-06-04T15:40:06.529Z,1370360406.529 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-06-04T15:40:06.679Z,1370360406.679 [BuoyancyServo] Loaded
2013-06-04T15:40:06.680Z,1370360406.680 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-06-04T15:40:06.692Z,1370360406.692 [ElevatorServo] Loaded
2013-06-04T15:40:06.692Z,1370360406.692 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-06-04T15:40:06.705Z,1370360406.705 [MassServo] Loaded
2013-06-04T15:40:06.705Z,1370360406.705 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-06-04T15:40:06.717Z,1370360406.717 [RudderServo] Loaded
2013-06-04T15:40:06.718Z,1370360406.718 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-06-04T15:40:06.729Z,1370360406.729 [ThrusterServo] Loaded
2013-06-04T15:40:06.729Z,1370360406.730 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-06-04T15:40:06.730Z,1370360406.730 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-06-04T15:40:06.731Z,1370360406.731 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-06-04T15:40:06.749Z,1370360406.749 [DepthRateCalculator] Loaded
2013-06-04T15:40:06.749Z,1370360406.749 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-06-04T15:40:12.863Z,1370360412.863 [HFRadarModelCalc] Loaded
2013-06-04T15:40:12.863Z,1370360412.863 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-06-04T15:40:12.900Z,1370360412.900 [NavChart] Loaded
2013-06-04T15:40:12.901Z,1370360412.901 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-06-04T15:40:12.919Z,1370360412.919 [PitchRateCalculator] Loaded
2013-06-04T15:40:12.919Z,1370360412.919 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-06-04T15:40:12.946Z,1370360412.946 [SpeedCalculator] Loaded
2013-06-04T15:40:12.946Z,1370360412.946 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-06-04T15:40:12.975Z,1370360412.975 [TempGradientCalculator] Loaded
2013-06-04T15:40:12.975Z,1370360412.975 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-06-04T15:40:12.981Z,1370360412.981 [YawRateCalculator] Loaded
2013-06-04T15:40:12.981Z,1370360412.981 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-06-04T15:40:13.075Z,1370360413.075 [Navigation] Loaded
2013-06-04T15:40:13.075Z,1370360413.075 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-06-04T15:40:13.076Z,1370360413.076 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-06-04T15:40:13.076Z,1370360413.076 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-06-04T15:40:13.576Z,1370360413.576 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-06-04T15:40:13.577Z,1370360413.577 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-06-04T15:40:13.617Z,1370360413.617 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-06-04T15:40:13.618Z,1370360413.618 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-06-04T15:40:13.705Z,1370360413.705 [VerticalControl](DEBUG): Construct VerticalControl.
2013-06-04T15:40:13.921Z,1370360413.921 [VerticalControl] Loaded
2013-06-04T15:40:13.921Z,1370360413.921 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-06-04T15:40:13.922Z,1370360413.922 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-06-04T15:40:14.055Z,1370360414.055 [HorizontalControl] Loaded
2013-06-04T15:40:14.055Z,1370360414.055 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-06-04T15:40:14.056Z,1370360414.056 [SpeedControl](DEBUG): Construct SpeedControl.
2013-06-04T15:40:14.068Z,1370360414.069 [SpeedControl] Loaded
2013-06-04T15:40:14.069Z,1370360414.069 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-06-04T15:40:14.076Z,1370360414.076 [LoopControl](DEBUG): Construct LoopControl.
