2013-09-16T18:36:52.536Z,1379356612.536 [Supervisor](DEBUG): Initializing supervisor.
2013-09-16T18:36:52.538Z,1379356612.538 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-16T18:36:52.539Z,1379356612.539 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-16T18:36:52.540Z,1379356612.540 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-16T18:36:52.543Z,1379356612.543 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-16T18:36:52.553Z,1379356612.553 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-16T18:36:52.554Z,1379356612.554 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-16T18:36:52.555Z,1379356612.555 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-16T18:36:52.556Z,1379356612.556 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-16T18:36:52.557Z,1379356612.557 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-16T18:36:52.558Z,1379356612.558 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-16T18:36:52.834Z,1379356612.834 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-16T18:36:52.834Z,1379356612.834 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-16T18:36:53.024Z,1379356613.024 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-16T18:36:53.024Z,1379356613.024 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-16T18:36:53.109Z,1379356613.109 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-16T18:36:53.109Z,1379356613.109 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-16T18:36:53.219Z,1379356613.219 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-16T18:36:53.220Z,1379356613.220 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-16T18:36:53.361Z,1379356613.361 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-16T18:36:53.362Z,1379356613.362 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-16T18:36:53.597Z,1379356613.597 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-16T18:36:53.598Z,1379356613.598 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-16T18:36:53.760Z,1379356613.760 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-16T18:36:53.760Z,1379356613.760 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-16T18:36:54.020Z,1379356614.020 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-16T18:36:54.020Z,1379356614.020 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-16T18:36:54.122Z,1379356614.122 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-16T18:36:54.122Z,1379356614.122 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-16T18:36:54.528Z,1379356614.528 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-16T18:36:54.528Z,1379356614.528 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-16T18:36:54.641Z,1379356614.641 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-16T18:36:54.641Z,1379356614.641 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-16T18:36:54.727Z,1379356614.727 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-16T18:36:54.728Z,1379356614.728 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-16T18:36:54.824Z,1379356614.824 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-16T18:36:54.949Z,1379356614.949 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-16T18:36:55.043Z,1379356615.043 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-16T18:36:55.147Z,1379356615.147 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-16T18:36:55.241Z,1379356615.241 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-16T18:36:55.248Z,1379356615.248 [Config/Science](ERROR): Could not parse value: 	
2013-09-16T18:36:55.355Z,1379356615.355 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-16T18:36:55.449Z,1379356615.449 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-16T18:36:55.534Z,1379356615.534 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-09-16T18:36:55.535Z,1379356615.535 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-09-16T18:36:55.539Z,1379356615.539 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-16T18:36:55.694Z,1379356615.694 [InternalSim] Loaded
2013-09-16T18:36:55.695Z,1379356615.695 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-16T18:36:55.695Z,1379356615.695 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-16T18:36:55.696Z,1379356615.696 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-16T18:36:55.810Z,1379356615.810 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-16T18:36:55.838Z,1379356615.838 [SBIT] Loaded
2013-09-16T18:36:55.838Z,1379356615.838 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-16T18:36:55.839Z,1379356615.839 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-16T18:36:55.867Z,1379356615.867 [IBIT] Loaded
2013-09-16T18:36:55.867Z,1379356615.867 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-16T18:36:55.870Z,1379356615.870 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-16T18:36:55.981Z,1379356615.981 [CBIT] Loaded
2013-09-16T18:36:55.981Z,1379356615.981 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-16T18:36:55.982Z,1379356615.982 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-16T18:36:55.982Z,1379356615.982 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-16T18:36:56.138Z,1379356616.138 [ElevatorServo] Loaded
2013-09-16T18:36:56.138Z,1379356616.138 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-16T18:36:56.149Z,1379356616.149 [MassServo] Loaded
2013-09-16T18:36:56.150Z,1379356616.150 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-16T18:36:56.160Z,1379356616.160 [RudderServo] Loaded
2013-09-16T18:36:56.161Z,1379356616.161 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-16T18:36:56.171Z,1379356616.171 [ThrusterServo] Loaded
2013-09-16T18:36:56.172Z,1379356616.172 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-16T18:36:56.172Z,1379356616.172 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-16T18:36:56.173Z,1379356616.173 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-16T18:36:56.206Z,1379356616.206 [DepthRateCalculator] Loaded
