2013-10-30T20:03:20.824Z,1383163400.824 [Supervisor](DEBUG): Initializing supervisor.
2013-10-30T20:03:20.826Z,1383163400.826 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-10-30T20:03:20.827Z,1383163400.827 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-10-30T20:03:20.828Z,1383163400.828 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-10-30T20:03:20.831Z,1383163400.831 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-10-30T20:03:20.842Z,1383163400.842 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-10-30T20:03:20.843Z,1383163400.843 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-10-30T20:03:20.844Z,1383163400.844 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-10-30T20:03:20.845Z,1383163400.845 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-10-30T20:03:20.845Z,1383163400.845 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-10-30T20:03:20.847Z,1383163400.847 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-10-30T20:03:21.127Z,1383163401.127 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-10-30T20:03:21.128Z,1383163401.128 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-10-30T20:03:21.315Z,1383163401.315 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-10-30T20:03:21.315Z,1383163401.315 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-10-30T20:03:21.401Z,1383163401.401 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-10-30T20:03:21.401Z,1383163401.401 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-10-30T20:03:21.515Z,1383163401.515 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-10-30T20:03:21.515Z,1383163401.515 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-10-30T20:03:21.656Z,1383163401.656 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-10-30T20:03:21.657Z,1383163401.657 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-10-30T20:03:21.899Z,1383163401.899 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-10-30T20:03:21.899Z,1383163401.899 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-10-30T20:03:22.064Z,1383163402.064 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-10-30T20:03:22.065Z,1383163402.065 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-10-30T20:03:22.331Z,1383163402.331 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-10-30T20:03:22.332Z,1383163402.332 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-10-30T20:03:22.433Z,1383163402.433 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-10-30T20:03:22.434Z,1383163402.434 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-10-30T20:03:22.847Z,1383163402.847 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-10-30T20:03:22.848Z,1383163402.848 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-10-30T20:03:22.960Z,1383163402.960 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-10-30T20:03:22.960Z,1383163402.960 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-10-30T20:03:23.047Z,1383163403.047 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-10-30T20:03:23.048Z,1383163403.048 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-10-30T20:03:23.146Z,1383163403.146 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-10-30T20:03:23.272Z,1383163403.272 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-10-30T20:03:23.367Z,1383163403.367 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-10-30T20:03:23.472Z,1383163403.472 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-10-30T20:03:23.569Z,1383163403.569 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-10-30T20:03:23.684Z,1383163403.684 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-10-30T20:03:23.780Z,1383163403.780 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-10-30T20:03:23.867Z,1383163403.867 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-10-30T20:03:23.867Z,1383163403.867 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-10-30T20:03:23.869Z,1383163403.869 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-10-30T20:03:24.027Z,1383163404.027 [InternalSim] Loaded
2013-10-30T20:03:24.027Z,1383163404.027 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-10-30T20:03:24.027Z,1383163404.027 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-10-30T20:03:24.028Z,1383163404.028 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-10-30T20:03:24.111Z,1383163404.111 [SBIT](DEBUG): Construct Startup Built In Test.
2013-10-30T20:03:24.139Z,1383163404.139 [SBIT] Loaded
2013-10-30T20:03:24.139Z,1383163404.139 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-10-30T20:03:24.140Z,1383163404.140 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-10-30T20:03:24.169Z,1383163404.169 [IBIT] Loaded
2013-10-30T20:03:24.169Z,1383163404.169 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-10-30T20:03:24.171Z,1383163404.171 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-10-30T20:03:24.284Z,1383163404.284 [CBIT] Loaded
2013-10-30T20:03:24.284Z,1383163404.284 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-10-30T20:03:24.285Z,1383163404.285 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-10-30T20:03:24.285Z,1383163404.285 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-10-30T20:03:24.446Z,1383163404.446 [BuoyancyServo] Loaded
2013-10-30T20:03:24.447Z,1383163404.447 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-10-30T20:03:24.459Z,1383163404.459 [ElevatorServo] Loaded
2013-10-30T20:03:24.459Z,1383163404.459 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-10-30T20:03:24.470Z,1383163404.470 [MassServo] Loaded
2013-10-30T20:03:24.470Z,1383163404.470 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-10-30T20:03:24.481Z,1383163404.481 [RudderServo] Loaded
2013-10-30T20:03:24.482Z,1383163404.482 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-10-30T20:03:24.492Z,1383163404.492 [ThrusterServo] Loaded