2013-06-04T15:40:14.077Z,1370360414.077 [LoopControl] Loaded
2013-06-04T15:40:14.077Z,1370360414.077 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-06-04T15:40:14.078Z,1370360414.078 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-06-04T15:40:14.085Z,1370360414.085 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-06-04T15:40:14.097Z,1370360414.097 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-06-04T15:40:14.101Z,1370360414.102 [AsyncPiEstimator] Loaded
2013-06-04T15:40:14.108Z,1370360414.108 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-06-04T15:40:14.114Z,1370360414.114 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-06-04T15:40:14.115Z,1370360414.115 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-06-04T15:40:14.120Z,1370360414.120 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-06-04T15:40:14.428Z,1370360414.428 [AHRS_sp3003D] Loaded
2013-06-04T15:40:14.428Z,1370360414.428 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-06-04T15:40:15.010Z,1370360415.010 [Batt_Ocean_Server] Loaded
2013-06-04T15:40:15.011Z,1370360415.011 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-06-04T15:40:15.036Z,1370360415.036 [Depth_Keller] Loaded
2013-06-04T15:40:15.036Z,1370360415.036 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-06-04T15:40:15.054Z,1370360415.054 [DropWeight] Loaded
2013-06-04T15:40:15.054Z,1370360415.054 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-06-04T15:40:15.468Z,1370360415.468 [DVL_micro] Loaded
2013-06-04T15:40:15.468Z,1370360415.468 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-06-04T15:40:15.470Z,1370360415.470 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406C34E0
2013-06-04T15:40:15.672Z,1370360415.672 [NAL9602] Loaded
2013-06-04T15:40:15.673Z,1370360415.673 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-06-04T15:40:15.790Z,1370360415.790 [Onboard] Loaded
2013-06-04T15:40:15.791Z,1370360415.791 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-06-04T15:40:15.797Z,1370360415.797 [Radio_Freewave] Loaded
2013-06-04T15:40:15.798Z,1370360415.798 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-06-04T15:40:16.158Z,1370360416.158 [DAT] Loaded
2013-06-04T15:40:16.158Z,1370360416.158 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-06-04T15:40:16.165Z,1370360416.165 [SCPI] Loaded
2013-06-04T15:40:16.165Z,1370360416.165 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2013-06-04T15:40:16.166Z,1370360416.166 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-06-04T15:40:16.178Z,1370360416.178 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-06-04T15:40:16.334Z,1370360416.334 [CTD_NeilBrown] Loaded
2013-06-04T15:40:16.334Z,1370360416.334 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-06-04T15:40:16.342Z,1370360416.342 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407154E0
2013-06-04T15:40:16.421Z,1370360416.421 [WetLabsBB2FL] Loaded
2013-06-04T15:40:16.421Z,1370360416.421 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-06-04T15:40:16.428Z,1370360416.428 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407454E0
2013-06-04T15:40:16.435Z,1370360416.434 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-06-04T15:40:16.437Z,1370360416.437 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-06-04T15:40:16.438Z,1370360416.438 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-06-04T15:40:16.445Z,1370360416.445 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-06-04T15:40:16.447Z,1370360416.447 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407754E0
2013-06-04T15:40:16.465Z,1370360416.465 [Supervisor](DEBUG): Running supervisor.
2013-06-04T15:40:16.472Z,1370360416.472 [CommandLine](INFO): Thread ID is 5682
2013-06-04T15:40:16.480Z,1370360416.480 [controlThread](INFO): Thread ID is 5681
2013-06-04T15:40:16.480Z,1370360416.480 [controlThread](DEBUG): Initializing ControlThread
2013-06-04T15:40:16.481Z,1370360416.481 [CycleStarter](INFO): Thread ID is 5680
2013-06-04T15:40:16.481Z,1370360416.481 [InternalSim](DEBUG):  InternalSim initializing...
2013-06-04T15:40:16.520Z,1370360416.520 [logger](INFO): Thread ID is 5683
2013-06-04T15:40:16.560Z,1370360416.560 [AsyncPiEstimator](INFO): Thread ID is 5749
2013-06-04T15:40:16.560Z,1370360416.560 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-06-04T15:40:16.575Z,1370360416.575 [SBIT](INFO): Initialize SBIT Component.
2013-06-04T15:40:16.576Z,1370360416.576 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10402
2013-06-04T15:40:16.576Z,1370360416.576 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-06-04T15:40:16.576Z,1370360416.576 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-06-04T15:40:16.577Z,1370360416.577 [IBIT](INFO): Initialize IBIT Component.
2013-06-04T15:40:16.578Z,1370360416.578 [CBIT](DEBUG): Initialize CBIT Component.
2013-06-04T15:40:16.578Z,1370360416.578 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-06-04T15:40:16.584Z,1370360416.584 [DVL_micro](INFO): Thread ID is 5750
2013-06-04T15:40:16.593Z,1370360416.593 [DVL_micro](INFO): Initializing
2013-06-04T15:40:16.594Z,1370360416.593 [DVL_micro](INFO): start:Powering up
2013-06-04T15:40:16.595Z,1370360416.595 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T15:40:16.595Z,1370360416.595 [DVL_micro](INFO): Cycling power to configure device.
2013-06-04T15:40:16.619Z,1370360416.619 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-04T15:40:16.620Z,1370360416.620 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-06-04T15:40:16.620Z,1370360416.620 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-06-04T15:40:16.621Z,1370360416.621 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-06-04T15:40:16.621Z,1370360416.621 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-06-04T15:40:16.635Z,1370360416.635 [CTD_NeilBrown](INFO): Thread ID is 5751
2013-06-04T15:40:16.635Z,1370360416.635 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-06-04T15:40:16.645Z,1370360416.645 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-06-04T15:40:16.646Z,1370360416.646 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-06-04T15:40:16.655Z,1370360416.655 [Navigation](DEBUG): Initializing Navigation.