2013-09-16T18:36:56.206Z,1379356616.206 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-16T18:36:59.277Z,1379356619.277 [HFRadarModelCalc] Loaded
2013-09-16T18:36:59.278Z,1379356619.278 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-16T18:36:59.293Z,1379356619.293 [NavChart] Loaded
2013-09-16T18:36:59.293Z,1379356619.293 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-16T18:36:59.299Z,1379356619.299 [PitchRateCalculator] Loaded
2013-09-16T18:36:59.299Z,1379356619.299 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-16T18:36:59.310Z,1379356619.310 [SpeedCalculator] Loaded
2013-09-16T18:36:59.310Z,1379356619.310 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-16T18:36:59.326Z,1379356619.326 [TempGradientCalculator] Loaded
2013-09-16T18:36:59.326Z,1379356619.326 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-16T18:36:59.331Z,1379356619.331 [YawRateCalculator] Loaded
2013-09-16T18:36:59.331Z,1379356619.331 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-16T18:36:59.376Z,1379356619.376 [Navigation] Loaded
2013-09-16T18:36:59.376Z,1379356619.376 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-16T18:36:59.377Z,1379356619.377 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-16T18:36:59.377Z,1379356619.377 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-16T18:36:59.604Z,1379356619.604 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-16T18:36:59.604Z,1379356619.604 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-16T18:36:59.626Z,1379356619.626 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-16T18:36:59.627Z,1379356619.627 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-16T18:36:59.671Z,1379356619.671 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-16T18:36:59.765Z,1379356619.765 [VerticalControl] Loaded
2013-09-16T18:36:59.765Z,1379356619.765 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-16T18:36:59.766Z,1379356619.766 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-16T18:36:59.822Z,1379356619.822 [HorizontalControl] Loaded
2013-09-16T18:36:59.822Z,1379356619.822 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-16T18:36:59.823Z,1379356619.823 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-16T18:36:59.824Z,1379356619.824 [SpeedControl] Loaded
2013-09-16T18:36:59.825Z,1379356619.825 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-16T18:36:59.825Z,1379356619.825 [LoopControl](DEBUG): Construct LoopControl.
2013-09-16T18:36:59.826Z,1379356619.826 [LoopControl] Loaded
2013-09-16T18:36:59.826Z,1379356619.826 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-16T18:36:59.827Z,1379356619.827 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-16T18:36:59.827Z,1379356619.827 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-16T18:36:59.833Z,1379356619.833 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-16T18:36:59.837Z,1379356619.837 [AsyncPiEstimator] Loaded
2013-09-16T18:36:59.837Z,1379356619.837 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-16T18:36:59.839Z,1379356619.839 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-16T18:36:59.840Z,1379356619.839 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-16T18:36:59.840Z,1379356619.840 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-16T18:37:00.026Z,1379356620.026 [AHRS_sp3003D] Loaded
2013-09-16T18:37:00.027Z,1379356620.027 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-16T18:37:00.040Z,1379356620.040 [Depth_Keller] Loaded
2013-09-16T18:37:00.040Z,1379356620.040 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-16T18:37:00.217Z,1379356620.217 [DVL_micro] Loaded
2013-09-16T18:37:00.217Z,1379356620.217 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-16T18:37:00.218Z,1379356620.218 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-09-16T18:37:00.304Z,1379356620.304 [NAL9602] Loaded
2013-09-16T18:37:00.304Z,1379356620.304 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-16T18:37:00.345Z,1379356620.345 [Onboard] Loaded
2013-09-16T18:37:00.345Z,1379356620.345 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-16T18:37:00.351Z,1379356620.351 [Radio_Freewave] Loaded
2013-09-16T18:37:00.352Z,1379356620.352 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-16T18:37:00.489Z,1379356620.489 [DAT] Loaded
2013-09-16T18:37:00.489Z,1379356620.489 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-16T18:37:00.490Z,1379356620.490 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-16T18:37:00.490Z,1379356620.490 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-16T18:37:00.583Z,1379356620.583 [CTD_NeilBrown] Loaded
2013-09-16T18:37:00.583Z,1379356620.583 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-09-16T18:37:00.584Z,1379356620.584 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-09-16T18:37:00.599Z,1379356620.599 [PAR_Licor] Loaded
2013-09-16T18:37:00.599Z,1379356620.599 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-09-16T18:37:00.630Z,1379356620.630 [WetLabsBB2FL] Loaded
2013-09-16T18:37:00.631Z,1379356620.631 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-09-16T18:37:00.632Z,1379356620.632 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-09-16T18:37:00.632Z,1379356620.632 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-16T18:37:00.635Z,1379356620.635 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-16T18:37:00.636Z,1379356620.636 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-16T18:37:00.642Z,1379356620.642 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-16T18:37:00.643Z,1379356620.643 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-09-16T18:37:00.647Z,1379356620.647 [Supervisor](DEBUG): Running supervisor.
