2013-08-22T16:26:34.190Z,1377188794.190 [Supervisor](DEBUG): Initializing supervisor.
2013-08-22T16:26:34.193Z,1377188794.193 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-08-22T16:26:34.194Z,1377188794.194 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-08-22T16:26:34.195Z,1377188794.195 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-08-22T16:26:34.198Z,1377188794.198 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-08-22T16:26:34.210Z,1377188794.210 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-08-22T16:26:34.211Z,1377188794.211 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-08-22T16:26:34.212Z,1377188794.212 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-08-22T16:26:34.213Z,1377188794.213 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-08-22T16:26:34.213Z,1377188794.213 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-08-22T16:26:34.218Z,1377188794.218 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-08-22T16:26:34.660Z,1377188794.660 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-08-22T16:26:34.660Z,1377188794.660 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-08-22T16:26:34.855Z,1377188794.855 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-08-22T16:26:34.855Z,1377188794.855 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-08-22T16:26:34.941Z,1377188794.941 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-08-22T16:26:34.943Z,1377188794.943 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-08-22T16:26:35.054Z,1377188795.054 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-08-22T16:26:35.055Z,1377188795.055 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-08-22T16:26:35.194Z,1377188795.194 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-08-22T16:26:35.196Z,1377188795.196 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-08-22T16:26:35.436Z,1377188795.436 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-08-22T16:26:35.437Z,1377188795.437 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-08-22T16:26:35.601Z,1377188795.601 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-08-22T16:26:35.603Z,1377188795.603 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-08-22T16:26:35.867Z,1377188795.867 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-08-22T16:26:35.867Z,1377188795.867 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-08-22T16:26:35.970Z,1377188795.970 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-08-22T16:26:35.970Z,1377188795.970 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-08-22T16:26:36.386Z,1377188796.385 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-08-22T16:26:36.386Z,1377188796.386 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-08-22T16:26:36.497Z,1377188796.497 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-08-22T16:26:36.498Z,1377188796.497 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-08-22T16:26:36.584Z,1377188796.584 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-08-22T16:26:36.588Z,1377188796.588 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-08-22T16:26:36.688Z,1377188796.688 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-08-22T16:26:36.815Z,1377188796.815 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-08-22T16:26:36.909Z,1377188796.909 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-08-22T16:26:37.015Z,1377188797.015 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-08-22T16:26:37.111Z,1377188797.111 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-08-22T16:26:37.226Z,1377188797.226 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-08-22T16:26:37.322Z,1377188797.322 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-08-22T16:26:37.408Z,1377188797.408 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-08-22T16:26:37.409Z,1377188797.409 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-08-22T16:26:37.412Z,1377188797.412 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-08-22T16:26:37.610Z,1377188797.610 [InternalSim] Loaded
2013-08-22T16:26:37.610Z,1377188797.610 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-08-22T16:26:37.611Z,1377188797.611 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-08-22T16:26:37.611Z,1377188797.611 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-08-22T16:26:37.720Z,1377188797.720 [SBIT](DEBUG): Construct Startup Built In Test.
2013-08-22T16:26:37.749Z,1377188797.749 [SBIT] Loaded
2013-08-22T16:26:37.750Z,1377188797.750 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-08-22T16:26:37.750Z,1377188797.750 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-08-22T16:26:37.780Z,1377188797.780 [IBIT] Loaded
2013-08-22T16:26:37.780Z,1377188797.780 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-08-22T16:26:37.783Z,1377188797.783 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-08-22T16:26:37.900Z,1377188797.900 [CBIT] Loaded
2013-08-22T16:26:37.900Z,1377188797.900 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-08-22T16:26:37.901Z,1377188797.901 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-08-22T16:26:37.901Z,1377188797.901 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-08-22T16:26:38.091Z,1377188798.092 [BuoyancyServo] Loaded
2013-08-22T16:26:38.092Z,1377188798.092 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-08-22T16:26:38.104Z,1377188798.104 [ElevatorServo] Loaded
2013-08-22T16:26:38.104Z,1377188798.104 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-08-22T16:26:38.116Z,1377188798.116 [MassServo] Loaded
2013-08-22T16:26:38.116Z,1377188798.116 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-08-22T16:26:38.127Z,1377188798.127 [RudderServo] Loaded
2013-08-22T16:26:38.128Z,1377188798.128 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-08-22T16:26:38.139Z,1377188798.139 [ThrusterServo] Loaded
