2013-10-30T19:58:05.144Z,1383163085.144 [Supervisor](DEBUG): Initializing supervisor.
2013-10-30T19:58:05.158Z,1383163085.158 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-10-30T19:58:05.159Z,1383163085.159 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-10-30T19:58:05.170Z,1383163085.170 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-10-30T19:58:05.173Z,1383163085.173 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-10-30T19:58:05.197Z,1383163085.197 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-10-30T19:58:05.206Z,1383163085.206 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-10-30T19:58:05.207Z,1383163085.207 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-10-30T19:58:05.218Z,1383163085.218 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-10-30T19:58:05.219Z,1383163085.219 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-10-30T19:58:05.220Z,1383163085.220 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-10-30T19:58:05.796Z,1383163085.796 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-10-30T19:58:05.797Z,1383163085.797 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-10-30T19:58:06.136Z,1383163086.136 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-10-30T19:58:06.136Z,1383163086.136 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-10-30T19:58:06.307Z,1383163086.307 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-10-30T19:58:06.308Z,1383163086.308 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-10-30T19:58:06.496Z,1383163086.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-10-30T19:58:06.497Z,1383163086.497 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-10-30T19:58:06.734Z,1383163086.734 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-10-30T19:58:06.735Z,1383163086.735 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-10-30T19:58:07.208Z,1383163087.208 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-10-30T19:58:07.209Z,1383163087.209 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-10-30T19:58:07.487Z,1383163087.487 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-10-30T19:58:07.488Z,1383163087.488 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-10-30T19:58:08.008Z,1383163088.008 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-10-30T19:58:08.009Z,1383163088.009 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-10-30T19:58:08.182Z,1383163088.182 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-10-30T19:58:08.183Z,1383163088.183 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-10-30T19:58:09.001Z,1383163089.001 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-10-30T19:58:09.001Z,1383163089.001 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-10-30T19:58:09.193Z,1383163089.193 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-10-30T19:58:09.194Z,1383163089.194 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-10-30T19:58:09.304Z,1383163089.304 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-10-30T19:58:09.305Z,1383163089.305 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-10-30T19:58:09.456Z,1383163089.456 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-10-30T19:58:09.674Z,1383163089.674 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-10-30T19:58:09.830Z,1383163089.830 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-10-30T19:58:10.008Z,1383163090.008 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-10-30T19:58:10.161Z,1383163090.161 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-10-30T19:58:10.359Z,1383163090.359 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-10-30T19:58:10.516Z,1383163090.516 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-10-30T19:58:10.642Z,1383163090.642 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-10-30T19:58:10.643Z,1383163090.643 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-10-30T19:58:10.644Z,1383163090.644 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-10-30T19:58:10.950Z,1383163090.950 [InternalSim] Loaded
2013-10-30T19:58:10.950Z,1383163090.950 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-10-30T19:58:10.951Z,1383163090.951 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-10-30T19:58:10.951Z,1383163090.951 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-10-30T19:58:11.117Z,1383163091.117 [SBIT](DEBUG): Construct Startup Built In Test.