2013-09-16T18:37:00.648Z,1379356620.648 [CommandLine](INFO): Thread ID is 4420
2013-09-16T18:37:00.651Z,1379356620.651 [controlThread](INFO): Thread ID is 4419
2013-09-16T18:37:00.651Z,1379356620.651 [controlThread](DEBUG): Initializing ControlThread
2013-09-16T18:37:00.652Z,1379356620.652 [CycleStarter](INFO): Thread ID is 4418
2013-09-16T18:37:00.652Z,1379356620.652 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-16T18:37:00.687Z,1379356620.687 [logger](INFO): Thread ID is 4421
2013-09-16T18:37:00.708Z,1379356620.708 [SBIT](INFO): Initialize SBIT Component.
2013-09-16T18:37:00.708Z,1379356620.708 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10634
2013-09-16T18:37:00.709Z,1379356620.709 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-16T18:37:00.709Z,1379356620.709 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-16T18:37:00.709Z,1379356620.709 [IBIT](INFO): Initialize IBIT Component.
2013-09-16T18:37:00.710Z,1379356620.710 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-16T18:37:00.710Z,1379356620.710 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-16T18:37:00.720Z,1379356620.720 [AsyncPiEstimator](INFO): Thread ID is 4482
2013-09-16T18:37:00.720Z,1379356620.720 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-16T18:37:00.741Z,1379356620.741 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-16T18:37:00.741Z,1379356620.741 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-16T18:37:00.742Z,1379356620.742 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-16T18:37:00.742Z,1379356620.742 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-16T18:37:00.742Z,1379356620.742 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-16T18:37:00.743Z,1379356620.743 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-16T18:37:00.743Z,1379356620.743 [Navigation](DEBUG): Initializing Navigation.
2013-09-16T18:37:00.744Z,1379356620.744 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-16T18:37:00.745Z,1379356620.745 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-16T18:37:00.746Z,1379356620.746 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-16T18:37:00.746Z,1379356620.746 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-16T18:37:00.753Z,1379356620.753 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-16T18:37:00.757Z,1379356620.757 [DVL_micro](INFO): Thread ID is 4483
2013-09-16T18:37:00.765Z,1379356620.765 [DVL_micro](INFO): Initializing
2013-09-16T18:37:00.766Z,1379356620.766 [DVL_micro](INFO): start:Powering up
2013-09-16T18:37:00.767Z,1379356620.767 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-16T18:37:00.767Z,1379356620.767 [DVL_micro](INFO): Cycling power to configure device.