2013-10-30T20:03:24.493Z,1383163404.493 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-10-30T20:03:24.493Z,1383163404.493 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-10-30T20:03:24.494Z,1383163404.494 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-10-30T20:03:24.527Z,1383163404.527 [DepthRateCalculator] Loaded
2013-10-30T20:03:24.528Z,1383163404.528 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-10-30T20:03:27.040Z,1383163407.040 [HFRadarModelCalc] Loaded
2013-10-30T20:03:27.040Z,1383163407.040 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-10-30T20:03:27.056Z,1383163407.056 [NavChart] Loaded
2013-10-30T20:03:27.056Z,1383163407.056 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-10-30T20:03:27.062Z,1383163407.062 [PitchRateCalculator] Loaded
2013-10-30T20:03:27.062Z,1383163407.062 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-10-30T20:03:27.073Z,1383163407.073 [SpeedCalculator] Loaded
2013-10-30T20:03:27.073Z,1383163407.073 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-10-30T20:03:27.089Z,1383163407.089 [TempGradientCalculator] Loaded
2013-10-30T20:03:27.089Z,1383163407.089 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-10-30T20:03:27.094Z,1383163407.094 [YawRateCalculator] Loaded
2013-10-30T20:03:27.095Z,1383163407.095 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-10-30T20:03:27.140Z,1383163407.140 [Navigation] Loaded
2013-10-30T20:03:27.141Z,1383163407.141 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-10-30T20:03:27.141Z,1383163407.141 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-10-30T20:03:27.142Z,1383163407.142 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-10-30T20:03:27.371Z,1383163407.371 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-10-30T20:03:27.371Z,1383163407.371 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-10-30T20:03:27.393Z,1383163407.393 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-10-30T20:03:27.394Z,1383163407.394 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-10-30T20:03:27.439Z,1383163407.439 [VerticalControl](DEBUG): Construct VerticalControl.
2013-10-30T20:03:27.531Z,1383163407.531 [VerticalControl] Loaded
2013-10-30T20:03:27.531Z,1383163407.531 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-10-30T20:03:27.532Z,1383163407.532 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-10-30T20:03:27.589Z,1383163407.589 [HorizontalControl] Loaded
2013-10-30T20:03:27.589Z,1383163407.589 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-10-30T20:03:27.590Z,1383163407.590 [SpeedControl](DEBUG): Construct SpeedControl.
2013-10-30T20:03:27.591Z,1383163407.591 [SpeedControl] Loaded
2013-10-30T20:03:27.592Z,1383163407.592 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-10-30T20:03:27.592Z,1383163407.592 [LoopControl](DEBUG): Construct LoopControl.
2013-10-30T20:03:27.593Z,1383163407.593 [LoopControl] Loaded
2013-10-30T20:03:27.593Z,1383163407.593 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-10-30T20:03:27.593Z,1383163407.593 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-10-30T20:03:27.594Z,1383163407.594 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-10-30T20:03:27.600Z,1383163407.600 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-10-30T20:03:27.604Z,1383163407.604 [AsyncPiEstimator] Loaded
2013-10-30T20:03:27.605Z,1383163407.605 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-10-30T20:03:27.606Z,1383163407.606 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-10-30T20:03:27.606Z,1383163407.606 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-10-30T20:03:27.607Z,1383163407.607 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-10-30T20:03:27.799Z,1383163407.799 [AHRS_sp3003D] Loaded
2013-10-30T20:03:27.799Z,1383163407.799 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-10-30T20:03:27.812Z,1383163407.812 [Depth_Keller] Loaded
2013-10-30T20:03:27.813Z,1383163407.813 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-10-30T20:03:27.994Z,1383163407.994 [DVL_micro] Loaded
2013-10-30T20:03:27.994Z,1383163407.994 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-10-30T20:03:27.995Z,1383163407.995 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-10-30T20:03:28.082Z,1383163408.082 [NAL9602] Loaded
2013-10-30T20:03:28.083Z,1383163408.083 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-10-30T20:03:28.123Z,1383163408.123 [Onboard] Loaded
2013-10-30T20:03:28.123Z,1383163408.123 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-10-30T20:03:28.129Z,1383163408.129 [Radio_Freewave] Loaded
2013-10-30T20:03:28.130Z,1383163408.130 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-10-30T20:03:28.271Z,1383163408.271 [DAT] Loaded
2013-10-30T20:03:28.272Z,1383163408.272 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-10-30T20:03:28.272Z,1383163408.272 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-10-30T20:03:28.273Z,1383163408.273 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-10-30T20:03:28.369Z,1383163408.369 [CTD_NeilBrown] Loaded
2013-10-30T20:03:28.369Z,1383163408.369 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-10-30T20:03:28.371Z,1383163408.371 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-10-30T20:03:28.403Z,1383163408.403 [WetLabsBB2FL] Loaded
2013-10-30T20:03:28.403Z,1383163408.403 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-10-30T20:03:28.404Z,1383163408.404 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-10-30T20:03:28.405Z,1383163408.405 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-10-30T20:03:28.407Z,1383163408.407 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-10-30T20:03:28.408Z,1383163408.408 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-10-30T20:03:28.415Z,1383163408.415 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-10-30T20:03:28.416Z,1383163408.416 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-10-30T20:03:28.420Z,1383163408.420 [Supervisor](DEBUG): Running supervisor.