2013-06-04T15:40:16.655Z,1370360416.655 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-06-04T15:40:16.657Z,1370360416.657 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-06-04T15:40:16.658Z,1370360416.658 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-06-04T15:40:16.664Z,1370360416.664 [WetLabsBB2FL](INFO): Thread ID is 5752
2013-06-04T15:40:16.664Z,1370360416.664 [WetLabsBB2FL](INFO): Powering down
2013-06-04T15:40:16.683Z,1370360416.682 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-06-04T15:40:16.700Z,1370360416.700 [NavChartDb](INFO): Thread ID is 5753
2013-06-04T15:40:16.705Z,1370360416.705 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-06-04T15:40:16.706Z,1370360416.706 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-06-04T15:40:16.707Z,1370360416.707 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-06-04T15:40:16.707Z,1370360416.707 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-06-04T15:40:16.707Z,1370360416.707 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-06-04T15:40:16.707Z,1370360416.707 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-06-04T15:40:16.708Z,1370360416.708 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-06-04T15:40:16.708Z,1370360416.708 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-06-04T15:40:16.708Z,1370360416.708 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-06-04T15:40:18.523Z,1370360418.523 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-06-04T15:40:18.561Z,1370360418.561 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-06-04T15:40:18.606Z,1370360418.606 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T15:40:18.653Z,1370360418.653 [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>


2013-06-04T15:40:18.654Z,1370360418.654 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-06-04T15:40:18.667Z,1370360418.667 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-06-04T15:40:18.667Z,1370360418.667 [DVL_micro](INFO): Querying output modes
2013-06-04T15:40:18.667Z,1370360418.667 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-06-04T15:40:18.678Z,1370360418.678 [DVL_micro](DEBUG): cmdResponse: 01
2013-06-04T15:40:18.678Z,1370360418.678 [DVL_micro](INFO): NQ1 output enabled
2013-06-04T15:40:18.679Z,1370360418.679 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-06-04T15:40:18.690Z,1370360418.690 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-06-04T15:40:18.695Z,1370360418.695 [DVL_micro](INFO): pause:Powering down
2013-06-04T15:40:18.786Z,1370360418.786 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-06-04T15:40:18.788Z,1370360418.788 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-06-04T15:40:18.816Z,1370360418.816 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T15:40:18.859Z,1370360418.859 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-06-04T15:40:18.875Z,1370360418.875 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T15:40:18.888Z,1370360418.888 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-06-04T15:40:18.921Z,1370360418.921 [Default:D.SetSpeed](DEBUG): Construct.
2013-06-04T15:40:18.956Z,1370360418.956 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-06-04T15:40:18.961Z,1370360418.961 [Default:F.Wait](DEBUG): Construct Wait.
2013-06-04T15:40:18.986Z,1370360418.986 [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>


2013-06-04T15:40:19.006Z,1370360419.006 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,SCPI,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-06-04T15:40:19.088Z,1370360419.088 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-06-04T15:40:19.382Z,1370360419.382 [Radio_Freewave](INFO): Powering up
2013-06-04T15:40:19.407Z,1370360419.407 [DAT](INFO): Powering up
2013-06-04T15:40:19.407Z,1370360419.407 [DAT](DEBUG): Initializing DAT.
2013-06-04T15:40:19.702Z,1370360419.702 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-06-04T15:40:19.711Z,1370360419.711 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-06-04T15:40:19.745Z,1370360419.745 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-06-04T15:40:19.750Z,1370360419.750 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-06-04T15:40:19.781Z,1370360419.781 [MassServo](DEBUG): Initializing EZServoServo.
2013-06-04T15:40:19.791Z,1370360419.791 [MassServo](DEBUG): Initializing MassServo.
2013-06-04T15:40:19.797Z,1370360419.797 [RudderServo](DEBUG): Initializing EZServoServo.
2013-06-04T15:40:19.806Z,1370360419.806 [RudderServo](DEBUG): Initializing RudderServo.
