2013-09-16T18:53:02.823Z,1379357582.823 [Supervisor](DEBUG): Initializing supervisor.
2013-09-16T18:53:02.826Z,1379357582.826 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-16T18:53:02.826Z,1379357582.826 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-16T18:53:02.827Z,1379357582.827 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-16T18:53:02.830Z,1379357582.830 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-16T18:53:02.841Z,1379357582.841 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-16T18:53:02.842Z,1379357582.842 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-16T18:53:02.843Z,1379357582.843 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-16T18:53:02.844Z,1379357582.844 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-16T18:53:02.845Z,1379357582.845 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-16T18:53:02.846Z,1379357582.846 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-16T18:53:03.126Z,1379357583.126 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-16T18:53:03.126Z,1379357583.126 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-16T18:53:03.318Z,1379357583.318 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-16T18:53:03.319Z,1379357583.319 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-16T18:53:03.405Z,1379357583.405 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-16T18:53:03.405Z,1379357583.405 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-16T18:53:03.517Z,1379357583.517 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-16T18:53:03.517Z,1379357583.517 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-16T18:53:03.660Z,1379357583.660 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-16T18:53:03.660Z,1379357583.660 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-16T18:53:03.898Z,1379357583.898 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-16T18:53:03.898Z,1379357583.898 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-16T18:53:04.063Z,1379357584.063 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-16T18:53:04.063Z,1379357584.063 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-16T18:53:04.323Z,1379357584.323 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-16T18:53:04.324Z,1379357584.324 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-16T18:53:04.426Z,1379357584.426 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-16T18:53:04.426Z,1379357584.426 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-16T18:53:04.835Z,1379357584.835 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-16T18:53:04.836Z,1379357584.836 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-16T18:53:04.946Z,1379357584.946 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-16T18:53:04.947Z,1379357584.947 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-16T18:53:05.033Z,1379357585.033 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-16T18:53:05.034Z,1379357585.034 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-16T18:53:05.132Z,1379357585.132 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-16T18:53:05.259Z,1379357585.259 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-16T18:53:05.360Z,1379357585.360 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-16T18:53:05.491Z,1379357585.491 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-16T18:53:05.586Z,1379357585.586 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-16T18:53:05.701Z,1379357585.701 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-16T18:53:05.796Z,1379357585.796 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-16T18:53:05.882Z,1379357585.882 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-09-16T18:53:05.883Z,1379357585.883 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-09-16T18:53:05.887Z,1379357585.887 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-16T18:53:06.045Z,1379357586.045 [InternalSim] Loaded
2013-09-16T18:53:06.045Z,1379357586.045 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-16T18:53:06.046Z,1379357586.046 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-16T18:53:06.046Z,1379357586.046 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-16T18:53:06.130Z,1379357586.130 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-16T18:53:06.158Z,1379357586.158 [SBIT] Loaded
2013-09-16T18:53:06.159Z,1379357586.159 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-16T18:53:06.159Z,1379357586.159 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-16T18:53:06.188Z,1379357586.188 [IBIT] Loaded
2013-09-16T18:53:06.189Z,1379357586.189 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-16T18:53:06.191Z,1379357586.191 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-16T18:53:06.304Z,1379357586.304 [CBIT] Loaded
2013-09-16T18:53:06.304Z,1379357586.304 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-16T18:53:06.304Z,1379357586.304 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-16T18:53:06.305Z,1379357586.305 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-16T18:53:06.463Z,1379357586.463 [ElevatorServo] Loaded
2013-09-16T18:53:06.463Z,1379357586.463 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-16T18:53:06.474Z,1379357586.474 [MassServo] Loaded
2013-09-16T18:53:06.474Z,1379357586.474 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-16T18:53:06.486Z,1379357586.486 [RudderServo] Loaded
2013-09-16T18:53:06.486Z,1379357586.486 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-16T18:53:06.497Z,1379357586.497 [ThrusterServo] Loaded
2013-09-16T18:53:06.497Z,1379357586.497 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-16T18:53:06.497Z,1379357586.497 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-16T18:53:06.498Z,1379357586.498 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-16T18:53:06.532Z,1379357586.532 [DepthRateCalculator] Loaded
