2013-09-17T07:40:26.463Z,1379403626.463 [Supervisor](DEBUG): Initializing supervisor.
2013-09-17T07:40:26.466Z,1379403626.466 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-09-17T07:40:26.467Z,1379403626.467 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-09-17T07:40:26.468Z,1379403626.468 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-09-17T07:40:26.471Z,1379403626.471 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-09-17T07:40:26.481Z,1379403626.481 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-09-17T07:40:26.482Z,1379403626.482 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-09-17T07:40:26.483Z,1379403626.483 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-09-17T07:40:26.484Z,1379403626.484 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-09-17T07:40:26.485Z,1379403626.485 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-09-17T07:40:26.486Z,1379403626.486 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-09-17T07:40:26.766Z,1379403626.766 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-09-17T07:40:26.766Z,1379403626.766 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-09-17T07:40:26.959Z,1379403626.959 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-09-17T07:40:26.960Z,1379403626.960 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-09-17T07:40:27.045Z,1379403627.045 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-09-17T07:40:27.045Z,1379403627.045 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-09-17T07:40:27.157Z,1379403627.157 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-09-17T07:40:27.158Z,1379403627.158 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-09-17T07:40:27.301Z,1379403627.301 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-09-17T07:40:27.302Z,1379403627.302 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-09-17T07:40:27.552Z,1379403627.552 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-09-17T07:40:27.553Z,1379403627.553 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-09-17T07:40:27.744Z,1379403627.744 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-09-17T07:40:27.745Z,1379403627.745 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-09-17T07:40:28.006Z,1379403628.006 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-09-17T07:40:28.007Z,1379403628.007 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-09-17T07:40:28.109Z,1379403628.109 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-09-17T07:40:28.109Z,1379403628.109 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-09-17T07:40:28.521Z,1379403628.521 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-09-17T07:40:28.522Z,1379403628.522 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-09-17T07:40:28.633Z,1379403628.633 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-09-17T07:40:28.634Z,1379403628.634 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-09-17T07:40:28.720Z,1379403628.720 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-09-17T07:40:28.721Z,1379403628.721 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-09-17T07:40:28.820Z,1379403628.820 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-09-17T07:40:28.947Z,1379403628.947 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-09-17T07:40:29.042Z,1379403629.042 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-09-17T07:40:29.148Z,1379403629.148 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-09-17T07:40:29.244Z,1379403629.244 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-09-17T07:40:29.360Z,1379403629.360 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-09-17T07:40:29.456Z,1379403629.456 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-09-17T07:40:29.542Z,1379403629.542 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-09-17T07:40:29.548Z,1379403629.548 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-09-17T07:40:29.705Z,1379403629.705 [InternalSim] Loaded
2013-09-17T07:40:29.706Z,1379403629.706 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-09-17T07:40:29.706Z,1379403629.706 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-09-17T07:40:29.707Z,1379403629.707 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-09-17T07:40:29.789Z,1379403629.789 [SBIT](DEBUG): Construct Startup Built In Test.
2013-09-17T07:40:29.817Z,1379403629.817 [SBIT] Loaded
2013-09-17T07:40:29.817Z,1379403629.817 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-09-17T07:40:29.818Z,1379403629.818 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-09-17T07:40:29.847Z,1379403629.847 [IBIT] Loaded
2013-09-17T07:40:29.847Z,1379403629.847 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-09-17T07:40:29.849Z,1379403629.849 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-09-17T07:40:29.963Z,1379403629.963 [CBIT] Loaded
2013-09-17T07:40:29.963Z,1379403629.963 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-09-17T07:40:29.964Z,1379403629.964 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-09-17T07:40:29.964Z,1379403629.964 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-09-17T07:40:30.128Z,1379403630.128 [BuoyancyServo] Loaded
2013-09-17T07:40:30.128Z,1379403630.128 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-09-17T07:40:30.140Z,1379403630.140 [ElevatorServo] Loaded
2013-09-17T07:40:30.140Z,1379403630.140 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-09-17T07:40:30.151Z,1379403630.151 [MassServo] Loaded
2013-09-17T07:40:30.151Z,1379403630.151 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-09-17T07:40:30.162Z,1379403630.162 [RudderServo] Loaded
2013-09-17T07:40:30.163Z,1379403630.163 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-09-17T07:40:30.174Z,1379403630.174 [ThrusterServo] Loaded
2013-09-17T07:40:30.174Z,1379403630.174 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-09-17T07:40:30.174Z,1379403630.174 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-09-17T07:40:30.175Z,1379403630.175 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-09-17T07:40:30.209Z,1379403630.209 [DepthRateCalculator] Loaded
