2013-10-30T19:50:23.732Z,1383162623.732 [Supervisor](DEBUG): Initializing supervisor.
2013-10-30T19:50:23.744Z,1383162623.744 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-10-30T19:50:23.745Z,1383162623.745 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-10-30T19:50:23.746Z,1383162623.746 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-10-30T19:50:23.749Z,1383162623.749 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-10-30T19:50:23.761Z,1383162623.761 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-10-30T19:50:23.762Z,1383162623.762 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-10-30T19:50:23.763Z,1383162623.763 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-10-30T19:50:23.764Z,1383162623.764 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-10-30T19:50:23.765Z,1383162623.765 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-10-30T19:50:23.766Z,1383162623.766 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-10-30T19:50:24.100Z,1383162624.100 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-10-30T19:50:24.100Z,1383162624.100 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-10-30T19:50:24.334Z,1383162624.334 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-10-30T19:50:24.334Z,1383162624.334 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-10-30T19:50:24.421Z,1383162624.421 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-10-30T19:50:24.422Z,1383162624.422 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-10-30T19:50:24.581Z,1383162624.581 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-10-30T19:50:24.581Z,1383162624.581 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-10-30T19:50:24.725Z,1383162624.725 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-10-30T19:50:24.726Z,1383162624.726 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-10-30T19:50:25.061Z,1383162625.061 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-10-30T19:50:25.061Z,1383162625.061 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-10-30T19:50:25.229Z,1383162625.229 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-10-30T19:50:25.230Z,1383162625.230 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-10-30T19:50:25.593Z,1383162625.593 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-10-30T19:50:25.593Z,1383162625.593 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-10-30T19:50:25.695Z,1383162625.695 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-10-30T19:50:25.695Z,1383162625.695 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-10-30T19:50:26.207Z,1383162626.207 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-10-30T19:50:26.208Z,1383162626.208 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-10-30T19:50:26.353Z,1383162626.353 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-10-30T19:50:26.354Z,1383162626.354 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-10-30T19:50:26.451Z,1383162626.451 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-10-30T19:50:26.452Z,1383162626.452 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-10-30T19:50:26.552Z,1383162626.552 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-10-30T19:50:26.723Z,1383162626.723 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-10-30T19:50:26.818Z,1383162626.818 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-10-30T19:50:26.967Z,1383162626.967 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-10-30T19:50:27.064Z,1383162627.064 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-10-30T19:50:27.224Z,1383162627.224 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-10-30T19:50:27.321Z,1383162627.321 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-10-30T19:50:27.450Z,1383162627.450 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-10-30T19:50:27.451Z,1383162627.451 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-10-30T19:50:27.452Z,1383162627.452 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-10-30T19:50:27.619Z,1383162627.619 [InternalSim] Loaded
2013-10-30T19:50:27.619Z,1383162627.619 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-10-30T19:50:27.620Z,1383162627.620 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-10-30T19:50:27.621Z,1383162627.621 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-10-30T19:50:27.752Z,1383162627.752 [SBIT](DEBUG): Construct Startup Built In Test.
2013-10-30T19:50:27.781Z,1383162627.781 [SBIT] Loaded
2013-10-30T19:50:27.782Z,1383162627.782 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-10-30T19:50:27.782Z,1383162627.782 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-10-30T19:50:27.812Z,1383162627.812 [IBIT] Loaded
2013-10-30T19:50:27.813Z,1383162627.813 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-10-30T19:50:27.815Z,1383162627.815 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-10-30T19:50:27.976Z,1383162627.976 [CBIT] Loaded
2013-10-30T19:50:27.977Z,1383162627.977 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-10-30T19:50:27.977Z,1383162627.977 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-10-30T19:50:27.978Z,1383162627.978 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-10-30T19:50:28.172Z,1383162628.172 [BuoyancyServo] Loaded
2013-10-30T19:50:28.172Z,1383162628.172 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-10-30T19:50:28.192Z,1383162628.192 [ElevatorServo] Loaded
2013-10-30T19:50:28.193Z,1383162628.193 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-10-30T19:50:28.214Z,1383162628.214 [MassServo] Loaded
2013-10-30T19:50:28.214Z,1383162628.214 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-10-30T19:50:28.226Z,1383162628.226 [RudderServo] Loaded
2013-10-30T19:50:28.226Z,1383162628.226 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-10-30T19:50:28.238Z,1383162628.238 [ThrusterServo] Loaded