2013-10-30T19:58:11.171Z,1383163091.171 [SBIT] Loaded
2013-10-30T19:58:11.171Z,1383163091.171 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-10-30T19:58:11.184Z,1383163091.184 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-10-30T19:58:11.238Z,1383163091.238 [IBIT] Loaded
2013-10-30T19:58:11.238Z,1383163091.238 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-10-30T19:58:11.240Z,1383163091.240 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-10-30T19:58:11.510Z,1383163091.510 [CBIT] Loaded
2013-10-30T19:58:11.510Z,1383163091.510 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-10-30T19:58:11.510Z,1383163091.510 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-10-30T19:58:11.511Z,1383163091.511 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-10-30T19:58:11.762Z,1383163091.762 [BuoyancyServo] Loaded
2013-10-30T19:58:11.762Z,1383163091.762 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-10-30T19:58:11.774Z,1383163091.774 [ElevatorServo] Loaded
2013-10-30T19:58:11.774Z,1383163091.774 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-10-30T19:58:11.798Z,1383163091.798 [MassServo] Loaded
2013-10-30T19:58:11.798Z,1383163091.798 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-10-30T19:58:11.822Z,1383163091.822 [RudderServo] Loaded
2013-10-30T19:58:11.822Z,1383163091.822 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-10-30T19:58:11.845Z,1383163091.845 [ThrusterServo] Loaded
2013-10-30T19:58:11.846Z,1383163091.846 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-10-30T19:58:11.846Z,1383163091.846 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-10-30T19:58:11.847Z,1383163091.847 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-10-30T19:58:11.918Z,1383163091.918 [DepthRateCalculator] Loaded
2013-10-30T19:58:11.918Z,1383163091.918 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-10-30T19:58:17.015Z,1383163097.015 [HFRadarModelCalc] Loaded
2013-10-30T19:58:17.016Z,1383163097.016 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-10-30T19:58:17.044Z,1383163097.044 [NavChart] Loaded
2013-10-30T19:58:17.044Z,1383163097.044 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-10-30T19:58:17.063Z,1383163097.063 [PitchRateCalculator] Loaded
2013-10-30T19:58:17.063Z,1383163097.063 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-10-30T19:58:17.082Z,1383163097.082 [SpeedCalculator] Loaded
2013-10-30T19:58:17.082Z,1383163097.082 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-10-30T19:58:17.123Z,1383163097.123 [TempGradientCalculator] Loaded
2013-10-30T19:58:17.123Z,1383163097.123 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-10-30T19:58:17.129Z,1383163097.129 [YawRateCalculator] Loaded
2013-10-30T19:58:17.129Z,1383163097.129 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-10-30T19:58:17.226Z,1383163097.226 [Navigation] Loaded
2013-10-30T19:58:17.226Z,1383163097.226 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-10-30T19:58:17.226Z,1383163097.226 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-10-30T19:58:17.227Z,1383163097.227 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-10-30T19:58:17.708Z,1383163097.708 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-10-30T19:58:17.709Z,1383163097.709 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-10-30T19:58:17.756Z,1383163097.756 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-10-30T19:58:17.757Z,1383163097.757 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-10-30T19:58:17.852Z,1383163097.852 [VerticalControl](DEBUG): Construct VerticalControl.
2013-10-30T19:58:18.044Z,1383163098.044 [VerticalControl] Loaded
2013-10-30T19:58:18.044Z,1383163098.044 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-10-30T19:58:18.045Z,1383163098.045 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-10-30T19:58:18.165Z,1383163098.165 [HorizontalControl] Loaded
2013-10-30T19:58:18.165Z,1383163098.165 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-10-30T19:58:18.166Z,1383163098.166 [SpeedControl](DEBUG): Construct SpeedControl.
2013-10-30T19:58:18.167Z,1383163098.167 [SpeedControl] Loaded
2013-10-30T19:58:18.168Z,1383163098.168 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-10-30T19:58:18.168Z,1383163098.168 [LoopControl](DEBUG): Construct LoopControl.
2013-10-30T19:58:18.169Z,1383163098.169 [LoopControl] Loaded
2013-10-30T19:58:18.169Z,1383163098.169 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-10-30T19:58:18.170Z,1383163098.170 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-10-30T19:58:18.182Z,1383163098.182 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-10-30T19:58:18.188Z,1383163098.188 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-10-30T19:58:18.193Z,1383163098.193 [AsyncPiEstimator] Loaded
2013-10-30T19:58:18.193Z,1383163098.193 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-10-30T19:58:18.199Z,1383163098.199 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-10-30T19:58:18.199Z,1383163098.199 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-10-30T19:58:18.200Z,1383163098.200 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-10-30T19:58:18.592Z,1383163098.592 [AHRS_sp3003D] Loaded
