2013-10-30T19:56:24.617Z,1383162984.617 [Supervisor](DEBUG): Initializing supervisor.
2013-10-30T19:56:24.622Z,1383162984.622 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-10-30T19:56:24.623Z,1383162984.623 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-10-30T19:56:24.624Z,1383162984.624 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-10-30T19:56:24.630Z,1383162984.630 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-10-30T19:56:24.647Z,1383162984.647 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-10-30T19:56:24.648Z,1383162984.648 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-10-30T19:56:24.649Z,1383162984.649 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-10-30T19:56:24.650Z,1383162984.650 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-10-30T19:56:24.654Z,1383162984.654 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-10-30T19:56:24.655Z,1383162984.655 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-10-30T19:56:25.105Z,1383162985.105 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-10-30T19:56:25.106Z,1383162985.106 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-10-30T19:56:25.397Z,1383162985.397 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-10-30T19:56:25.397Z,1383162985.397 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-10-30T19:56:25.529Z,1383162985.529 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-10-30T19:56:25.529Z,1383162985.529 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-10-30T19:56:25.698Z,1383162985.698 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-10-30T19:56:25.698Z,1383162985.698 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-10-30T19:56:25.911Z,1383162985.911 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-10-30T19:56:25.912Z,1383162985.912 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-10-30T19:56:26.292Z,1383162986.292 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-10-30T19:56:26.292Z,1383162986.292 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-10-30T19:56:26.546Z,1383162986.546 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-10-30T19:56:26.546Z,1383162986.546 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-10-30T19:56:26.970Z,1383162986.970 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-10-30T19:56:26.970Z,1383162986.970 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-10-30T19:56:27.124Z,1383162987.124 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-10-30T19:56:27.124Z,1383162987.124 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-10-30T19:56:27.782Z,1383162987.782 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-10-30T19:56:27.783Z,1383162987.783 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-10-30T19:56:27.952Z,1383162987.952 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-10-30T19:56:27.952Z,1383162987.952 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-10-30T19:56:28.078Z,1383162988.078 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-10-30T19:56:28.079Z,1383162988.079 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-10-30T19:56:28.224Z,1383162988.224 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-10-30T19:56:28.417Z,1383162988.417 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-10-30T19:56:28.557Z,1383162988.557 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-10-30T19:56:28.717Z,1383162988.717 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-10-30T19:56:28.859Z,1383162988.859 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-10-30T19:56:29.032Z,1383162989.032 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-10-30T19:56:29.174Z,1383162989.174 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-10-30T19:56:29.328Z,1383162989.328 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-10-30T19:56:29.328Z,1383162989.328 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-10-30T19:56:29.329Z,1383162989.329 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-10-30T19:56:29.591Z,1383162989.591 [InternalSim] Loaded
2013-10-30T19:56:29.592Z,1383162989.592 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-10-30T19:56:29.592Z,1383162989.592 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-10-30T19:56:29.593Z,1383162989.593 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-10-30T19:56:29.727Z,1383162989.727 [SBIT](DEBUG): Construct Startup Built In Test.
2013-10-30T19:56:29.774Z,1383162989.774 [SBIT] Loaded
2013-10-30T19:56:29.774Z,1383162989.774 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-10-30T19:56:29.775Z,1383162989.775 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-10-30T19:56:29.822Z,1383162989.822 [IBIT] Loaded
2013-10-30T19:56:29.822Z,1383162989.822 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-10-30T19:56:29.825Z,1383162989.825 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-10-30T19:56:30.009Z,1383162990.009 [CBIT] Loaded
2013-10-30T19:56:30.010Z,1383162990.010 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-10-30T19:56:30.010Z,1383162990.010 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-10-30T19:56:30.014Z,1383162990.014 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-10-30T19:56:30.231Z,1383162990.231 [BuoyancyServo] Loaded
2013-10-30T19:56:30.231Z,1383162990.231 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-10-30T19:56:30.249Z,1383162990.249 [ElevatorServo] Loaded
2013-10-30T19:56:30.249Z,1383162990.249 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-10-30T19:56:30.267Z,1383162990.267 [MassServo] Loaded
2013-10-30T19:56:30.267Z,1383162990.267 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-10-30T19:56:30.287Z,1383162990.287 [RudderServo] Loaded
2013-10-30T19:56:30.288Z,1383162990.288 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-10-30T19:56:30.304Z,1383162990.304 [ThrusterServo] Loaded