2013-10-30T19:50:28.238Z,1383162628.238 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-10-30T19:50:28.238Z,1383162628.238 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-10-30T19:50:28.239Z,1383162628.239 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-10-30T19:50:28.274Z,1383162628.274 [DepthRateCalculator] Loaded
2013-10-30T19:50:28.274Z,1383162628.274 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-10-30T19:50:31.639Z,1383162631.639 [HFRadarModelCalc] Loaded
2013-10-30T19:50:31.640Z,1383162631.640 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-10-30T19:50:31.656Z,1383162631.656 [NavChart] Loaded
2013-10-30T19:50:31.656Z,1383162631.656 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-10-30T19:50:31.662Z,1383162631.662 [PitchRateCalculator] Loaded
2013-10-30T19:50:31.663Z,1383162631.663 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-10-30T19:50:31.674Z,1383162631.674 [SpeedCalculator] Loaded
2013-10-30T19:50:31.674Z,1383162631.674 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-10-30T19:50:31.691Z,1383162631.691 [TempGradientCalculator] Loaded
2013-10-30T19:50:31.691Z,1383162631.691 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-10-30T19:50:31.697Z,1383162631.697 [YawRateCalculator] Loaded
2013-10-30T19:50:31.697Z,1383162631.697 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-10-30T19:50:31.777Z,1383162631.777 [Navigation] Loaded
2013-10-30T19:50:31.777Z,1383162631.777 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-10-30T19:50:31.778Z,1383162631.778 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-10-30T19:50:31.779Z,1383162631.779 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-10-30T19:50:32.077Z,1383162632.077 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-10-30T19:50:32.077Z,1383162632.077 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-10-30T19:50:32.101Z,1383162632.101 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-10-30T19:50:32.101Z,1383162632.101 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-10-30T19:50:32.150Z,1383162632.150 [VerticalControl](DEBUG): Construct VerticalControl.
2013-10-30T19:50:32.245Z,1383162632.245 [VerticalControl] Loaded
2013-10-30T19:50:32.245Z,1383162632.245 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-10-30T19:50:32.246Z,1383162632.246 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-10-30T19:50:32.348Z,1383162632.348 [HorizontalControl] Loaded
2013-10-30T19:50:32.348Z,1383162632.348 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-10-30T19:50:32.349Z,1383162632.349 [SpeedControl](DEBUG): Construct SpeedControl.
2013-10-30T19:50:32.351Z,1383162632.351 [SpeedControl] Loaded
2013-10-30T19:50:32.351Z,1383162632.351 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-10-30T19:50:32.351Z,1383162632.351 [LoopControl](DEBUG): Construct LoopControl.
2013-10-30T19:50:32.352Z,1383162632.352 [LoopControl] Loaded
2013-10-30T19:50:32.352Z,1383162632.352 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-10-30T19:50:32.353Z,1383162632.353 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-10-30T19:50:32.353Z,1383162632.353 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-10-30T19:50:32.359Z,1383162632.359 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-10-30T19:50:32.364Z,1383162632.364 [AsyncPiEstimator] Loaded
2013-10-30T19:50:32.364Z,1383162632.364 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-10-30T19:50:32.366Z,1383162632.366 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-10-30T19:50:32.366Z,1383162632.366 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-10-30T19:50:32.367Z,1383162632.367 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-10-30T19:50:32.613Z,1383162632.613 [AHRS_sp3003D] Loaded
2013-10-30T19:50:32.613Z,1383162632.613 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-10-30T19:50:32.627Z,1383162632.627 [Depth_Keller] Loaded
2013-10-30T19:50:32.628Z,1383162632.628 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-10-30T19:50:32.860Z,1383162632.860 [DVL_micro] Loaded
2013-10-30T19:50:32.860Z,1383162632.860 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-10-30T19:50:32.861Z,1383162632.861 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-10-30T19:50:32.953Z,1383162632.953 [NAL9602] Loaded
2013-10-30T19:50:32.953Z,1383162632.953 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-10-30T19:50:32.995Z,1383162632.995 [Onboard] Loaded
2013-10-30T19:50:32.995Z,1383162632.995 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-10-30T19:50:33.002Z,1383162633.002 [Radio_Freewave] Loaded
2013-10-30T19:50:33.002Z,1383162633.002 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-10-30T19:50:33.194Z,1383162633.194 [DAT] Loaded
2013-10-30T19:50:33.194Z,1383162633.194 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-10-30T19:50:33.195Z,1383162633.195 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-10-30T19:50:33.195Z,1383162633.195 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-10-30T19:50:33.340Z,1383162633.340 [CTD_NeilBrown] Loaded
2013-10-30T19:50:33.340Z,1383162633.340 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-10-30T19:50:33.341Z,1383162633.341 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-10-30T19:50:33.375Z,1383162633.375 [WetLabsBB2FL] Loaded
2013-10-30T19:50:33.375Z,1383162633.375 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-10-30T19:50:33.376Z,1383162633.376 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-10-30T19:50:33.377Z,1383162633.377 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-10-30T19:50:33.379Z,1383162633.379 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-10-30T19:50:33.380Z,1383162633.380 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-10-30T19:50:33.387Z,1383162633.387 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-10-30T19:50:33.388Z,1383162633.388 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-10-30T19:50:33.392Z,1383162633.392 [Supervisor](DEBUG): Running supervisor.