2013-09-16T18:37:00.791Z,1379356620.791 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T18:37:00.793Z,1379356620.793 [CTD_NeilBrown](INFO): Thread ID is 4484
2013-09-16T18:37:00.794Z,1379356620.794 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-09-16T18:37:00.821Z,1379356620.821 [WetLabsBB2FL](INFO): Thread ID is 4485
2013-09-16T18:37:00.821Z,1379356620.821 [WetLabsBB2FL](INFO): Powering down
2013-09-16T18:37:00.843Z,1379356620.843 [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>


2013-09-16T18:37:00.844Z,1379356620.844 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-16T18:37:00.849Z,1379356620.849 [NavChartDb](INFO): Thread ID is 4486
2013-09-16T18:37:00.851Z,1379356620.851 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-16T18:37:00.852Z,1379356620.852 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-16T18:37:00.852Z,1379356620.852 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-16T18:37:00.853Z,1379356620.853 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-16T18:37:00.853Z,1379356620.853 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-16T18:37:00.853Z,1379356620.853 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-16T18:37:00.853Z,1379356620.853 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-16T18:37:00.854Z,1379356620.854 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-16T18:37:00.854Z,1379356620.854 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-16T18:37:00.931Z,1379356620.931 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-16T18:37:00.933Z,1379356620.933 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-16T18:37:00.949Z,1379356620.949 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T18:37:00.956Z,1379356620.956 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-16T18:37:00.959Z,1379356620.959 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T18:37:00.978Z,1379356620.978 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-16T18:37:01.021Z,1379356621.021 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-16T18:37:01.029Z,1379356621.029 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T18:37:01.042Z,1379356621.042 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-16T18:37:01.046Z,1379356621.046 [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>


2013-09-16T18:37:01.052Z,1379356621.052 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,NAL9602,Onboard,Radio_Freewave,DAT,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-09-16T18:37:01.117Z,1379356621.117 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-16T18:37:01.139Z,1379356621.139 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-09-16T18:37:01.205Z,1379356621.205 [CTD_NeilBrown](ERROR): Salinity reading out of range: 0.000000 psu
2013-09-16T18:37:01.229Z,1379356621.229 [Radio_Freewave](INFO): Powering up
2013-09-16T18:37:01.248Z,1379356621.248 [DAT](INFO): Powering up
2013-09-16T18:37:01.260Z,1379356621.260 [DAT](DEBUG): Initializing DAT.
2013-09-16T18:37:01.574Z,1379356621.574 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-16T18:37:01.581Z,1379356621.581 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-16T18:37:01.587Z,1379356621.587 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-16T18:37:01.613Z,1379356621.613 [MassServo](DEBUG): Initializing MassServo.
2013-09-16T18:37:01.627Z,1379356621.627 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-16T18:37:01.633Z,1379356621.633 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-16T18:37:01.647Z,1379356621.647 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-16T18:37:01.650Z,1379356621.650 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-16T18:37:01.841Z,1379356621.841 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0x42360D0AA4
2013-09-16T18:37:01.842Z,1379356621.842 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-09-16T18:37:01.842Z,1379356621.842 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-09-16T18:37:01.842Z,1379356621.842 [AHRS_sp3003D](ERROR): Hardware Fault
2013-09-16T18:37:02.041Z,1379356622.041 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-09-16T18:37:02.117Z,1379356622.117 [AHRS_sp3003D](INFO): Powering down
2013-09-16T18:37:02.815Z,1379356622.815 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-16T18:37:02.816Z,1379356622.816 [DVL_micro](INFO): Querying output modes
2013-09-16T18:37:02.816Z,1379356622.816 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-16T18:37:02.827Z,1379356622.827 [DVL_micro](DEBUG): cmdResponse: 01 16
2013-09-16T18:37:02.827Z,1379356622.827 [DVL_micro](INFO): NQ1 output enabled
2013-09-16T18:37:02.827Z,1379356622.827 [DVL_micro](INFO): RSSI output enabled
2013-09-16T18:37:02.828Z,1379356622.828 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-16T18:37:02.839Z,1379356622.839 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-16T18:37:02.844Z,1379356622.844 [DVL_micro](INFO): pause:Powering down
2013-09-16T18:37:02.846Z,1379356622.846 [DVL_micro](INFO): RSSI unrequested
2013-09-16T18:37:02.847Z,1379356622.847 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-16T18:37:02.847Z,1379356622.847 [DVL_micro](INFO): resume:Powering up
2013-09-16T18:37:02.847Z,1379356622.847 [DVL_micro](INFO): Cycling power to configure device.