2013-08-22T16:26:38.139Z,1377188798.139 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-08-22T16:26:38.140Z,1377188798.140 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-08-22T16:26:38.140Z,1377188798.140 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-08-22T16:26:39.011Z,1377188799.011 [DepthRateCalculator] Loaded
2013-08-22T16:26:39.011Z,1377188799.011 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-08-22T16:26:42.196Z,1377188802.196 [HFRadarModelCalc] Loaded
2013-08-22T16:26:42.196Z,1377188802.196 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-08-22T16:26:42.213Z,1377188802.213 [NavChart] Loaded
2013-08-22T16:26:42.213Z,1377188802.213 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-08-22T16:26:42.219Z,1377188802.219 [PitchRateCalculator] Loaded
2013-08-22T16:26:42.219Z,1377188802.219 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-08-22T16:26:42.230Z,1377188802.230 [SpeedCalculator] Loaded
2013-08-22T16:26:42.230Z,1377188802.230 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-08-22T16:26:42.247Z,1377188802.247 [TempGradientCalculator] Loaded
2013-08-22T16:26:42.247Z,1377188802.247 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-08-22T16:26:42.253Z,1377188802.253 [YawRateCalculator] Loaded
2013-08-22T16:26:42.253Z,1377188802.253 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-08-22T16:26:42.301Z,1377188802.301 [Navigation] Loaded
2013-08-22T16:26:42.301Z,1377188802.301 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-08-22T16:26:42.301Z,1377188802.302 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-08-22T16:26:42.302Z,1377188802.302 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-08-22T16:26:42.581Z,1377188802.580 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-08-22T16:26:42.581Z,1377188802.581 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-08-22T16:26:42.620Z,1377188802.620 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-08-22T16:26:42.621Z,1377188802.621 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-08-22T16:26:42.681Z,1377188802.681 [VerticalControl](DEBUG): Construct VerticalControl.
2013-08-22T16:26:42.778Z,1377188802.778 [VerticalControl] Loaded
2013-08-22T16:26:42.778Z,1377188802.778 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-08-22T16:26:42.779Z,1377188802.779 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-08-22T16:26:42.838Z,1377188802.838 [HorizontalControl] Loaded
2013-08-22T16:26:42.839Z,1377188802.839 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-08-22T16:26:42.839Z,1377188802.839 [SpeedControl](DEBUG): Construct SpeedControl.
2013-08-22T16:26:42.841Z,1377188802.841 [SpeedControl] Loaded
2013-08-22T16:26:42.841Z,1377188802.841 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-08-22T16:26:42.842Z,1377188802.842 [LoopControl](DEBUG): Construct LoopControl.
2013-08-22T16:26:42.842Z,1377188802.842 [LoopControl] Loaded
2013-08-22T16:26:42.843Z,1377188802.843 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-08-22T16:26:42.843Z,1377188802.843 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-08-22T16:26:42.844Z,1377188802.844 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-08-22T16:26:42.856Z,1377188802.856 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-08-22T16:26:42.862Z,1377188802.862 [AsyncPiEstimator] Loaded
2013-08-22T16:26:42.863Z,1377188802.863 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-08-22T16:26:42.864Z,1377188802.864 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4064F4E0
2013-08-22T16:26:42.865Z,1377188802.865 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-08-22T16:26:42.866Z,1377188802.866 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-08-22T16:26:43.107Z,1377188803.107 [AHRS_sp3003D] Loaded
2013-08-22T16:26:43.108Z,1377188803.108 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-08-22T16:26:43.362Z,1377188803.362 [Batt_Ocean_Server] Loaded
2013-08-22T16:26:43.362Z,1377188803.362 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-08-22T16:26:43.376Z,1377188803.376 [Depth_Keller] Loaded
2013-08-22T16:26:43.377Z,1377188803.377 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-08-22T16:26:43.382Z,1377188803.382 [DropWeight] Loaded
2013-08-22T16:26:43.382Z,1377188803.382 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-08-22T16:26:43.568Z,1377188803.569 [DVL_micro] Loaded
2013-08-22T16:26:43.569Z,1377188803.569 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-08-22T16:26:43.570Z,1377188803.570 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406DE4E0
2013-08-22T16:26:43.659Z,1377188803.659 [NAL9602] Loaded
2013-08-22T16:26:43.659Z,1377188803.659 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-08-22T16:26:43.703Z,1377188803.703 [Onboard] Loaded
2013-08-22T16:26:43.703Z,1377188803.703 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-08-22T16:26:43.710Z,1377188803.710 [Radio_Freewave] Loaded
2013-08-22T16:26:43.710Z,1377188803.710 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-08-22T16:26:43.864Z,1377188803.864 [DAT] Loaded
2013-08-22T16:26:43.864Z,1377188803.864 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-08-22T16:26:43.871Z,1377188803.871 [SCPI] Loaded
2013-08-22T16:26:43.871Z,1377188803.871 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2013-08-22T16:26:43.872Z,1377188803.872 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-08-22T16:26:43.872Z,1377188803.872 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-08-22T16:26:43.959Z,1377188803.959 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-08-22T16:26:43.961Z,1377188803.961 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-08-22T16:26:43.962Z,1377188803.962 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-08-22T16:26:43.969Z,1377188803.969 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-08-22T16:26:43.970Z,1377188803.970 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4073B4E0
2013-08-22T16:26:43.976Z,1377188803.976 [Supervisor](DEBUG): Running supervisor.