2013-10-30T19:50:33.393Z,1383162633.393 [CommandLine](INFO): Thread ID is 7761
2013-10-30T19:50:33.396Z,1383162633.396 [controlThread](INFO): Thread ID is 7760
2013-10-30T19:50:33.396Z,1383162633.396 [controlThread](DEBUG): Initializing ControlThread
2013-10-30T19:50:33.397Z,1383162633.397 [CycleStarter](INFO): Thread ID is 7759
2013-10-30T19:50:33.397Z,1383162633.397 [InternalSim](DEBUG):  InternalSim initializing...
2013-10-30T19:50:33.431Z,1383162633.431 [logger](INFO): Thread ID is 7762
2013-10-30T19:50:33.457Z,1383162633.457 [SBIT](INFO): Initialize SBIT Component.
2013-10-30T19:50:33.458Z,1383162633.458 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10711
2013-10-30T19:50:33.458Z,1383162633.458 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-10-30T19:50:33.458Z,1383162633.458 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-10-30T19:50:33.459Z,1383162633.459 [IBIT](INFO): Initialize IBIT Component.
2013-10-30T19:50:33.460Z,1383162633.460 [CBIT](DEBUG): Initialize CBIT Component.
2013-10-30T19:50:33.460Z,1383162633.460 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-10-30T19:50:33.471Z,1383162633.471 [AsyncPiEstimator](INFO): Thread ID is 7889
2013-10-30T19:50:33.471Z,1383162633.471 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-10-30T19:50:33.484Z,1383162633.484 [DVL_micro](INFO): Thread ID is 7894
2013-10-30T19:50:33.491Z,1383162633.491 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T19:50:33.492Z,1383162633.492 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-10-30T19:50:33.492Z,1383162633.492 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-10-30T19:50:33.493Z,1383162633.493 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-10-30T19:50:33.493Z,1383162633.493 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-10-30T19:50:33.494Z,1383162633.494 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-10-30T19:50:33.494Z,1383162633.494 [Navigation](DEBUG): Initializing Navigation.
2013-10-30T19:50:33.494Z,1383162633.494 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-10-30T19:50:33.496Z,1383162633.496 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-10-30T19:50:33.497Z,1383162633.497 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-10-30T19:50:33.497Z,1383162633.497 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-10-30T19:50:33.504Z,1383162633.504 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-10-30T19:50:33.509Z,1383162633.509 [DVL_micro](INFO): Initializing
2013-10-30T19:50:33.509Z,1383162633.509 [DVL_micro](INFO): start:Powering up
2013-10-30T19:50:33.514Z,1383162633.514 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T19:50:33.515Z,1383162633.515 [DVL_micro](INFO): Cycling power to configure device.