2013-10-30T19:56:30.305Z,1383162990.305 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-10-30T19:56:30.305Z,1383162990.305 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-10-30T19:56:30.306Z,1383162990.306 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-10-30T19:56:30.361Z,1383162990.361 [DepthRateCalculator] Loaded
2013-10-30T19:56:30.361Z,1383162990.361 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-10-30T19:56:34.265Z,1383162994.265 [HFRadarModelCalc] Loaded
2013-10-30T19:56:34.268Z,1383162994.268 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-10-30T19:56:34.293Z,1383162994.293 [NavChart] Loaded
2013-10-30T19:56:34.294Z,1383162994.294 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-10-30T19:56:34.302Z,1383162994.302 [PitchRateCalculator] Loaded
2013-10-30T19:56:34.303Z,1383162994.303 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-10-30T19:56:34.319Z,1383162994.319 [SpeedCalculator] Loaded
2013-10-30T19:56:34.320Z,1383162994.320 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-10-30T19:56:34.345Z,1383162994.345 [TempGradientCalculator] Loaded
2013-10-30T19:56:34.345Z,1383162994.345 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-10-30T19:56:34.356Z,1383162994.356 [YawRateCalculator] Loaded
2013-10-30T19:56:34.357Z,1383162994.357 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-10-30T19:56:34.430Z,1383162994.430 [Navigation] Loaded
2013-10-30T19:56:34.431Z,1383162994.431 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-10-30T19:56:34.431Z,1383162994.431 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-10-30T19:56:34.432Z,1383162994.432 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-10-30T19:56:34.808Z,1383162994.808 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-10-30T19:56:34.809Z,1383162994.809 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-10-30T19:56:34.845Z,1383162994.845 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-10-30T19:56:34.846Z,1383162994.846 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-10-30T19:56:34.919Z,1383162994.919 [VerticalControl](DEBUG): Construct VerticalControl.
2013-10-30T19:56:35.070Z,1383162995.070 [VerticalControl] Loaded
2013-10-30T19:56:35.070Z,1383162995.070 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-10-30T19:56:35.071Z,1383162995.071 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-10-30T19:56:35.161Z,1383162995.161 [HorizontalControl] Loaded
2013-10-30T19:56:35.161Z,1383162995.161 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-10-30T19:56:35.162Z,1383162995.162 [SpeedControl](DEBUG): Construct SpeedControl.
2013-10-30T19:56:35.167Z,1383162995.167 [SpeedControl] Loaded
2013-10-30T19:56:35.167Z,1383162995.167 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-10-30T19:56:35.168Z,1383162995.168 [LoopControl](DEBUG): Construct LoopControl.
2013-10-30T19:56:35.168Z,1383162995.168 [LoopControl] Loaded
2013-10-30T19:56:35.168Z,1383162995.168 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-10-30T19:56:35.169Z,1383162995.169 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-10-30T19:56:35.169Z,1383162995.169 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-10-30T19:56:35.178Z,1383162995.178 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-10-30T19:56:35.186Z,1383162995.186 [AsyncPiEstimator] Loaded
2013-10-30T19:56:35.186Z,1383162995.186 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-10-30T19:56:35.190Z,1383162995.190 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-10-30T19:56:35.191Z,1383162995.191 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-10-30T19:56:35.191Z,1383162995.191 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-10-30T19:56:35.542Z,1383162995.542 [AHRS_sp3003D] Loaded
2013-10-30T19:56:35.542Z,1383162995.542 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-10-30T19:56:35.562Z,1383162995.562 [Depth_Keller] Loaded
2013-10-30T19:56:35.562Z,1383162995.562 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-10-30T19:56:35.858Z,1383162995.858 [DVL_micro] Loaded
2013-10-30T19:56:35.858Z,1383162995.858 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-10-30T19:56:35.862Z,1383162995.862 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-10-30T19:56:36.003Z,1383162996.003 [NAL9602] Loaded
2013-10-30T19:56:36.003Z,1383162996.003 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-10-30T19:56:36.071Z,1383162996.071 [Onboard] Loaded
2013-10-30T19:56:36.071Z,1383162996.071 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-10-30T19:56:36.081Z,1383162996.081 [Radio_Freewave] Loaded
2013-10-30T19:56:36.081Z,1383162996.081 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-10-30T19:56:36.314Z,1383162996.314 [DAT] Loaded
2013-10-30T19:56:36.315Z,1383162996.315 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-10-30T19:56:36.315Z,1383162996.315 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-10-30T19:56:36.316Z,1383162996.316 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-10-30T19:56:36.472Z,1383162996.472 [CTD_NeilBrown] Loaded
2013-10-30T19:56:36.473Z,1383162996.473 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-10-30T19:56:36.474Z,1383162996.474 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-10-30T19:56:36.525Z,1383162996.525 [WetLabsBB2FL] Loaded
2013-10-30T19:56:36.528Z,1383162996.528 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-10-30T19:56:36.529Z,1383162996.529 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-10-30T19:56:36.529Z,1383162996.529 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-10-30T19:56:36.532Z,1383162996.532 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-10-30T19:56:36.536Z,1383162996.536 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-10-30T19:56:36.546Z,1383162996.546 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-10-30T19:56:36.547Z,1383162996.547 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-10-30T19:56:36.554Z,1383162996.554 [Supervisor](DEBUG): Running supervisor.