2013-08-22T16:26:43.977Z,1377188803.977 [CommandLine](INFO): Thread ID is 1314
2013-08-22T16:26:43.979Z,1377188803.979 [controlThread](INFO): Thread ID is 1313
2013-08-22T16:26:43.980Z,1377188803.980 [controlThread](DEBUG): Initializing ControlThread
2013-08-22T16:26:43.980Z,1377188803.980 [CycleStarter](INFO): Thread ID is 1312
2013-08-22T16:26:43.980Z,1377188803.980 [InternalSim](DEBUG):  InternalSim initializing...
2013-08-22T16:26:44.014Z,1377188804.014 [logger](INFO): Thread ID is 1315
2013-08-22T16:26:44.039Z,1377188804.039 [SBIT](INFO): Initialize SBIT Component.
2013-08-22T16:26:44.040Z,1377188804.040 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10560
2013-08-22T16:26:44.040Z,1377188804.040 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-08-22T16:26:44.040Z,1377188804.040 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-08-22T16:26:44.041Z,1377188804.041 [IBIT](INFO): Initialize IBIT Component.
2013-08-22T16:26:44.042Z,1377188804.042 [CBIT](DEBUG): Initialize CBIT Component.
2013-08-22T16:26:44.042Z,1377188804.042 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-08-22T16:26:44.054Z,1377188804.054 [AsyncPiEstimator](INFO): Thread ID is 1376
2013-08-22T16:26:44.054Z,1377188804.055 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-08-22T16:26:44.067Z,1377188804.067 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-22T16:26:44.068Z,1377188804.068 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-08-22T16:26:44.068Z,1377188804.068 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-08-22T16:26:44.068Z,1377188804.068 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-08-22T16:26:44.068Z,1377188804.069 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-08-22T16:26:44.069Z,1377188804.069 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-08-22T16:26:44.069Z,1377188804.069 [Navigation](DEBUG): Initializing Navigation.
2013-08-22T16:26:44.070Z,1377188804.070 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-08-22T16:26:44.072Z,1377188804.072 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-08-22T16:26:44.072Z,1377188804.072 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-08-22T16:26:44.073Z,1377188804.073 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-08-22T16:26:44.077Z,1377188804.077 [DVL_micro](INFO): Thread ID is 1377
2013-08-22T16:26:44.093Z,1377188804.093 [DVL_micro](INFO): Initializing
2013-08-22T16:26:44.093Z,1377188804.093 [DVL_micro](INFO): start:Powering up
2013-08-22T16:26:44.094Z,1377188804.094 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-22T16:26:44.095Z,1377188804.095 [DVL_micro](INFO): Cycling power to configure device.