2013-09-16T18:53:06.532Z,1379357586.532 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-16T18:53:09.399Z,1379357589.399 [HFRadarModelCalc] Loaded
2013-09-16T18:53:09.399Z,1379357589.399 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-16T18:53:09.415Z,1379357589.415 [NavChart] Loaded
2013-09-16T18:53:09.415Z,1379357589.415 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-16T18:53:09.420Z,1379357589.420 [PitchRateCalculator] Loaded
2013-09-16T18:53:09.421Z,1379357589.421 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-16T18:53:09.431Z,1379357589.431 [SpeedCalculator] Loaded
2013-09-16T18:53:09.432Z,1379357589.432 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-16T18:53:09.447Z,1379357589.447 [TempGradientCalculator] Loaded
2013-09-16T18:53:09.448Z,1379357589.448 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-16T18:53:09.453Z,1379357589.453 [YawRateCalculator] Loaded
2013-09-16T18:53:09.453Z,1379357589.453 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-16T18:53:09.499Z,1379357589.499 [Navigation] Loaded
2013-09-16T18:53:09.499Z,1379357589.499 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-16T18:53:09.500Z,1379357589.500 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-16T18:53:09.501Z,1379357589.501 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-16T18:53:09.732Z,1379357589.732 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-16T18:53:09.732Z,1379357589.732 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-16T18:53:09.755Z,1379357589.755 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-16T18:53:09.755Z,1379357589.755 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-16T18:53:09.800Z,1379357589.800 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-16T18:53:09.896Z,1379357589.896 [VerticalControl] Loaded
2013-09-16T18:53:09.896Z,1379357589.896 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-16T18:53:09.897Z,1379357589.897 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-16T18:53:09.955Z,1379357589.955 [HorizontalControl] Loaded
2013-09-16T18:53:09.956Z,1379357589.956 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-16T18:53:09.956Z,1379357589.956 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-16T18:53:09.958Z,1379357589.958 [SpeedControl] Loaded
2013-09-16T18:53:09.958Z,1379357589.958 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-16T18:53:09.959Z,1379357589.959 [LoopControl](DEBUG): Construct LoopControl.
2013-09-16T18:53:09.959Z,1379357589.959 [LoopControl] Loaded
2013-09-16T18:53:09.960Z,1379357589.960 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-16T18:53:09.960Z,1379357589.960 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-16T18:53:09.961Z,1379357589.961 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-16T18:53:09.966Z,1379357589.966 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-16T18:53:09.971Z,1379357589.971 [AsyncPiEstimator] Loaded
2013-09-16T18:53:09.971Z,1379357589.971 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-16T18:53:09.973Z,1379357589.973 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-16T18:53:09.973Z,1379357589.973 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-16T18:53:09.974Z,1379357589.974 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-16T18:53:10.164Z,1379357590.164 [AHRS_sp3003D] Loaded
2013-09-16T18:53:10.164Z,1379357590.164 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-16T18:53:10.178Z,1379357590.178 [Depth_Keller] Loaded
2013-09-16T18:53:10.178Z,1379357590.178 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-16T18:53:10.357Z,1379357590.357 [DVL_micro] Loaded
2013-09-16T18:53:10.358Z,1379357590.358 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-16T18:53:10.359Z,1379357590.359 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-09-16T18:53:10.461Z,1379357590.461 [NAL9602] Loaded
2013-09-16T18:53:10.461Z,1379357590.461 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-16T18:53:10.503Z,1379357590.503 [Onboard] Loaded
2013-09-16T18:53:10.503Z,1379357590.503 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-16T18:53:10.510Z,1379357590.510 [Radio_Freewave] Loaded
2013-09-16T18:53:10.510Z,1379357590.510 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-16T18:53:10.650Z,1379357590.650 [DAT] Loaded
2013-09-16T18:53:10.650Z,1379357590.650 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-16T18:53:10.650Z,1379357590.650 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-16T18:53:10.651Z,1379357590.651 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-16T18:53:10.745Z,1379357590.745 [CTD_NeilBrown] Loaded
2013-09-16T18:53:10.745Z,1379357590.745 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-09-16T18:53:10.747Z,1379357590.747 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-09-16T18:53:10.761Z,1379357590.761 [PAR_Licor] Loaded
2013-09-16T18:53:10.762Z,1379357590.762 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-09-16T18:53:10.793Z,1379357590.793 [WetLabsBB2FL] Loaded
2013-09-16T18:53:10.794Z,1379357590.794 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-09-16T18:53:10.795Z,1379357590.795 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-09-16T18:53:10.795Z,1379357590.795 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-16T18:53:10.798Z,1379357590.798 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-16T18:53:10.798Z,1379357590.798 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-16T18:53:10.805Z,1379357590.805 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-16T18:53:10.806Z,1379357590.806 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-09-16T18:53:10.810Z,1379357590.810 [Supervisor](DEBUG): Running supervisor.