2013-10-30T19:56:36.555Z,1383162996.555 [CommandLine](INFO): Thread ID is 9044
2013-10-30T19:56:36.560Z,1383162996.560 [controlThread](INFO): Thread ID is 9043
2013-10-30T19:56:36.561Z,1383162996.561 [controlThread](DEBUG): Initializing ControlThread
2013-10-30T19:56:36.561Z,1383162996.561 [CycleStarter](INFO): Thread ID is 9042
2013-10-30T19:56:36.562Z,1383162996.562 [InternalSim](DEBUG):  InternalSim initializing...
2013-10-30T19:56:36.597Z,1383162996.597 [logger](INFO): Thread ID is 9045
2013-10-30T19:56:36.632Z,1383162996.632 [AsyncPiEstimator](INFO): Thread ID is 9106
2013-10-30T19:56:36.633Z,1383162996.633 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-10-30T19:56:36.667Z,1383162996.667 [DVL_micro](INFO): Thread ID is 9107
2013-10-30T19:56:36.681Z,1383162996.681 [DVL_micro](INFO): Initializing
2013-10-30T19:56:36.681Z,1383162996.681 [DVL_micro](INFO): start:Powering up
2013-10-30T19:56:36.682Z,1383162996.682 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T19:56:36.683Z,1383162996.683 [DVL_micro](INFO): Cycling power to configure device.
2013-10-30T19:56:36.692Z,1383162996.692 [SBIT](INFO): Initialize SBIT Component.
2013-10-30T19:56:36.692Z,1383162996.692 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10711
2013-10-30T19:56:36.693Z,1383162996.693 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-10-30T19:56:36.712Z,1383162996.712 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-10-30T19:56:36.712Z,1383162996.712 [IBIT](INFO): Initialize IBIT Component.
2013-10-30T19:56:36.714Z,1383162996.714 [CTD_NeilBrown](INFO): Thread ID is 9108
2013-10-30T19:56:36.715Z,1383162996.715 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-10-30T19:56:36.720Z,1383162996.720 [CBIT](DEBUG): Initialize CBIT Component.
2013-10-30T19:56:36.720Z,1383162996.720 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-10-30T19:56:36.722Z,1383162996.722 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-10-30T19:56:36.737Z,1383162996.737 [WetLabsBB2FL](INFO): Thread ID is 9109
2013-10-30T19:56:36.738Z,1383162996.738 [WetLabsBB2FL](INFO): Powering down
2013-10-30T19:56:36.754Z,1383162996.754 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T19:56:36.755Z,1383162996.755 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-10-30T19:56:36.755Z,1383162996.755 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-10-30T19:56:36.755Z,1383162996.755 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-10-30T19:56:36.756Z,1383162996.756 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-10-30T19:56:36.756Z,1383162996.756 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-10-30T19:56:36.756Z,1383162996.756 [Navigation](DEBUG): Initializing Navigation.