2013-10-30T20:03:28.421Z,1383163408.421 [CommandLine](INFO): Thread ID is 9399
2013-10-30T20:03:28.424Z,1383163408.424 [controlThread](INFO): Thread ID is 9398
2013-10-30T20:03:28.424Z,1383163408.424 [controlThread](DEBUG): Initializing ControlThread
2013-10-30T20:03:28.424Z,1383163408.424 [CycleStarter](INFO): Thread ID is 9397
2013-10-30T20:03:28.425Z,1383163408.425 [InternalSim](DEBUG):  InternalSim initializing...
2013-10-30T20:03:28.460Z,1383163408.460 [logger](INFO): Thread ID is 9400
2013-10-30T20:03:28.485Z,1383163408.485 [SBIT](INFO): Initialize SBIT Component.
2013-10-30T20:03:28.485Z,1383163408.485 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10711
2013-10-30T20:03:28.486Z,1383163408.486 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-10-30T20:03:28.486Z,1383163408.486 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-10-30T20:03:28.486Z,1383163408.486 [IBIT](INFO): Initialize IBIT Component.
2013-10-30T20:03:28.487Z,1383163408.487 [CBIT](DEBUG): Initialize CBIT Component.
2013-10-30T20:03:28.488Z,1383163408.488 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-10-30T20:03:28.500Z,1383163408.500 [AsyncPiEstimator](INFO): Thread ID is 9461
2013-10-30T20:03:28.501Z,1383163408.501 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-10-30T20:03:28.513Z,1383163408.513 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T20:03:28.513Z,1383163408.513 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-10-30T20:03:28.514Z,1383163408.514 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-10-30T20:03:28.514Z,1383163408.514 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-10-30T20:03:28.515Z,1383163408.515 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-10-30T20:03:28.515Z,1383163408.515 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-10-30T20:03:28.515Z,1383163408.515 [Navigation](DEBUG): Initializing Navigation.
2013-10-30T20:03:28.516Z,1383163408.516 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-10-30T20:03:28.518Z,1383163408.518 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-10-30T20:03:28.518Z,1383163408.518 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-10-30T20:03:28.519Z,1383163408.519 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-10-30T20:03:28.528Z,1383163408.528 [DVL_micro](INFO): Thread ID is 9462
2013-10-30T20:03:28.537Z,1383163408.537 [DVL_micro](INFO): Initializing
2013-10-30T20:03:28.537Z,1383163408.537 [DVL_micro](INFO): start:Powering up
2013-10-30T20:03:28.538Z,1383163408.538 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T20:03:28.539Z,1383163408.539 [DVL_micro](INFO): Cycling power to configure device.