2013-09-17T07:40:30.209Z,1379403630.209 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-09-17T07:40:35.373Z,1379403635.373 [HFRadarModelCalc] Loaded
2013-09-17T07:40:35.373Z,1379403635.373 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-09-17T07:40:35.389Z,1379403635.389 [NavChart] Loaded
2013-09-17T07:40:35.389Z,1379403635.389 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-09-17T07:40:35.395Z,1379403635.395 [PitchRateCalculator] Loaded
2013-09-17T07:40:35.395Z,1379403635.395 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-09-17T07:40:35.405Z,1379403635.405 [SpeedCalculator] Loaded
2013-09-17T07:40:35.406Z,1379403635.406 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-09-17T07:40:35.422Z,1379403635.422 [TempGradientCalculator] Loaded
2013-09-17T07:40:35.422Z,1379403635.422 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-09-17T07:40:35.427Z,1379403635.427 [YawRateCalculator] Loaded
2013-09-17T07:40:35.428Z,1379403635.428 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-09-17T07:40:35.473Z,1379403635.473 [Navigation] Loaded
2013-09-17T07:40:35.474Z,1379403635.474 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-09-17T07:40:35.474Z,1379403635.474 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-09-17T07:40:35.475Z,1379403635.475 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-09-17T07:40:35.704Z,1379403635.704 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-09-17T07:40:35.705Z,1379403635.705 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-09-17T07:40:35.727Z,1379403635.727 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-09-17T07:40:35.728Z,1379403635.728 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-09-17T07:40:35.774Z,1379403635.774 [VerticalControl](DEBUG): Construct VerticalControl.
2013-09-17T07:40:35.865Z,1379403635.865 [VerticalControl] Loaded
2013-09-17T07:40:35.865Z,1379403635.865 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-09-17T07:40:35.866Z,1379403635.866 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-09-17T07:40:35.922Z,1379403635.922 [HorizontalControl] Loaded
2013-09-17T07:40:35.923Z,1379403635.923 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-09-17T07:40:35.923Z,1379403635.923 [SpeedControl](DEBUG): Construct SpeedControl.
2013-09-17T07:40:35.925Z,1379403635.925 [SpeedControl] Loaded
2013-09-17T07:40:35.925Z,1379403635.925 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-09-17T07:40:35.926Z,1379403635.926 [LoopControl](DEBUG): Construct LoopControl.
2013-09-17T07:40:35.926Z,1379403635.926 [LoopControl] Loaded
2013-09-17T07:40:35.927Z,1379403635.927 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-09-17T07:40:35.927Z,1379403635.927 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-09-17T07:40:35.928Z,1379403635.928 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-09-17T07:40:35.933Z,1379403635.933 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-09-17T07:40:35.938Z,1379403635.938 [AsyncPiEstimator] Loaded
2013-09-17T07:40:35.939Z,1379403635.939 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-09-17T07:40:35.940Z,1379403635.940 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-09-17T07:40:35.940Z,1379403635.940 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-09-17T07:40:35.941Z,1379403635.941 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-09-17T07:40:36.128Z,1379403636.128 [AHRS_sp3003D] Loaded
2013-09-17T07:40:36.128Z,1379403636.128 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-09-17T07:40:36.141Z,1379403636.141 [Depth_Keller] Loaded
2013-09-17T07:40:36.142Z,1379403636.142 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-09-17T07:40:36.322Z,1379403636.322 [DVL_micro] Loaded
2013-09-17T07:40:36.322Z,1379403636.322 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-09-17T07:40:36.323Z,1379403636.323 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-09-17T07:40:36.411Z,1379403636.411 [NAL9602] Loaded
2013-09-17T07:40:36.412Z,1379403636.412 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-09-17T07:40:36.454Z,1379403636.454 [Onboard] Loaded
2013-09-17T07:40:36.454Z,1379403636.454 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-09-17T07:40:36.461Z,1379403636.461 [Radio_Freewave] Loaded
2013-09-17T07:40:36.461Z,1379403636.461 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-09-17T07:40:36.598Z,1379403636.598 [DAT] Loaded
2013-09-17T07:40:36.598Z,1379403636.598 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-09-17T07:40:36.605Z,1379403636.605 [SCPI] Loaded
2013-09-17T07:40:36.605Z,1379403636.605 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2013-09-17T07:40:36.605Z,1379403636.605 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-09-17T07:40:36.606Z,1379403636.606 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-09-17T07:40:36.701Z,1379403636.701 [CTD_NeilBrown] Loaded
2013-09-17T07:40:36.701Z,1379403636.701 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-09-17T07:40:36.703Z,1379403636.703 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-09-17T07:40:36.718Z,1379403636.718 [PAR_Licor] Loaded
2013-09-17T07:40:36.718Z,1379403636.718 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-09-17T07:40:36.750Z,1379403636.750 [WetLabsBB2FL] Loaded
2013-09-17T07:40:36.750Z,1379403636.750 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-09-17T07:40:36.751Z,1379403636.751 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-09-17T07:40:36.752Z,1379403636.752 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-09-17T07:40:36.754Z,1379403636.754 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-09-17T07:40:36.755Z,1379403636.755 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-09-17T07:40:36.762Z,1379403636.762 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-09-17T07:40:36.763Z,1379403636.763 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-09-17T07:40:36.767Z,1379403636.767 [Supervisor](DEBUG): Running supervisor.