2013-09-16T18:37:03.496Z,1379356623.496 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-09-16T18:37:03.497Z,1379356623.497 [AHRS_sp3003D] No Fault, FailCount= 1
2013-09-16T18:37:03.832Z,1379356623.832 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-16T18:37:04.850Z,1379356624.850 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-16T18:37:04.851Z,1379356624.851 [DVL_micro](INFO): Querying output modes
2013-09-16T18:37:04.851Z,1379356624.851 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-16T18:37:04.863Z,1379356624.863 [DVL_micro](DEBUG): cmdResponse: 01 16
2013-09-16T18:37:04.863Z,1379356624.863 [DVL_micro](INFO): NQ1 output enabled
2013-09-16T18:37:04.863Z,1379356624.863 [DVL_micro](INFO): RSSI output enabled
2013-09-16T18:37:04.863Z,1379356624.863 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-16T18:37:04.874Z,1379356624.874 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-16T18:37:04.877Z,1379356624.877 [DVL_micro](INFO): pause:Powering down
2013-09-16T18:37:05.729Z,1379356625.729 [NAL9602](INFO): Powering up NAL9602
2013-09-16T18:37:16.304Z,1379356636.304 [NAL9602](INFO): NAL9602 initialized
2013-09-16T18:37:16.354Z,1379356636.354 [SBIT](IMPORTANT): Beginning Startup BIT
2013-09-16T18:37:16.361Z,1379356636.361 [CBIT](IMPORTANT): Beginning GF scan
2013-09-16T18:37:20.711Z,1379356640.711 [DAT](INFO): Init failed - response: 
2013-09-16T18:37:20.711Z,1379356640.711 [DAT](FAULT): DAT failed to initialize
2013-09-16T18:37:20.711Z,1379356640.711 [DAT] Communications Fault, FailCount= 1
2013-09-16T18:37:20.711Z,1379356640.711 [DAT](ERROR): Communications Fault
2013-09-16T18:37:20.838Z,1379356640.838 [CBIT](ERROR): Communications Fault in component: DAT
2013-09-16T18:37:21.068Z,1379356641.068 [DAT](INFO): Powering down
2013-09-16T18:37:22.281Z,1379356642.281 [CBIT](INFO): Clearing failed state for component DAT
2013-09-16T18:37:22.281Z,1379356642.281 [DAT] No Fault, FailCount= 1
2013-09-16T18:37:24.203Z,1379356644.203 [DAT](INFO): Powering up
2013-09-16T18:37:24.203Z,1379356644.203 [DAT](DEBUG): Initializing DAT.
2013-09-16T18:37:42.859Z,1379356662.859 [CBIT](FAULT): Chan 4 High side GF detected
mA:
CHAN 5 (24V): 0.039791
CHAN 4 (Batt): 0.006696
CHAN 2 (12V): 0.000574
CHAN 1 (5V): 0.000765
CHAN 0 (3.3V): 0.000574
OPEN: 0.000574
Full Scale Calc: 0.392
2013-09-16T18:37:44.415Z,1379356664.415 [DAT](INFO): Powering down
2013-09-16T18:38:10.150Z,1379356690.150 [SBIT](IMPORTANT): SBIT PASSED
2013-09-16T18:38:10.560Z,1379356690.560 [MissionManager](IMPORTANT): Started mission Startup
2013-09-16T18:38:10.560Z,1379356690.560 [Startup] Running Loop=1
2013-09-16T18:38:10.560Z,1379356690.560 [Startup](INFO): Aggregate::initialize Startup
2013-09-16T18:38:10.560Z,1379356690.560 [Startup:A.GoToSurface] Running Loop=1
2013-09-16T18:38:10.560Z,1379356690.560 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-09-16T18:38:10.566Z,1379356690.566 [Startup:StartupSatComms] Running Loop=1
2013-09-16T18:38:10.566Z,1379356690.566 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-09-16T18:38:10.566Z,1379356690.566 [Startup:StartupSatComms:A] Running Loop=1
2013-09-16T18:38:10.964Z,1379356690.964 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-09-16T18:39:10.965Z,1379356750.965 [Startup:StartupSatComms:A](INFO): Timed out from 2013-09-16T18:38:10.6Z
2013-09-16T18:39:10.965Z,1379356750.965 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-09-16T18:39:10.966Z,1379356750.966 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-09-16T18:39:10.966Z,1379356750.966 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-09-16T18:39:10.966Z,1379356750.966 [Startup:StartupSatComms:A] Stopped