2013-06-04T15:40:19.820Z,1370360419.820 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-06-04T15:40:19.834Z,1370360419.834 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-06-04T15:40:21.037Z,1370360421.037 [NAL9602](INFO): Powering up NAL9602
2013-06-04T15:40:31.947Z,1370360431.947 [NAL9602](INFO): NAL9602 initialized
2013-06-04T15:40:32.112Z,1370360432.112 [SBIT](IMPORTANT): Beginning Startup BIT
2013-06-04T15:40:32.115Z,1370360432.115 [CBIT](IMPORTANT): Beginning GF scan
2013-06-04T15:40:39.537Z,1370360439.537 [DAT](INFO): Powering down
2013-06-04T15:40:59.167Z,1370360459.167 [CBIT](IMPORTANT): No ground fault detected
2013-06-04T15:41:26.080Z,1370360486.080 [SBIT](IMPORTANT): SBIT PASSED
2013-06-04T15:41:26.391Z,1370360486.391 [MissionManager](IMPORTANT): Started mission Startup
2013-06-04T15:41:26.392Z,1370360486.392 [Startup] Running Loop=1
2013-06-04T15:41:26.392Z,1370360486.392 [Startup](INFO): Aggregate::initialize Startup
2013-06-04T15:41:26.392Z,1370360486.392 [Startup:A.GoToSurface] Running Loop=1
2013-06-04T15:41:26.392Z,1370360486.392 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-06-04T15:41:26.398Z,1370360486.398 [Startup:StartupSatComms] Running Loop=1
2013-06-04T15:41:26.398Z,1370360486.398 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-06-04T15:41:26.399Z,1370360486.399 [Startup:StartupSatComms:A] Running Loop=1
2013-06-04T15:41:26.787Z,1370360486.787 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-06-04T15:41:43.670Z,1370360503.670 [CommandLine](IMPORTANT): got command quit
2013-06-04T15:41:44.786Z,1370360504.786 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-06-04T15:41:44.786Z,1370360504.786 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-06-04T15:41:45.086Z,1370360505.086 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-06-04T15:41:45.258Z,1370360505.258 [WetLabsBB2FL](INFO): Powering down
2013-06-04T15:41:45.266Z,1370360505.266 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-06-04T15:41:45.506Z,1370360505.506 [CTD_NeilBrown](INFO): Powering down
2013-06-04T15:41:45.522Z,1370360505.522 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-06-04T15:41:45.646Z,1370360505.646 [DVL_micro](INFO): uninitialize:Powering down
2013-06-04T15:41:45.662Z,1370360505.662 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-06-04T15:41:45.894Z,1370360505.894 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-06-04T15:41:45.907Z,1370360505.907 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-06-04T15:41:45.947Z,1370360505.947 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-06-04T15:41:45.948Z,1370360505.948 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-06-04T15:41:46.075Z,1370360506.075 [controlThread](DEBUG): Uninitializing ControlThread
2013-06-04T15:41:46.076Z,1370360506.076 [AHRS_sp3003D](INFO): Powering down
2013-06-04T15:41:46.163Z,1370360506.163 [NAL9602](INFO): Powering down
2013-06-04T15:41:46.165Z,1370360506.165 [DAT](INFO): Powering down
2013-06-04T15:41:46.166Z,1370360506.166 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-06-04T15:41:46.167Z,1370360506.167 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-06-04T15:41:46.171Z,1370360506.171 [Startup] Stopped
2013-06-04T15:41:46.171Z,1370360506.171 [Startup](INFO): Aggregate::uninitialize Startup
2013-06-04T15:41:46.171Z,1370360506.171 [Startup:A.GoToSurface] Stopped
2013-06-04T15:41:46.171Z,1370360506.171 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-06-04T15:41:46.172Z,1370360506.172 [Startup:StartupSatComms] Stopped
2013-06-04T15:41:46.172Z,1370360506.172 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-06-04T15:41:46.172Z,1370360506.172 [Startup:StartupSatComms:A] Stopped
2013-06-04T15:41:46.173Z,1370360506.173 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-06-04T15:41:46.174Z,1370360506.174 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-06-04T15:41:46.174Z,1370360506.174 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-06-04T15:41:46.174Z,1370360506.174 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-06-04T15:41:46.175Z,1370360506.175 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-06-04T15:41:46.176Z,1370360506.176 [BuoyancyServo](INFO): Powering down
2013-06-04T15:41:46.190Z,1370360506.190 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-06-04T15:41:46.191Z,1370360506.191 [ElevatorServo](INFO): Powering down
2013-06-04T15:41:46.191Z,1370360506.191 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-06-04T15:41:46.192Z,1370360506.192 [MassServo](INFO): Powering down
2013-06-04T15:41:46.193Z,1370360506.193 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-06-04T15:41:46.193Z,1370360506.193 [RudderServo](INFO): Powering down
2013-06-04T15:41:46.194Z,1370360506.194 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-06-04T15:41:46.194Z,1370360506.194 [ThrusterServo](INFO): Powering down
2013-06-04T15:41:46.195Z,1370360506.195 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-06-04T15:41:46.195Z,1370360506.195 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-06-04T15:41:46.196Z,1370360506.196 [CBIT](DEBUG): Uninitialize CBIT Component.