2013-09-16T18:53:10.812Z,1379357590.812 [CommandLine](INFO): Thread ID is 4753
2013-09-16T18:53:10.814Z,1379357590.814 [controlThread](INFO): Thread ID is 4752
2013-09-16T18:53:10.814Z,1379357590.814 [controlThread](DEBUG): Initializing ControlThread
2013-09-16T18:53:10.815Z,1379357590.815 [CycleStarter](INFO): Thread ID is 4751
2013-09-16T18:53:10.815Z,1379357590.815 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-16T18:53:10.848Z,1379357590.848 [logger](INFO): Thread ID is 4754
2013-09-16T18:53:10.870Z,1379357590.870 [SBIT](INFO): Initialize SBIT Component.
2013-09-16T18:53:10.870Z,1379357590.870 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10634
2013-09-16T18:53:10.871Z,1379357590.871 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-16T18:53:10.871Z,1379357590.871 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-16T18:53:10.872Z,1379357590.872 [IBIT](INFO): Initialize IBIT Component.
2013-09-16T18:53:10.873Z,1379357590.873 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-16T18:53:10.873Z,1379357590.873 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-16T18:53:10.885Z,1379357590.885 [AsyncPiEstimator](INFO): Thread ID is 4815
2013-09-16T18:53:10.885Z,1379357590.885 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-16T18:53:10.897Z,1379357590.897 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-16T18:53:10.898Z,1379357590.898 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-16T18:53:10.898Z,1379357590.898 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-16T18:53:10.898Z,1379357590.898 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-16T18:53:10.899Z,1379357590.899 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-16T18:53:10.899Z,1379357590.899 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-16T18:53:10.899Z,1379357590.899 [Navigation](DEBUG): Initializing Navigation.
2013-09-16T18:53:10.900Z,1379357590.900 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-16T18:53:10.902Z,1379357590.902 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-16T18:53:10.902Z,1379357590.902 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-16T18:53:10.903Z,1379357590.903 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-16T18:53:10.907Z,1379357590.907 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-16T18:53:10.917Z,1379357590.917 [DVL_micro](INFO): Thread ID is 4816
2013-09-16T18:53:10.925Z,1379357590.925 [DVL_micro](INFO): Initializing
2013-09-16T18:53:10.926Z,1379357590.926 [DVL_micro](INFO): start:Powering up
2013-09-16T18:53:10.927Z,1379357590.927 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-16T18:53:10.927Z,1379357590.927 [DVL_micro](INFO): Cycling power to configure device.