2013-10-30T19:58:18.593Z,1383163098.593 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-10-30T19:58:18.619Z,1383163098.619 [Depth_Keller] Loaded
2013-10-30T19:58:18.631Z,1383163098.631 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-10-30T19:58:19.002Z,1383163099.002 [DVL_micro] Loaded
2013-10-30T19:58:19.002Z,1383163099.002 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-10-30T19:58:19.008Z,1383163099.008 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-10-30T19:58:19.192Z,1383163099.192 [NAL9602] Loaded
2013-10-30T19:58:19.192Z,1383163099.192 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-10-30T19:58:19.282Z,1383163099.282 [Onboard] Loaded
2013-10-30T19:58:19.283Z,1383163099.283 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-10-30T19:58:19.289Z,1383163099.289 [Radio_Freewave] Loaded
2013-10-30T19:58:19.290Z,1383163099.290 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-10-30T19:58:19.596Z,1383163099.596 [DAT] Loaded
2013-10-30T19:58:19.597Z,1383163099.597 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-10-30T19:58:19.597Z,1383163099.597 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-10-30T19:58:19.598Z,1383163099.598 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-10-30T19:58:19.806Z,1383163099.806 [CTD_NeilBrown] Loaded
2013-10-30T19:58:19.807Z,1383163099.807 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-10-30T19:58:19.817Z,1383163099.817 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-10-30T19:58:19.874Z,1383163099.874 [WetLabsBB2FL] Loaded
2013-10-30T19:58:19.875Z,1383163099.875 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-10-30T19:58:19.881Z,1383163099.881 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-10-30T19:58:19.882Z,1383163099.882 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-10-30T19:58:19.884Z,1383163099.884 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-10-30T19:58:19.885Z,1383163099.885 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-10-30T19:58:19.892Z,1383163099.892 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-10-30T19:58:19.897Z,1383163099.897 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-10-30T19:58:19.902Z,1383163099.902 [Supervisor](DEBUG): Running supervisor.
2013-10-30T19:58:19.910Z,1383163099.909 [CommandLine](INFO): Thread ID is 9146
2013-10-30T19:58:19.912Z,1383163099.912 [controlThread](INFO): Thread ID is 9145
2013-10-30T19:58:19.912Z,1383163099.912 [controlThread](DEBUG): Initializing ControlThread
2013-10-30T19:58:19.913Z,1383163099.913 [CycleStarter](INFO): Thread ID is 9144
2013-10-30T19:58:19.913Z,1383163099.913 [InternalSim](DEBUG):  InternalSim initializing...
2013-10-30T19:58:19.954Z,1383163099.954 [logger](INFO): Thread ID is 9147
2013-10-30T19:58:19.993Z,1383163099.993 [SBIT](INFO): Initialize SBIT Component.
2013-10-30T19:58:19.994Z,1383163099.994 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10711
2013-10-30T19:58:19.994Z,1383163099.994 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-10-30T19:58:19.994Z,1383163099.994 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-10-30T19:58:19.995Z,1383163099.995 [IBIT](INFO): Initialize IBIT Component.
2013-10-30T19:58:19.996Z,1383163099.996 [CBIT](DEBUG): Initialize CBIT Component.
2013-10-30T19:58:19.996Z,1383163099.996 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-10-30T19:58:20.010Z,1383163100.010 [AsyncPiEstimator](INFO): Thread ID is 9210
2013-10-30T19:58:20.010Z,1383163100.010 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-10-30T19:58:20.018Z,1383163100.018 [DVL_micro](INFO): Thread ID is 9211
2013-10-30T19:58:20.031Z,1383163100.031 [DVL_micro](INFO): Initializing
2013-10-30T19:58:20.031Z,1383163100.031 [DVL_micro](INFO): start:Powering up
2013-10-30T19:58:20.032Z,1383163100.032 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T19:58:20.035Z,1383163100.035 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T19:58:20.035Z,1383163100.035 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-10-30T19:58:20.036Z,1383163100.036 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-10-30T19:58:20.036Z,1383163100.036 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-10-30T19:58:20.036Z,1383163100.036 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-10-30T19:58:20.037Z,1383163100.037 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-10-30T19:58:20.037Z,1383163100.037 [Navigation](DEBUG): Initializing Navigation.
2013-10-30T19:58:20.038Z,1383163100.038 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-10-30T19:58:20.040Z,1383163100.040 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-10-30T19:58:20.040Z,1383163100.040 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-10-30T19:58:20.041Z,1383163100.041 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-10-30T19:58:20.042Z,1383163100.042 [DVL_micro](INFO): Cycling power to configure device.