2013-08-22T16:26:44.114Z,1377188804.114 [NavChartDb](INFO): Thread ID is 1378
2013-08-22T16:26:44.179Z,1377188804.180 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-08-22T16:26:44.180Z,1377188804.180 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-08-22T16:26:44.181Z,1377188804.181 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-08-22T16:26:44.181Z,1377188804.181 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-08-22T16:26:44.181Z,1377188804.181 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-08-22T16:26:44.181Z,1377188804.181 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-08-22T16:26:44.182Z,1377188804.182 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-08-22T16:26:44.182Z,1377188804.182 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-08-22T16:26:44.182Z,1377188804.182 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-08-22T16:26:46.109Z,1377188806.109 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-08-22T16:26:46.153Z,1377188806.153 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-08-22T16:26:46.182Z,1377188806.182 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T16:26:46.190Z,1377188806.190 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-08-22T16:26:46.190Z,1377188806.190 [DVL_micro](INFO): Querying output modes
2013-08-22T16:26:46.191Z,1377188806.191 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-08-22T16:26:46.202Z,1377188806.202 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-08-22T16:26:46.202Z,1377188806.202 [DVL_micro](INFO): NQ1 output enabled
2013-08-22T16:26:46.202Z,1377188806.202 [DVL_micro](INFO): RSSI output enabled
2013-08-22T16:26:46.202Z,1377188806.202 [DVL_micro](INFO): ADCP output enabled
2013-08-22T16:26:46.203Z,1377188806.203 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-08-22T16:26:46.210Z,1377188806.210 [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>


2013-08-22T16:26:46.211Z,1377188806.211 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-08-22T16:26:46.214Z,1377188806.214 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-08-22T16:26:46.227Z,1377188806.227 [DVL_micro](INFO): pause:Powering down
2013-08-22T16:26:46.294Z,1377188806.294 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-08-22T16:26:46.296Z,1377188806.296 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-08-22T16:26:46.339Z,1377188806.339 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T16:26:46.363Z,1377188806.363 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-08-22T16:26:46.366Z,1377188806.366 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T16:26:46.381Z,1377188806.381 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-08-22T16:26:46.396Z,1377188806.396 [Default:D.SetSpeed](DEBUG): Construct.
2013-08-22T16:26:46.399Z,1377188806.399 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-08-22T16:26:46.416Z,1377188806.416 [Default:F.Wait](DEBUG): Construct Wait.
2013-08-22T16:26:46.451Z,1377188806.451 [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>


2013-08-22T16:26:46.456Z,1377188806.456 [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,
2013-08-22T16:26:46.500Z,1377188806.500 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-08-22T16:26:46.762Z,1377188806.762 [Radio_Freewave](INFO): Powering up
2013-08-22T16:26:46.767Z,1377188806.767 [DAT](INFO): Powering up
2013-08-22T16:26:46.768Z,1377188806.768 [DAT](DEBUG): Initializing DAT.
2013-08-22T16:26:46.979Z,1377188806.978 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:26:46.986Z,1377188806.986 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-08-22T16:26:46.992Z,1377188806.992 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:26:46.998Z,1377188806.998 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-08-22T16:26:47.004Z,1377188807.004 [MassServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:26:47.010Z,1377188807.010 [MassServo](DEBUG): Initializing MassServo.
2013-08-22T16:26:47.015Z,1377188807.016 [RudderServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:26:47.050Z,1377188807.050 [RudderServo](DEBUG): Initializing RudderServo.
2013-08-22T16:26:47.055Z,1377188807.055 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-08-22T16:26:47.062Z,1377188807.062 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-08-22T16:26:49.100Z,1377188809.100 [NAL9602](INFO): Powering up NAL9602
2013-08-22T16:26:58.458Z,1377188818.458 [CommandLine](IMPORTANT): got command show variable scpi
2013-08-22T16:26:58.752Z,1377188818.752 [CommandLine](INFO): SCPI.loadControl (none)
2013-08-22T16:26:58.753Z,1377188818.753 [CommandLine](INFO): SCPI.uart (none)
2013-08-22T16:26:58.753Z,1377188818.753 [CommandLine](INFO): SCPI.baud (bit_per_second)
2013-08-22T16:26:58.766Z,1377188818.766 [CommandLine](INFO): SCPI.loadAtStartup (bool)
2013-08-22T16:26:58.766Z,1377188818.766 [CommandLine](INFO): SCPI.simulateHardware (bool)
2013-08-22T16:26:58.767Z,1377188818.767 [CommandLine](INFO): SCPI.sampleTime (second)
2013-08-22T16:26:58.839Z,1377188818.839 [CommandLine](INFO): SCPI.sampleSCPI (bool)
2013-08-22T16:26:58.841Z,1377188818.841 [CommandLine](INFO): SCPI.durationOfLastRun (second)