2013-10-30T19:50:33.527Z,1383162633.527 [CTD_NeilBrown](INFO): Thread ID is 7899
2013-10-30T19:50:33.527Z,1383162633.527 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-10-30T19:50:33.531Z,1383162633.531 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:50:33.571Z,1383162633.571 [WetLabsBB2FL](INFO): Thread ID is 7900
2013-10-30T19:50:33.571Z,1383162633.571 [WetLabsBB2FL](INFO): Powering down
2013-10-30T19:50:33.572Z,1383162633.572 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-10-30T19:50:33.616Z,1383162633.616 [NavChartDb](INFO): Thread ID is 7901
2013-10-30T19:50:33.619Z,1383162633.619 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-10-30T19:50:33.619Z,1383162633.619 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-10-30T19:50:33.620Z,1383162633.620 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-10-30T19:50:33.620Z,1383162633.620 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-10-30T19:50:33.620Z,1383162633.620 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-10-30T19:50:33.620Z,1383162633.620 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-10-30T19:50:33.621Z,1383162633.621 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-10-30T19:50:33.621Z,1383162633.621 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-10-30T19:50:33.621Z,1383162633.621 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-10-30T19:50:33.670Z,1383162633.670 [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>


2013-10-30T19:50:33.683Z,1383162633.683 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-10-30T19:50:33.769Z,1383162633.769 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-10-30T19:50:33.779Z,1383162633.779 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-10-30T19:50:33.787Z,1383162633.787 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:50:33.799Z,1383162633.799 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-10-30T19:50:33.802Z,1383162633.802 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:50:33.833Z,1383162633.833 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-10-30T19:50:33.862Z,1383162633.862 [Default:D.SetSpeed](DEBUG): Construct.
2013-10-30T19:50:33.893Z,1383162633.893 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:50:33.928Z,1383162633.928 [Default:F.Wait](DEBUG): Construct Wait.
2013-10-30T19:50:33.931Z,1383162633.931 [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>


2013-10-30T19:50:33.962Z,1383162633.962 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,NAL9602,Onboard,Radio_Freewave,DAT,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-10-30T19:50:34.008Z,1383162634.008 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-10-30T19:50:34.105Z,1383162634.105 [Radio_Freewave](INFO): Powering up
2013-10-30T19:50:34.114Z,1383162634.114 [DAT](INFO): Powering up
2013-10-30T19:50:34.114Z,1383162634.114 [DAT](DEBUG): Initializing DAT.
2013-10-30T19:50:34.382Z,1383162634.382 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:50:34.385Z,1383162634.385 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-10-30T19:50:34.448Z,1383162634.448 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:50:34.464Z,1383162634.464 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-10-30T19:50:34.506Z,1383162634.506 [MassServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:50:34.512Z,1383162634.512 [MassServo](DEBUG): Initializing MassServo.
2013-10-30T19:50:34.518Z,1383162634.518 [RudderServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:50:34.524Z,1383162634.524 [RudderServo](DEBUG): Initializing RudderServo.
2013-10-30T19:50:34.530Z,1383162634.530 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:50:34.564Z,1383162634.564 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-10-30T19:50:35.682Z,1383162635.682 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T19:50:35.682Z,1383162635.682 [DVL_micro](INFO): Querying output modes
2013-10-30T19:50:35.683Z,1383162635.683 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-10-30T19:50:35.694Z,1383162635.694 [DVL_micro](DEBUG): cmdResponse: 01
2013-10-30T19:50:35.694Z,1383162635.694 [DVL_micro](INFO): NQ1 output enabled
2013-10-30T19:50:35.694Z,1383162635.694 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-10-30T19:50:35.706Z,1383162635.706 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-10-30T19:50:35.714Z,1383162635.714 [DVL_micro](INFO): pause:Powering down
2013-10-30T19:50:38.119Z,1383162638.119 [NAL9602](INFO): Powering up NAL9602
2013-10-30T19:50:49.131Z,1383162649.131 [NAL9602](INFO): NAL9602 initialized
2013-10-30T19:50:49.245Z,1383162649.245 [SBIT](IMPORTANT): Beginning Startup BIT
2013-10-30T19:50:49.247Z,1383162649.247 [CBIT](IMPORTANT): Beginning GF scan
2013-10-30T19:50:54.886Z,1383162654.886 [DAT](INFO): Powering down
2013-10-30T19:51:17.102Z,1383162677.102 [CBIT](IMPORTANT): No ground fault detected
2013-10-30T19:51:19.113Z,1383162679.113 [CommandLine](IMPORTANT): got command show variable quality