2013-09-17T07:40:36.768Z,1379403636.768 [CommandLine](INFO): Thread ID is 865
2013-09-17T07:40:36.770Z,1379403636.770 [controlThread](INFO): Thread ID is 864
2013-09-17T07:40:36.771Z,1379403636.771 [controlThread](DEBUG): Initializing ControlThread
2013-09-17T07:40:36.771Z,1379403636.771 [CycleStarter](INFO): Thread ID is 863
2013-09-17T07:40:36.771Z,1379403636.771 [InternalSim](DEBUG):  InternalSim initializing...
2013-09-17T07:40:36.806Z,1379403636.806 [logger](INFO): Thread ID is 866
2013-09-17T07:40:36.831Z,1379403636.831 [SBIT](INFO): Initialize SBIT Component.
2013-09-17T07:40:36.832Z,1379403636.832 [SBIT](IMPORTANT): Tethys CM Info: 
$Rev:10634
2013-09-17T07:40:36.832Z,1379403636.832 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-09-17T07:40:36.832Z,1379403636.832 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-09-17T07:40:36.833Z,1379403636.833 [IBIT](INFO): Initialize IBIT Component.
2013-09-17T07:40:36.842Z,1379403636.842 [CBIT](DEBUG): Initialize CBIT Component.
2013-09-17T07:40:36.842Z,1379403636.842 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-09-17T07:40:36.843Z,1379403636.843 [AsyncPiEstimator](INFO): Thread ID is 932
2013-09-17T07:40:36.843Z,1379403636.843 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-09-17T07:40:36.860Z,1379403636.860 [DVL_micro](INFO): Thread ID is 933
2013-09-17T07:40:36.866Z,1379403636.866 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-17T07:40:36.867Z,1379403636.867 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-09-17T07:40:36.867Z,1379403636.867 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-09-17T07:40:36.868Z,1379403636.868 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-09-17T07:40:36.868Z,1379403636.868 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-09-17T07:40:36.869Z,1379403636.869 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-09-17T07:40:36.869Z,1379403636.869 [Navigation](DEBUG): Initializing Navigation.
2013-09-17T07:40:36.870Z,1379403636.870 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-09-17T07:40:36.871Z,1379403636.871 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-09-17T07:40:36.872Z,1379403636.872 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-09-17T07:40:36.873Z,1379403636.873 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-09-17T07:40:36.881Z,1379403636.881 [DVL_micro](INFO): Initializing
2013-09-17T07:40:36.881Z,1379403636.881 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-09-17T07:40:36.885Z,1379403636.885 [DVL_micro](INFO): start:Powering up
2013-09-17T07:40:36.886Z,1379403636.886 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-17T07:40:36.887Z,1379403636.887 [DVL_micro](INFO): Cycling power to configure device.