2013-10-30T19:56:36.757Z,1383162996.757 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-10-30T19:56:36.763Z,1383162996.763 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-10-30T19:56:36.764Z,1383162996.764 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-10-30T19:56:36.764Z,1383162996.764 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-10-30T19:56:36.785Z,1383162996.785 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-10-30T19:56:36.806Z,1383162996.806 [NavChartDb](INFO): Thread ID is 9110
2013-10-30T19:56:36.812Z,1383162996.812 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-10-30T19:56:36.813Z,1383162996.813 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-10-30T19:56:36.813Z,1383162996.813 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-10-30T19:56:36.814Z,1383162996.814 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-10-30T19:56:36.814Z,1383162996.814 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-10-30T19:56:36.814Z,1383162996.814 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-10-30T19:56:36.814Z,1383162996.814 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-10-30T19:56:36.815Z,1383162996.815 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-10-30T19:56:36.815Z,1383162996.815 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-10-30T19:56:36.925Z,1383162996.925 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:56:36.976Z,1383162996.976 [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>


2013-10-30T19:56:36.977Z,1383162996.977 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-10-30T19:56:37.088Z,1383162997.088 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-10-30T19:56:37.118Z,1383162997.118 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-10-30T19:56:37.121Z,1383162997.121 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:56:37.161Z,1383162997.161 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-10-30T19:56:37.176Z,1383162997.176 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:56:37.193Z,1383162997.193 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-10-30T19:56:37.257Z,1383162997.257 [Default:D.SetSpeed](DEBUG): Construct.
2013-10-30T19:56:37.279Z,1383162997.279 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:56:37.295Z,1383162997.295 [Default:F.Wait](DEBUG): Construct Wait.
2013-10-30T19:56:37.325Z,1383162997.325 [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>


2013-10-30T19:56:37.329Z,1383162997.329 [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,
2013-10-30T19:56:37.397Z,1383162997.397 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-10-30T19:56:37.454Z,1383162997.454 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-10-30T19:56:37.530Z,1383162997.530 [Radio_Freewave](INFO): Powering up
2013-10-30T19:56:37.555Z,1383162997.555 [DAT](INFO): Powering up
2013-10-30T19:56:37.555Z,1383162997.555 [DAT](DEBUG): Initializing DAT.
2013-10-30T19:56:37.898Z,1383162997.898 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:56:37.922Z,1383162997.922 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-10-30T19:56:37.954Z,1383162997.954 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:56:37.957Z,1383162997.957 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-10-30T19:56:37.989Z,1383162997.989 [MassServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:56:38.023Z,1383162998.023 [MassServo](DEBUG): Initializing MassServo.
2013-10-30T19:56:38.043Z,1383162998.043 [RudderServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:56:38.056Z,1383162998.056 [RudderServo](DEBUG): Initializing RudderServo.
2013-10-30T19:56:38.071Z,1383162998.071 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:56:38.080Z,1383162998.080 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-10-30T19:56:38.436Z,1383162998.436 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.105760 psu
2013-10-30T19:56:38.625Z,1383162998.625 [CTD_NeilBrown](ERROR): Salinity reading out of range: -0.105360 psu
2013-10-30T19:56:38.896Z,1383162998.896 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T19:56:38.897Z,1383162998.897 [DVL_micro](INFO): Querying output modes
2013-10-30T19:56:38.897Z,1383162998.897 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-10-30T19:56:38.909Z,1383162998.909 [DVL_micro](DEBUG): cmdResponse: 01
2013-10-30T19:56:38.909Z,1383162998.909 [DVL_micro](INFO): NQ1 output enabled
2013-10-30T19:56:38.910Z,1383162998.910 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-10-30T19:56:38.921Z,1383162998.921 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-10-30T19:56:38.926Z,1383162998.926 [DVL_micro](INFO): pause:Powering down
2013-10-30T19:56:41.385Z,1383163001.385 [NAL9602](INFO): Powering up NAL9602
2013-10-30T19:56:52.522Z,1383163012.522 [NAL9602](INFO): NAL9602 initialized
2013-10-30T19:56:52.740Z,1383163012.740 [SBIT](IMPORTANT): Beginning Startup BIT