2013-08-22T16:26:59.706Z,1377188819.706 [NAL9602](INFO): NAL9602 initialized
2013-08-22T16:26:59.789Z,1377188819.789 [SBIT](IMPORTANT): Beginning Startup BIT
2013-08-22T16:26:59.792Z,1377188819.792 [CBIT](IMPORTANT): Beginning GF scan
2013-08-22T16:27:06.853Z,1377188826.853 [DAT](INFO): Powering down
2013-08-22T16:27:26.611Z,1377188846.611 [CBIT](IMPORTANT): No ground fault detected
2013-08-22T16:27:53.969Z,1377188873.969 [SBIT](IMPORTANT): SBIT PASSED
2013-08-22T16:27:54.335Z,1377188874.335 [MissionManager](IMPORTANT): Started mission Startup
2013-08-22T16:27:54.335Z,1377188874.335 [Startup] Running Loop=1
2013-08-22T16:27:54.336Z,1377188874.336 [Startup](INFO): Aggregate::initialize Startup
2013-08-22T16:27:54.336Z,1377188874.336 [Startup:A.GoToSurface] Running Loop=1
2013-08-22T16:27:54.336Z,1377188874.336 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-08-22T16:27:54.342Z,1377188874.342 [Startup:StartupSatComms] Running Loop=1
2013-08-22T16:27:54.342Z,1377188874.342 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-08-22T16:27:54.342Z,1377188874.342 [Startup:StartupSatComms:A] Running Loop=1
2013-08-22T16:27:54.743Z,1377188874.743 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-08-22T16:28:54.349Z,1377188934.349 [Startup:StartupSatComms:A](INFO): Timed out from 2013-08-22T16:27:54.3Z
2013-08-22T16:28:54.349Z,1377188934.349 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-08-22T16:28:54.349Z,1377188934.349 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-08-22T16:28:54.349Z,1377188934.349 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-08-22T16:28:54.349Z,1377188934.349 [Startup:StartupSatComms:A] Stopped
2013-08-22T16:28:54.349Z,1377188934.349 [Startup:StartupSatComms:B] Running Loop=1
2013-08-22T16:28:54.739Z,1377188934.739 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-08-22T16:29:40.506Z,1377188980.506 [CommandLine](IMPORTANT): got command restart application
2013-08-22T16:29:41.709Z,1377188981.709 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-08-22T16:29:41.710Z,1377188981.710 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-08-22T16:29:42.014Z,1377188982.013 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-08-22T16:29:42.166Z,1377188982.166 [DVL_micro](INFO): uninitialize:Powering down
2013-08-22T16:29:42.174Z,1377188982.174 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-08-22T16:29:42.390Z,1377188982.390 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-08-22T16:29:42.394Z,1377188982.394 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-08-22T16:29:42.433Z,1377188982.434 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-08-22T16:29:42.435Z,1377188982.435 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-08-22T16:29:42.546Z,1377188982.546 [controlThread](DEBUG): Uninitializing ControlThread
2013-08-22T16:29:42.546Z,1377188982.546 [AHRS_sp3003D](INFO): Powering down
2013-08-22T16:29:42.635Z,1377188982.635 [NAL9602](INFO): Powering down
2013-08-22T16:29:42.636Z,1377188982.636 [DAT](INFO): Powering down
2013-08-22T16:29:42.637Z,1377188982.637 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-08-22T16:29:42.638Z,1377188982.638 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-08-22T16:29:42.642Z,1377188982.642 [Startup] Stopped
2013-08-22T16:29:42.642Z,1377188982.642 [Startup](INFO): Aggregate::uninitialize Startup
2013-08-22T16:29:42.642Z,1377188982.642 [Startup:A.GoToSurface] Stopped
2013-08-22T16:29:42.643Z,1377188982.643 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-08-22T16:29:42.643Z,1377188982.643 [Startup:StartupSatComms] Stopped
2013-08-22T16:29:42.643Z,1377188982.643 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-08-22T16:29:42.643Z,1377188982.643 [Startup:StartupSatComms:B] Stopped
2013-08-22T16:29:42.644Z,1377188982.644 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-08-22T16:29:42.645Z,1377188982.645 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-08-22T16:29:42.645Z,1377188982.645 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-08-22T16:29:42.645Z,1377188982.645 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-08-22T16:29:42.646Z,1377188982.646 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-08-22T16:29:42.646Z,1377188982.646 [BuoyancyServo](INFO): Powering down
2013-08-22T16:29:42.658Z,1377188982.658 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-08-22T16:29:42.658Z,1377188982.658 [ElevatorServo](INFO): Powering down
2013-08-22T16:29:42.659Z,1377188982.659 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-08-22T16:29:42.659Z,1377188982.659 [MassServo](INFO): Powering down
2013-08-22T16:29:42.660Z,1377188982.660 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-08-22T16:29:42.660Z,1377188982.660 [RudderServo](INFO): Powering down
2013-08-22T16:29:42.661Z,1377188982.661 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-08-22T16:29:42.661Z,1377188982.661 [ThrusterServo](INFO): Powering down
2013-08-22T16:29:42.662Z,1377188982.662 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-08-22T16:29:42.662Z,1377188982.662 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-08-22T16:29:42.662Z,1377188982.662 [CBIT](DEBUG): Uninitialize CBIT Component.