2013-09-16T18:53:10.941Z,1379357590.941 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T18:53:10.945Z,1379357590.945 [CTD_NeilBrown](INFO): Thread ID is 4817
2013-09-16T18:53:10.945Z,1379357590.945 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-09-16T18:53:10.983Z,1379357590.983 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="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>


2013-09-16T18:53:10.985Z,1379357590.985 [WetLabsBB2FL](INFO): Thread ID is 4818
2013-09-16T18:53:10.986Z,1379357590.986 [WetLabsBB2FL](INFO): Powering down
2013-09-16T18:53:11.009Z,1379357591.009 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-16T18:53:11.019Z,1379357591.019 [NavChartDb](INFO): Thread ID is 4819
2013-09-16T18:53:11.022Z,1379357591.022 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-16T18:53:11.023Z,1379357591.023 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-16T18:53:11.023Z,1379357591.023 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-16T18:53:11.023Z,1379357591.023 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-16T18:53:11.023Z,1379357591.023 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-16T18:53:11.024Z,1379357591.024 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-16T18:53:11.024Z,1379357591.024 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-16T18:53:11.024Z,1379357591.024 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-16T18:53:11.025Z,1379357591.025 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-16T18:53:11.098Z,1379357591.098 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-16T18:53:11.112Z,1379357591.112 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-16T18:53:11.116Z,1379357591.116 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T18:53:11.123Z,1379357591.123 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-16T18:53:11.138Z,1379357591.138 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T18:53:11.145Z,1379357591.145 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-16T18:53:11.186Z,1379357591.186 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-16T18:53:11.205Z,1379357591.205 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-16T18:53:11.210Z,1379357591.210 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-16T18:53:11.224Z,1379357591.224 [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>


2013-09-16T18:53:11.240Z,1379357591.240 [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,
2013-09-16T18:53:11.309Z,1379357591.309 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-16T18:53:11.320Z,1379357591.320 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-09-16T18:53:11.369Z,1379357591.369 [CTD_NeilBrown](ERROR): Salinity reading out of range: 0.000000 psu
2013-09-16T18:53:11.495Z,1379357591.495 [Radio_Freewave](INFO): Powering up
2013-09-16T18:53:11.506Z,1379357591.506 [DAT](INFO): Powering up
2013-09-16T18:53:11.506Z,1379357591.506 [DAT](DEBUG): Initializing DAT.
2013-09-16T18:53:11.819Z,1379357591.819 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-16T18:53:11.825Z,1379357591.825 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-16T18:53:11.831Z,1379357591.831 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-16T18:53:11.838Z,1379357591.838 [MassServo](DEBUG): Initializing MassServo.
2013-09-16T18:53:11.843Z,1379357591.843 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-16T18:53:11.874Z,1379357591.874 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-16T18:53:11.893Z,1379357591.893 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-16T18:53:11.902Z,1379357591.902 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-16T18:53:12.859Z,1379357592.859 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2013-09-16T18:53:12.859Z,1379357592.859 [ElevatorServo](FAULT): Elevator failed to initialize
2013-09-16T18:53:12.859Z,1379357592.859 [ElevatorServo] Communications Fault, FailCount= 1
2013-09-16T18:53:12.859Z,1379357592.859 [ElevatorServo](ERROR): Communications Fault
2013-09-16T18:53:13.023Z,1379357593.023 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-16T18:53:13.024Z,1379357593.024 [DVL_micro](INFO): Querying output modes
2013-09-16T18:53:13.024Z,1379357593.024 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-16T18:53:13.033Z,1379357593.033 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2013-09-16T18:53:13.035Z,1379357593.035 [DVL_micro](DEBUG): cmdResponse: 01 16