2013-10-30T19:58:20.048Z,1383163100.048 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-10-30T19:58:20.075Z,1383163100.075 [CTD_NeilBrown](INFO): Thread ID is 9212
2013-10-30T19:58:20.075Z,1383163100.075 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-10-30T19:58:20.094Z,1383163100.094 [WetLabsBB2FL](INFO): Thread ID is 9213
2013-10-30T19:58:20.095Z,1383163100.095 [WetLabsBB2FL](INFO): Powering down
2013-10-30T19:58:20.114Z,1383163100.114 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-10-30T19:58:20.124Z,1383163100.124 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:58:20.130Z,1383163100.130 [NavChartDb](INFO): Thread ID is 9214
2013-10-30T19:58:20.133Z,1383163100.133 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-10-30T19:58:20.134Z,1383163100.134 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-10-30T19:58:20.134Z,1383163100.134 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-10-30T19:58:20.134Z,1383163100.134 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-10-30T19:58:20.135Z,1383163100.135 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-10-30T19:58:20.135Z,1383163100.135 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-10-30T19:58:20.135Z,1383163100.135 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-10-30T19:58:20.135Z,1383163100.135 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-10-30T19:58:20.136Z,1383163100.136 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-10-30T19:58:20.199Z,1383163100.199 [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>


2013-10-30T19:58:20.199Z,1383163100.199 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-10-30T19:58:20.328Z,1383163100.328 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-10-30T19:58:20.339Z,1383163100.339 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-10-30T19:58:20.355Z,1383163100.355 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:58:20.375Z,1383163100.375 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-10-30T19:58:20.398Z,1383163100.398 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:58:20.428Z,1383163100.428 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-10-30T19:58:20.448Z,1383163100.448 [Default:D.SetSpeed](DEBUG): Construct.
2013-10-30T19:58:20.460Z,1383163100.460 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T19:58:20.477Z,1383163100.477 [Default:F.Wait](DEBUG): Construct Wait.
2013-10-30T19:58:20.484Z,1383163100.484 [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>


2013-10-30T19:58:20.492Z,1383163100.492 [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,
2013-10-30T19:58:20.579Z,1383163100.579 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-10-30T19:58:20.810Z,1383163100.810 [Radio_Freewave](INFO): Powering up
2013-10-30T19:58:20.859Z,1383163100.859 [DAT](INFO): Powering up
2013-10-30T19:58:20.860Z,1383163100.860 [DAT](DEBUG): Initializing DAT.
2013-10-30T19:58:21.152Z,1383163101.152 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:58:21.160Z,1383163101.160 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-10-30T19:58:21.174Z,1383163101.174 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:58:21.180Z,1383163101.180 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-10-30T19:58:21.214Z,1383163101.214 [MassServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:58:21.223Z,1383163101.223 [MassServo](DEBUG): Initializing MassServo.
2013-10-30T19:58:21.251Z,1383163101.251 [RudderServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:58:21.260Z,1383163101.260 [RudderServo](DEBUG): Initializing RudderServo.
2013-10-30T19:58:21.265Z,1383163101.265 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:58:21.272Z,1383163101.272 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-10-30T19:58:22.173Z,1383163102.173 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T19:58:22.173Z,1383163102.173 [DVL_micro](INFO): Querying output modes
2013-10-30T19:58:22.174Z,1383163102.174 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-10-30T19:58:22.185Z,1383163102.185 [DVL_micro](DEBUG): cmdResponse: 01
2013-10-30T19:58:22.185Z,1383163102.185 [DVL_micro](INFO): NQ1 output enabled
2013-10-30T19:58:22.185Z,1383163102.185 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-10-30T19:58:22.197Z,1383163102.197 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-10-30T19:58:22.203Z,1383163102.203 [DVL_micro](INFO): pause:Powering down
2013-10-30T19:58:22.225Z,1383163102.225 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-10-30T19:58:22.225Z,1383163102.225 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-10-30T19:58:22.225Z,1383163102.225 [BuoyancyServo] Communications Fault, FailCount= 1
2013-10-30T19:58:22.225Z,1383163102.225 [BuoyancyServo](ERROR): Communications Fault