2013-10-30T19:56:52.743Z,1383163012.743 [CBIT](IMPORTANT): Beginning GF scan
2013-10-30T19:56:57.885Z,1383163017.885 [DAT](INFO): Powering down
2013-10-30T19:57:20.899Z,1383163040.899 [CBIT](IMPORTANT): No ground fault detected
2013-10-30T19:57:24.796Z,1383163044.796 [NAL9602](ERROR): getFix uart error: serial timeout
2013-10-30T19:57:46.536Z,1383163066.536 [SBIT](IMPORTANT): SBIT PASSED
2013-10-30T19:57:46.904Z,1383163066.904 [MissionManager](IMPORTANT): Started mission Startup
2013-10-30T19:57:46.904Z,1383163066.904 [Startup] Running Loop=1
2013-10-30T19:57:46.904Z,1383163066.904 [Startup](INFO): Aggregate::initialize Startup
2013-10-30T19:57:46.904Z,1383163066.904 [Startup:A.GoToSurface] Running Loop=1
2013-10-30T19:57:46.904Z,1383163066.904 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-10-30T19:57:46.932Z,1383163066.932 [Startup:StartupSatComms] Running Loop=1
2013-10-30T19:57:46.932Z,1383163066.932 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-10-30T19:57:46.933Z,1383163066.933 [Startup:StartupSatComms:A] Running Loop=1
2013-10-30T19:57:47.299Z,1383163067.299 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-10-30T19:57:55.425Z,1383163075.425 [NAL9602](ERROR): parseGSV uart error: serial timeout
2013-10-30T19:58:01.109Z,1383163081.109 [CommandLine](IMPORTANT): got command restart application
2013-10-30T19:58:02.165Z,1383163082.165 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-10-30T19:58:02.166Z,1383163082.166 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-10-30T19:58:02.286Z,1383163082.286 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-10-30T19:58:02.314Z,1383163082.314 [WetLabsBB2FL](INFO): Powering down
2013-10-30T19:58:02.318Z,1383163082.318 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-10-30T19:58:02.623Z,1383163082.623 [CTD_NeilBrown](INFO): Powering down
2013-10-30T19:58:02.635Z,1383163082.635 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-10-30T19:58:02.832Z,1383163082.832 [DVL_micro](INFO): uninitialize:Powering down
2013-10-30T19:58:02.835Z,1383163082.835 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-10-30T19:58:02.968Z,1383163082.968 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-10-30T19:58:02.988Z,1383163082.988 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-10-30T19:58:03.009Z,1383163083.009 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-10-30T19:58:03.024Z,1383163083.024 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-10-30T19:58:03.392Z,1383163083.392 [controlThread](DEBUG): Uninitializing ControlThread
2013-10-30T19:58:03.392Z,1383163083.392 [AHRS_sp3003D](INFO): Powering down
2013-10-30T19:58:03.480Z,1383163083.480 [NAL9602](INFO): Powering down
2013-10-30T19:58:03.482Z,1383163083.482 [DAT](INFO): Powering down
2013-10-30T19:58:03.483Z,1383163083.483 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T19:58:03.483Z,1383163083.483 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-10-30T19:58:03.488Z,1383163083.488 [Startup] Stopped
2013-10-30T19:58:03.488Z,1383163083.488 [Startup](INFO): Aggregate::uninitialize Startup
2013-10-30T19:58:03.488Z,1383163083.488 [Startup:A.GoToSurface] Stopped
2013-10-30T19:58:03.488Z,1383163083.488 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-10-30T19:58:03.488Z,1383163083.488 [Startup:StartupSatComms] Stopped
2013-10-30T19:58:03.489Z,1383163083.489 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-10-30T19:58:03.489Z,1383163083.489 [Startup:StartupSatComms:A] Stopped
2013-10-30T19:58:03.490Z,1383163083.490 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-10-30T19:58:03.490Z,1383163083.490 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-10-30T19:58:03.490Z,1383163083.490 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-10-30T19:58:03.491Z,1383163083.491 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-10-30T19:58:03.491Z,1383163083.491 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-10-30T19:58:03.491Z,1383163083.491 [BuoyancyServo](INFO): Powering down
2013-10-30T19:58:03.504Z,1383163083.504 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-10-30T19:58:03.504Z,1383163083.504 [ElevatorServo](INFO): Powering down
2013-10-30T19:58:03.505Z,1383163083.505 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-10-30T19:58:03.505Z,1383163083.505 [MassServo](INFO): Powering down
2013-10-30T19:58:03.506Z,1383163083.506 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-10-30T19:58:03.506Z,1383163083.506 [RudderServo](INFO): Powering down
2013-10-30T19:58:03.507Z,1383163083.507 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-10-30T19:58:03.507Z,1383163083.507 [ThrusterServo](INFO): Powering down
2013-10-30T19:58:03.508Z,1383163083.508 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-10-30T19:58:03.508Z,1383163083.508 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-10-30T19:58:03.509Z,1383163083.509 [CBIT](DEBUG): Uninitialize CBIT Component.