2013-09-16T18:53:13.035Z,1379357593.035 [DVL_micro](INFO): NQ1 output enabled
2013-09-16T18:53:13.036Z,1379357593.036 [DVL_micro](INFO): RSSI output enabled
2013-09-16T18:53:13.036Z,1379357593.036 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-16T18:53:13.060Z,1379357593.059 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-16T18:53:13.065Z,1379357593.065 [DVL_micro](INFO): pause:Powering down
2013-09-16T18:53:13.313Z,1379357593.313 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-09-16T18:53:13.313Z,1379357593.313 [ElevatorServo](INFO): Powering down
2013-09-16T18:53:14.139Z,1379357594.139 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-16T18:53:14.261Z,1379357594.261 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-16T18:53:14.266Z,1379357594.266 [CBIT](INFO): Clearing failed state for component ElevatorServo
2013-09-16T18:53:14.266Z,1379357594.266 [ElevatorServo] No Fault, FailCount= 1
2013-09-16T18:53:15.761Z,1379357595.761 [NAL9602](INFO): Powering up NAL9602
2013-09-16T18:53:21.501Z,1379357601.501 [CommandLine](IMPORTANT): got command show variable CTD
2013-09-16T18:53:21.508Z,1379357601.508 [CommandLine](INFO): CTD_NeilBrown.loadControl (none)
2013-09-16T18:53:21.508Z,1379357601.509 [CommandLine](INFO): CTD_NeilBrown.uart (none)
2013-09-16T18:53:21.509Z,1379357601.509 [CommandLine](INFO): CTD_NeilBrown.baud (bit_per_second)
2013-09-16T18:53:21.518Z,1379357601.518 [CommandLine](INFO): CTD_NeilBrown.loadAtStartup (bool)
2013-09-16T18:53:21.518Z,1379357601.518 [CommandLine](INFO): CTD_NeilBrown.simulateHardware (bool)
2013-09-16T18:53:21.518Z,1379357601.518 [CommandLine](INFO): CTD_NeilBrown.power (watt)
2013-09-16T18:53:21.519Z,1379357601.519 [CommandLine](INFO): CTD_NeilBrown.maxPressBound (decibar)
2013-09-16T18:53:21.519Z,1379357601.519 [CommandLine](INFO): CTD_NeilBrown.minPressBound (decibar)
2013-09-16T18:53:21.519Z,1379357601.519 [CommandLine](INFO): CTD_NeilBrown.offset (decibar)
2013-09-16T18:53:21.520Z,1379357601.520 [CommandLine](INFO): CTD_NeilBrown.maxSalinityBound (practical_salinity_unit)
2013-09-16T18:53:21.521Z,1379357601.521 [CommandLine](INFO): CTD_NeilBrown.minSalinityBound (practical_salinity_unit)
2013-09-16T18:53:21.597Z,1379357601.597 [CommandLine](INFO): CTD_NeilBrown.sea_water_density (kilogram_per_cubic_meter)
2013-09-16T18:53:21.597Z,1379357601.597 [CommandLine](INFO): CTD_NeilBrown.depth (meter)
2013-09-16T18:53:21.598Z,1379357601.598 [CommandLine](INFO): CTD_NeilBrown.sea_water_pressure (decibar)
2013-09-16T18:53:21.598Z,1379357601.598 [CommandLine](INFO): CTD_NeilBrown.sea_water_salinity (practical_salinity_unit)
2013-09-16T18:53:21.598Z,1379357601.598 [CommandLine](INFO): CTD_NeilBrown.sea_water_temperature (celsius)
2013-09-16T18:53:21.599Z,1379357601.599 [CommandLine](INFO): CTD_NeilBrown.sea_water_electrical_conductivity (millimho_per_centimeter)
2013-09-16T18:53:21.600Z,1379357601.600 [CommandLine](INFO): CTD_NeilBrown.durationOfLastRun (second)
2013-09-16T18:53:26.555Z,1379357606.555 [NAL9602](INFO): NAL9602 initialized
2013-09-16T18:53:26.609Z,1379357606.609 [SBIT](IMPORTANT): Beginning Startup BIT
2013-09-16T18:53:26.612Z,1379357606.612 [CBIT](IMPORTANT): Beginning GF scan
2013-09-16T18:53:31.747Z,1379357611.747 [DAT](INFO): Powering down
2013-09-16T18:53:32.049Z,1379357612.049 [CommandLine](IMPORTANT): got command get CTD_NeilBrown.simulateHardware
2013-09-16T18:53:32.049Z,1379357612.049 [CommandLine](IMPORTANT): CTD_NeilBrown.simulateHardware 1 bool
2013-09-16T18:53:53.244Z,1379357633.244 [CBIT](FAULT): Chan 4 High side GF detected
mA:
CHAN 5 (24V): 0.034626
CHAN 4 (Batt): 0.005070
CHAN 2 (12V): 0.000670
CHAN 1 (5V): 0.000574
CHAN 0 (3.3V): 0.000574
OPEN: 0.000670
Full Scale Calc: 0.392
2013-09-16T18:54:20.561Z,1379357660.561 [SBIT](IMPORTANT): SBIT PASSED
2013-09-16T18:54:20.969Z,1379357660.969 [MissionManager](IMPORTANT): Started mission Startup
2013-09-16T18:54:20.969Z,1379357660.969 [Startup] Running Loop=1
2013-09-16T18:54:20.969Z,1379357660.969 [Startup](INFO): Aggregate::initialize Startup
2013-09-16T18:54:20.969Z,1379357660.969 [Startup:A.GoToSurface] Running Loop=1
2013-09-16T18:54:20.969Z,1379357660.969 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-09-16T18:54:20.976Z,1379357660.977 [Startup:StartupSatComms] Running Loop=1