2013-10-30T19:51:19.181Z,1383162679.181 [CommandLine](INFO): NAL9602.sigQuality (count)
2013-10-30T19:51:20.888Z,1383162680.888 [NAL9602](ERROR): getFix uart error: serial timeout
2013-10-30T19:51:25.447Z,1383162685.447 [CommandLine](IMPORTANT): got command report mod NAL9602.sigQuality
2013-10-30T19:51:25.465Z,1383162685.465 [Reporter](INFO): NAL9602.sigQuality no_value
2013-10-30T19:51:43.124Z,1383162703.124 [SBIT](IMPORTANT): SBIT PASSED
2013-10-30T19:51:43.533Z,1383162703.533 [MissionManager](IMPORTANT): Started mission Startup
2013-10-30T19:51:43.534Z,1383162703.534 [Startup] Running Loop=1
2013-10-30T19:51:43.534Z,1383162703.534 [Startup](INFO): Aggregate::initialize Startup
2013-10-30T19:51:43.534Z,1383162703.534 [Startup:A.GoToSurface] Running Loop=1
2013-10-30T19:51:43.534Z,1383162703.534 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-10-30T19:51:43.576Z,1383162703.576 [Startup:StartupSatComms] Running Loop=1
2013-10-30T19:51:43.576Z,1383162703.576 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-10-30T19:51:43.576Z,1383162703.576 [Startup:StartupSatComms:A] Running Loop=1
2013-10-30T19:51:44.010Z,1383162704.010 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-10-30T19:51:51.479Z,1383162711.479 [NAL9602](ERROR): parseGSV uart error: serial timeout
2013-10-30T19:51:54.921Z,1383162714.921 [CommandLine](IMPORTANT): got command quit
2013-10-30T19:51:55.938Z,1383162715.938 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-10-30T19:51:55.938Z,1383162715.938 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-10-30T19:51:56.306Z,1383162716.306 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-10-30T19:51:56.607Z,1383162716.607 [WetLabsBB2FL](INFO): Powering down
2013-10-30T19:51:56.611Z,1383162716.611 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-10-30T19:51:56.771Z,1383162716.771 [CTD_NeilBrown](INFO): Powering down
2013-10-30T19:51:56.773Z,1383162716.773 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-10-30T19:51:56.844Z,1383162716.844 [DVL_micro](INFO): uninitialize:Powering down
2013-10-30T19:51:56.848Z,1383162716.848 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-10-30T19:51:57.140Z,1383162717.140 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-10-30T19:51:57.145Z,1383162717.145 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-10-30T19:51:57.245Z,1383162717.245 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-10-30T19:51:57.246Z,1383162717.246 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-10-30T19:51:57.344Z,1383162717.344 [controlThread](DEBUG): Uninitializing ControlThread
2013-10-30T19:51:57.345Z,1383162717.345 [AHRS_sp3003D](INFO): Powering down
2013-10-30T19:51:57.433Z,1383162717.433 [NAL9602](INFO): Powering down
2013-10-30T19:51:57.434Z,1383162717.434 [DAT](INFO): Powering down
2013-10-30T19:51:57.435Z,1383162717.435 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T19:51:57.436Z,1383162717.436 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-10-30T19:51:57.440Z,1383162717.440 [Startup] Stopped
2013-10-30T19:51:57.440Z,1383162717.440 [Startup](INFO): Aggregate::uninitialize Startup
2013-10-30T19:51:57.441Z,1383162717.441 [Startup:A.GoToSurface] Stopped
2013-10-30T19:51:57.441Z,1383162717.441 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-10-30T19:51:57.441Z,1383162717.441 [Startup:StartupSatComms] Stopped
2013-10-30T19:51:57.441Z,1383162717.441 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-10-30T19:51:57.441Z,1383162717.441 [Startup:StartupSatComms:A] Stopped
2013-10-30T19:51:57.442Z,1383162717.442 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-10-30T19:51:57.443Z,1383162717.443 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-10-30T19:51:57.443Z,1383162717.443 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-10-30T19:51:57.443Z,1383162717.443 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-10-30T19:51:57.443Z,1383162717.443 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-10-30T19:51:57.444Z,1383162717.444 [BuoyancyServo](INFO): Powering down
2013-10-30T19:51:57.456Z,1383162717.456 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-10-30T19:51:57.457Z,1383162717.457 [ElevatorServo](INFO): Powering down
2013-10-30T19:51:57.457Z,1383162717.457 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-10-30T19:51:57.457Z,1383162717.457 [MassServo](INFO): Powering down
2013-10-30T19:51:57.458Z,1383162717.458 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-10-30T19:51:57.458Z,1383162717.458 [RudderServo](INFO): Powering down
2013-10-30T19:51:57.459Z,1383162717.459 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-10-30T19:51:57.459Z,1383162717.459 [ThrusterServo](INFO): Powering down
2013-10-30T19:51:57.460Z,1383162717.460 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-10-30T19:51:57.460Z,1383162717.460 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-10-30T19:51:57.461Z,1383162717.461 [CBIT](DEBUG): Uninitialize CBIT Component.