2013-09-16T18:39:10.966Z,1379356750.966 [Startup:StartupSatComms:B] Running Loop=1
2013-09-16T18:39:11.366Z,1379356751.366 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-09-16T18:39:52.679Z,1379356792.679 [CommandLine](IMPORTANT): got command restart application
2013-09-16T18:39:53.792Z,1379356793.792 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-09-16T18:39:53.792Z,1379356793.792 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-09-16T18:39:53.960Z,1379356793.960 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-09-16T18:39:54.081Z,1379356794.081 [WetLabsBB2FL](INFO): Powering down
2013-09-16T18:39:54.088Z,1379356794.088 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-09-16T18:39:54.128Z,1379356794.128 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-09-16T18:39:54.341Z,1379356794.341 [DVL_micro](INFO): uninitialize:Powering down
2013-09-16T18:39:54.349Z,1379356794.349 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-09-16T18:39:54.389Z,1379356794.389 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-09-16T18:39:54.406Z,1379356794.406 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-09-16T18:39:54.434Z,1379356794.434 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-09-16T18:39:54.435Z,1379356794.435 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-09-16T18:39:54.541Z,1379356794.541 [controlThread](DEBUG): Uninitializing ControlThread
2013-09-16T18:39:54.542Z,1379356794.542 [AHRS_sp3003D](INFO): Powering down
2013-09-16T18:39:54.630Z,1379356794.630 [NAL9602](INFO): Powering down
2013-09-16T18:39:54.631Z,1379356794.631 [DAT](INFO): Powering down
2013-09-16T18:39:54.632Z,1379356794.632 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-16T18:39:54.633Z,1379356794.633 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-09-16T18:39:54.638Z,1379356794.638 [Startup] Stopped
2013-09-16T18:39:54.638Z,1379356794.638 [Startup](INFO): Aggregate::uninitialize Startup
2013-09-16T18:39:54.638Z,1379356794.638 [Startup:A.GoToSurface] Stopped
2013-09-16T18:39:54.638Z,1379356794.638 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-09-16T18:39:54.638Z,1379356794.638 [Startup:StartupSatComms] Stopped
2013-09-16T18:39:54.638Z,1379356794.638 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-09-16T18:39:54.638Z,1379356794.638 [Startup:StartupSatComms:B] Stopped
2013-09-16T18:39:54.640Z,1379356794.640 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-09-16T18:39:54.640Z,1379356794.640 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-09-16T18:39:54.640Z,1379356794.640 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-09-16T18:39:54.640Z,1379356794.640 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-09-16T18:39:54.641Z,1379356794.641 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-09-16T18:39:54.641Z,1379356794.641 [ElevatorServo](INFO): Powering down
2013-09-16T18:39:54.642Z,1379356794.642 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-09-16T18:39:54.642Z,1379356794.642 [MassServo](INFO): Powering down
2013-09-16T18:39:54.643Z,1379356794.643 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-09-16T18:39:54.643Z,1379356794.643 [RudderServo](INFO): Powering down
2013-09-16T18:39:54.644Z,1379356794.644 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-09-16T18:39:54.644Z,1379356794.644 [ThrusterServo](INFO): Powering down
2013-09-16T18:39:54.645Z,1379356794.645 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-09-16T18:39:54.645Z,1379356794.645 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-09-16T18:39:54.646Z,1379356794.646 [CBIT](DEBUG): Uninitialize CBIT Component.