2013-10-30T19:58:22.431Z,1383163102.431 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-10-30T19:58:22.870Z,1383163102.870 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-10-30T19:58:22.872Z,1383163102.872 [BuoyancyServo](INFO): Powering down
2013-10-30T19:58:24.430Z,1383163104.430 [NAL9602](INFO): Powering up NAL9602
2013-10-30T19:58:25.095Z,1383163105.095 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-10-30T19:58:25.095Z,1383163105.095 [BuoyancyServo] No Fault, FailCount= 1
2013-10-30T19:58:25.553Z,1383163105.553 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-10-30T19:58:25.667Z,1383163105.667 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-10-30T19:58:35.569Z,1383163115.569 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2013-10-30T19:58:35.570Z,1383163115.570 [NAL9602] Communications Fault, FailCount= 1
2013-10-30T19:58:35.570Z,1383163115.570 [NAL9602](ERROR): Communications Fault
2013-10-30T19:58:35.777Z,1383163115.777 [CBIT](ERROR): Communications Fault in component: NAL9602
2013-10-30T19:58:36.147Z,1383163116.147 [NAL9602](INFO): Powering down
2013-10-30T19:58:36.369Z,1383163116.369 [SBIT](IMPORTANT): Beginning Startup BIT
2013-10-30T19:58:36.372Z,1383163116.372 [CBIT](IMPORTANT): Beginning GF scan
2013-10-30T19:58:37.641Z,1383163117.641 [CBIT](INFO): Clearing failed state for component NAL9602
2013-10-30T19:58:37.641Z,1383163117.641 [NAL9602] No Fault, FailCount= 1
2013-10-30T19:58:40.401Z,1383163120.401 [CommandLine](IMPORTANT): got command quit
2013-10-30T19:58:41.448Z,1383163121.448 [NAL9602](INFO): Powering up NAL9602
2013-10-30T19:58:41.462Z,1383163121.462 [DAT](INFO): Powering down
2013-10-30T19:58:41.479Z,1383163121.479 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-10-30T19:58:41.479Z,1383163121.479 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-10-30T19:58:42.280Z,1383163122.280 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-10-30T19:58:42.665Z,1383163122.665 [WetLabsBB2FL](INFO): Powering down
2013-10-30T19:58:42.681Z,1383163122.681 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-10-30T19:58:42.837Z,1383163122.837 [CTD_NeilBrown](INFO): Powering down
2013-10-30T19:58:42.845Z,1383163122.845 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-10-30T19:58:43.170Z,1383163123.170 [DVL_micro](INFO): uninitialize:Powering down
2013-10-30T19:58:43.190Z,1383163123.190 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-10-30T19:58:43.346Z,1383163123.346 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-10-30T19:58:43.359Z,1383163123.359 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-10-30T19:58:43.398Z,1383163123.398 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-10-30T19:58:43.400Z,1383163123.400 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-10-30T19:58:43.647Z,1383163123.647 [controlThread](DEBUG): Uninitializing ControlThread
2013-10-30T19:58:43.647Z,1383163123.647 [AHRS_sp3003D](INFO): Powering down
2013-10-30T19:58:43.735Z,1383163123.735 [NAL9602](INFO): Powering down
2013-10-30T19:58:43.736Z,1383163123.736 [DAT](INFO): Powering down
2013-10-30T19:58:43.737Z,1383163123.737 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T19:58:43.737Z,1383163123.737 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-10-30T19:58:43.743Z,1383163123.743 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-10-30T19:58:43.743Z,1383163123.743 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-10-30T19:58:43.744Z,1383163123.744 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-10-30T19:58:43.744Z,1383163123.744 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-10-30T19:58:43.744Z,1383163123.744 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-10-30T19:58:43.744Z,1383163123.744 [BuoyancyServo](INFO): Powering down
2013-10-30T19:58:43.758Z,1383163123.758 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-10-30T19:58:43.758Z,1383163123.758 [ElevatorServo](INFO): Powering down
2013-10-30T19:58:43.759Z,1383163123.759 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-10-30T19:58:43.759Z,1383163123.759 [MassServo](INFO): Powering down
2013-10-30T19:58:43.760Z,1383163123.760 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-10-30T19:58:43.760Z,1383163123.760 [RudderServo](INFO): Powering down
2013-10-30T19:58:43.761Z,1383163123.761 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-10-30T19:58:43.761Z,1383163123.761 [ThrusterServo](INFO): Powering down
2013-10-30T19:58:43.762Z,1383163123.762 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-10-30T19:58:43.762Z,1383163123.762 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-10-30T19:58:43.763Z,1383163123.763 [CBIT](DEBUG): Uninitialize CBIT Component.