2013-09-17T07:40:36.899Z,1379403636.899 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-17T07:40:36.906Z,1379403636.906 [CTD_NeilBrown](INFO): Thread ID is 934
2013-09-17T07:40:36.906Z,1379403636.906 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-09-17T07:40:36.922Z,1379403636.922 [WetLabsBB2FL](INFO): Thread ID is 935
2013-09-17T07:40:36.923Z,1379403636.923 [WetLabsBB2FL](INFO): Powering down
2013-09-17T07:40:36.926Z,1379403636.926 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-09-17T07:40:36.958Z,1379403636.958 [NavChartDb](INFO): Thread ID is 936
2013-09-17T07:40:36.961Z,1379403636.961 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-09-17T07:40:36.962Z,1379403636.962 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-09-17T07:40:36.962Z,1379403636.962 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-09-17T07:40:36.962Z,1379403636.962 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-09-17T07:40:36.962Z,1379403636.962 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-09-17T07:40:36.963Z,1379403636.963 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-09-17T07:40:36.963Z,1379403636.963 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-09-17T07:40:36.963Z,1379403636.963 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-09-17T07:40:36.963Z,1379403636.963 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-09-17T07:40:36.990Z,1379403636.990 [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>


2013-09-17T07:40:36.990Z,1379403636.990 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-09-17T07:40:37.080Z,1379403637.080 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-09-17T07:40:37.086Z,1379403637.086 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-09-17T07:40:37.089Z,1379403637.089 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-17T07:40:37.105Z,1379403637.105 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-09-17T07:40:37.129Z,1379403637.129 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-17T07:40:37.144Z,1379403637.144 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-09-17T07:40:37.168Z,1379403637.168 [Default:D.SetSpeed](DEBUG): Construct.
2013-09-17T07:40:37.181Z,1379403637.181 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-09-17T07:40:37.198Z,1379403637.198 [Default:F.Wait](DEBUG): Construct Wait.
2013-09-17T07:40:37.202Z,1379403637.202 [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>


2013-09-17T07:40:37.206Z,1379403637.206 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,NAL9602,Onboard,Radio_Freewave,DAT,SCPI,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-09-17T07:40:37.271Z,1379403637.271 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-09-17T07:40:37.299Z,1379403637.299 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-09-17T07:40:37.383Z,1379403637.383 [Radio_Freewave](INFO): Powering up
2013-09-17T07:40:37.391Z,1379403637.391 [DAT](INFO): Powering up
2013-09-17T07:40:37.391Z,1379403637.391 [DAT](DEBUG): Initializing DAT.
2013-09-17T07:40:37.731Z,1379403637.731 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-17T07:40:37.739Z,1379403637.739 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-17T07:40:37.760Z,1379403637.760 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-09-17T07:40:37.767Z,1379403637.767 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-09-17T07:40:37.773Z,1379403637.773 [MassServo](DEBUG): Initializing EZServoServo.
2013-09-17T07:40:37.779Z,1379403637.779 [MassServo](DEBUG): Initializing MassServo.
2013-09-17T07:40:37.784Z,1379403637.784 [RudderServo](DEBUG): Initializing EZServoServo.
2013-09-17T07:40:37.791Z,1379403637.791 [RudderServo](DEBUG): Initializing RudderServo.
2013-09-17T07:40:37.796Z,1379403637.796 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-09-17T07:40:37.803Z,1379403637.803 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-09-17T07:40:38.776Z,1379403638.776 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-09-17T07:40:38.776Z,1379403638.776 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-09-17T07:40:38.776Z,1379403638.776 [BuoyancyServo] Communications Fault, FailCount= 1
2013-09-17T07:40:38.777Z,1379403638.777 [BuoyancyServo](ERROR): Communications Fault
2013-09-17T07:40:38.990Z,1379403638.990 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-09-17T07:40:39.009Z,1379403639.009 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-09-17T07:40:39.009Z,1379403639.009 [DVL_micro](INFO): Querying output modes
2013-09-17T07:40:39.010Z,1379403639.010 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-09-17T07:40:39.021Z,1379403639.021 [DVL_micro](DEBUG): cmdResponse: 01 16
2013-09-17T07:40:39.021Z,1379403639.021 [DVL_micro](INFO): NQ1 output enabled
2013-09-17T07:40:39.021Z,1379403639.021 [DVL_micro](INFO): RSSI output enabled
2013-09-17T07:40:39.022Z,1379403639.022 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-09-17T07:40:39.033Z,1379403639.033 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-09-17T07:40:39.038Z,1379403639.038 [DVL_micro](INFO): pause:Powering down
2013-09-17T07:40:39.274Z,1379403639.274 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-17T07:40:39.275Z,1379403639.275 [BuoyancyServo](INFO): Powering down
2013-09-17T07:40:41.608Z,1379403641.608 [NAL9602](INFO): Powering up NAL9602
2013-09-17T07:40:42.100Z,1379403642.100 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-09-17T07:40:42.100Z,1379403642.100 [BuoyancyServo] No Fault, FailCount= 1
2013-09-17T07:40:42.353Z,1379403642.353 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-09-17T07:40:42.467Z,1379403642.467 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-09-17T07:40:52.426Z,1379403652.426 [NAL9602](INFO): NAL9602 initialized
2013-09-17T07:40:52.506Z,1379403652.506 [SBIT](IMPORTANT): Beginning Startup BIT
2013-09-17T07:40:52.509Z,1379403652.509 [CBIT](IMPORTANT): Beginning GF scan
2013-09-17T07:40:57.893Z,1379403657.893 [DAT](INFO): Powering down
2013-09-17T07:41:19.260Z,1379403679.260 [CBIT](IMPORTANT): No ground fault detected
2013-09-17T07:41:19.460Z,1379403679.460 [CommandLine](IMPORTANT): got command configSet DropWeight.loadAtStartup 0.000000 bool
2013-09-17T07:41:19.460Z,1379403679.460 [CommandLine](FAULT): configSet DropWeight.loadAtStartup without persist will have no effect.