2013-09-16T18:54:20.977Z,1379357660.977 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-09-16T18:54:20.977Z,1379357660.977 [Startup:StartupSatComms:A] Running Loop=1
2013-09-16T18:54:21.368Z,1379357661.368 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-09-16T18:55:21.369Z,1379357721.369 [Startup:StartupSatComms:A](INFO): Timed out from 2013-09-16T18:54:20.0Z
2013-09-16T18:55:21.370Z,1379357721.370 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-09-16T18:55:21.370Z,1379357721.370 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-09-16T18:55:21.370Z,1379357721.370 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-09-16T18:55:21.370Z,1379357721.370 [Startup:StartupSatComms:A] Stopped
2013-09-16T18:55:21.370Z,1379357721.370 [Startup:StartupSatComms:B] Running Loop=1
2013-09-16T18:55:21.772Z,1379357721.772 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-09-16T18:55:46.666Z,1379357746.666 [CommandLine](IMPORTANT): got command restart application
2013-09-16T18:55:47.739Z,1379357747.739 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-09-16T18:55:47.739Z,1379357747.739 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-09-16T18:55:47.803Z,1379357747.803 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-09-16T18:55:48.108Z,1379357748.108 [WetLabsBB2FL](INFO): Powering down
2013-09-16T18:55:48.120Z,1379357748.120 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-09-16T18:55:48.528Z,1379357748.528 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-09-16T18:55:48.765Z,1379357748.765 [DVL_micro](INFO): uninitialize:Powering down
2013-09-16T18:55:48.777Z,1379357748.777 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-09-16T18:55:48.889Z,1379357748.889 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-09-16T18:55:48.902Z,1379357748.902 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-09-16T18:55:48.962Z,1379357748.962 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-09-16T18:55:48.963Z,1379357748.963 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-09-16T18:55:49.077Z,1379357749.077 [controlThread](DEBUG): Uninitializing ControlThread
2013-09-16T18:55:49.078Z,1379357749.078 [AHRS_sp3003D](INFO): Powering down
2013-09-16T18:55:49.166Z,1379357749.166 [NAL9602](INFO): Powering down
2013-09-16T18:55:49.167Z,1379357749.167 [DAT](INFO): Powering down
2013-09-16T18:55:49.169Z,1379357749.169 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-16T18:55:49.169Z,1379357749.169 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-09-16T18:55:49.173Z,1379357749.173 [Startup] Stopped
2013-09-16T18:55:49.174Z,1379357749.174 [Startup](INFO): Aggregate::uninitialize Startup
2013-09-16T18:55:49.174Z,1379357749.174 [Startup:A.GoToSurface] Stopped
2013-09-16T18:55:49.174Z,1379357749.174 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-09-16T18:55:49.174Z,1379357749.174 [Startup:StartupSatComms] Stopped
2013-09-16T18:55:49.174Z,1379357749.174 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-09-16T18:55:49.174Z,1379357749.174 [Startup:StartupSatComms:B] Stopped
2013-09-16T18:55:49.175Z,1379357749.175 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-09-16T18:55:49.176Z,1379357749.176 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-09-16T18:55:49.176Z,1379357749.176 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-09-16T18:55:49.176Z,1379357749.176 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-09-16T18:55:49.177Z,1379357749.177 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-09-16T18:55:49.177Z,1379357749.177 [ElevatorServo](INFO): Powering down
2013-09-16T18:55:49.178Z,1379357749.178 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-09-16T18:55:49.178Z,1379357749.178 [MassServo](INFO): Powering down
2013-09-16T18:55:49.179Z,1379357749.179 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-09-16T18:55:49.179Z,1379357749.179 [RudderServo](INFO): Powering down
2013-09-16T18:55:49.180Z,1379357749.180 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-09-16T18:55:49.180Z,1379357749.180 [ThrusterServo](INFO): Powering down
2013-09-16T18:55:49.180Z,1379357749.180 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-09-16T18:55:49.181Z,1379357749.181 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-09-16T18:55:49.181Z,1379357749.181 [CBIT](DEBUG): Uninitialize CBIT Component.