2013-09-17T07:41:24.343Z,1379403684.343 [CommandLine](IMPORTANT): got command configSet DropWeight.loadAtStartup 0.000000 bool persist
2013-09-17T07:41:24.344Z,1379403684.344 [CommandLine](IMPORTANT): configSet DropWeight.loadAtStartup requires a restart to take effect.
2013-09-17T07:41:35.785Z,1379403695.785 [CommandLine](IMPORTANT): got command restart application
2013-09-17T07:41:36.950Z,1379403696.950 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-09-17T07:41:36.950Z,1379403696.950 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-09-17T07:41:36.974Z,1379403696.974 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-09-17T07:41:37.199Z,1379403697.199 [WetLabsBB2FL](INFO): Powering down
2013-09-17T07:41:37.215Z,1379403697.215 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-09-17T07:41:37.336Z,1379403697.336 [CTD_NeilBrown](INFO): Powering down
2013-09-17T07:41:37.352Z,1379403697.352 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-09-17T07:41:37.372Z,1379403697.372 [DVL_micro](INFO): uninitialize:Powering down
2013-09-17T07:41:37.392Z,1379403697.392 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-09-17T07:41:37.511Z,1379403697.511 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-09-17T07:41:37.520Z,1379403697.520 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-09-17T07:41:37.526Z,1379403697.526 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-09-17T07:41:37.528Z,1379403697.528 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-09-17T07:41:37.920Z,1379403697.920 [controlThread](DEBUG): Uninitializing ControlThread
2013-09-17T07:41:37.921Z,1379403697.921 [AHRS_sp3003D](INFO): Powering down
2013-09-17T07:41:38.009Z,1379403698.009 [NAL9602](INFO): Powering down
2013-09-17T07:41:38.010Z,1379403698.010 [DAT](INFO): Powering down
2013-09-17T07:41:38.011Z,1379403698.011 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-09-17T07:41:38.012Z,1379403698.012 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-09-17T07:41:38.017Z,1379403698.017 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-09-17T07:41:38.017Z,1379403698.017 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-09-17T07:41:38.018Z,1379403698.018 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-09-17T07:41:38.018Z,1379403698.018 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-09-17T07:41:38.018Z,1379403698.018 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-09-17T07:41:38.019Z,1379403698.019 [BuoyancyServo](INFO): Powering down
2013-09-17T07:41:38.032Z,1379403698.032 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-09-17T07:41:38.032Z,1379403698.032 [ElevatorServo](INFO): Powering down
2013-09-17T07:41:38.033Z,1379403698.033 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-09-17T07:41:38.033Z,1379403698.033 [MassServo](INFO): Powering down
2013-09-17T07:41:38.034Z,1379403698.034 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-09-17T07:41:38.034Z,1379403698.034 [RudderServo](INFO): Powering down
2013-09-17T07:41:38.035Z,1379403698.035 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-09-17T07:41:38.035Z,1379403698.035 [ThrusterServo](INFO): Powering down
2013-09-17T07:41:38.036Z,1379403698.036 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-09-17T07:41:38.036Z,1379403698.036 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-09-17T07:41:38.037Z,1379403698.037 [CBIT](DEBUG): Uninitialize CBIT Component.