2013-10-30T20:03:28.544Z,1383163408.544 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-10-30T20:03:28.556Z,1383163408.556 [CTD_NeilBrown](INFO): Thread ID is 9463
2013-10-30T20:03:28.557Z,1383163408.557 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-10-30T20:03:28.563Z,1383163408.563 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T20:03:28.565Z,1383163408.565 [WetLabsBB2FL](INFO): Thread ID is 9464
2013-10-30T20:03:28.566Z,1383163408.566 [WetLabsBB2FL](INFO): Powering down
2013-10-30T20:03:28.571Z,1383163408.571 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-10-30T20:03:28.613Z,1383163408.613 [NavChartDb](INFO): Thread ID is 9465
2013-10-30T20:03:28.615Z,1383163408.615 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-10-30T20:03:28.616Z,1383163408.616 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-10-30T20:03:28.617Z,1383163408.617 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-10-30T20:03:28.617Z,1383163408.617 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-10-30T20:03:28.617Z,1383163408.617 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-10-30T20:03:28.617Z,1383163408.617 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-10-30T20:03:28.618Z,1383163408.618 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-10-30T20:03:28.618Z,1383163408.618 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-10-30T20:03:28.618Z,1383163408.618 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-10-30T20:03:28.646Z,1383163408.646 [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>


2013-10-30T20:03:28.646Z,1383163408.646 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-10-30T20:03:28.740Z,1383163408.740 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-10-30T20:03:28.742Z,1383163408.742 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-10-30T20:03:28.757Z,1383163408.757 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T20:03:28.790Z,1383163408.790 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-10-30T20:03:28.802Z,1383163408.802 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T20:03:28.813Z,1383163408.813 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-10-30T20:03:28.841Z,1383163408.841 [Default:D.SetSpeed](DEBUG): Construct.
2013-10-30T20:03:28.857Z,1383163408.857 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T20:03:28.862Z,1383163408.862 [Default:F.Wait](DEBUG): Construct Wait.
2013-10-30T20:03:28.897Z,1383163408.897 [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>


2013-10-30T20:03:28.908Z,1383163408.908 [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,
2013-10-30T20:03:28.945Z,1383163408.945 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-10-30T20:03:28.993Z,1383163408.993 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-10-30T20:03:29.041Z,1383163409.041 [Radio_Freewave](INFO): Powering up
2013-10-30T20:03:29.046Z,1383163409.046 [DAT](INFO): Powering up
2013-10-30T20:03:29.046Z,1383163409.046 [DAT](DEBUG): Initializing DAT.
2013-10-30T20:03:29.281Z,1383163409.281 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-10-30T20:03:29.289Z,1383163409.289 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-10-30T20:03:29.295Z,1383163409.295 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-10-30T20:03:29.301Z,1383163409.301 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-10-30T20:03:29.323Z,1383163409.323 [MassServo](DEBUG): Initializing EZServoServo.
2013-10-30T20:03:29.329Z,1383163409.329 [MassServo](DEBUG): Initializing MassServo.
2013-10-30T20:03:29.335Z,1383163409.335 [RudderServo](DEBUG): Initializing EZServoServo.
2013-10-30T20:03:29.341Z,1383163409.341 [RudderServo](DEBUG): Initializing RudderServo.
2013-10-30T20:03:29.347Z,1383163409.347 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-10-30T20:03:29.353Z,1383163409.353 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-10-30T20:03:30.671Z,1383163410.671 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T20:03:30.672Z,1383163410.672 [DVL_micro](INFO): Querying output modes
2013-10-30T20:03:30.672Z,1383163410.672 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-10-30T20:03:30.683Z,1383163410.683 [DVL_micro](DEBUG): cmdResponse: 01
2013-10-30T20:03:30.683Z,1383163410.683 [DVL_micro](INFO): NQ1 output enabled
2013-10-30T20:03:30.684Z,1383163410.684 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-10-30T20:03:30.695Z,1383163410.695 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-10-30T20:03:30.701Z,1383163410.701 [DVL_micro](INFO): pause:Powering down
2013-10-30T20:03:33.289Z,1383163413.289 [NAL9602](INFO): Powering up NAL9602
2013-10-30T20:03:44.052Z,1383163424.052 [NAL9602](INFO): NAL9602 initialized
2013-10-30T20:03:44.158Z,1383163424.158 [SBIT](IMPORTANT): Beginning Startup BIT
2013-10-30T20:03:44.161Z,1383163424.161 [CBIT](IMPORTANT): Beginning GF scan
2013-10-30T20:03:49.331Z,1383163429.331 [DAT](INFO): Powering down
2013-10-30T20:04:11.042Z,1383163451.042 [CBIT](IMPORTANT): No ground fault detected
2013-10-30T20:04:15.977Z,1383163455.977 [NAL9602](ERROR): getFix uart error: serial timeout
2013-10-30T20:04:18.032Z,1383163458.032 [NAL9602](ERROR): parseGSV uart error: serial timeout
2013-10-30T20:04:19.232Z,1383163459.232 [NAL9602](IMPORTANT): GPS fix at: 1383163480.00
2013-10-30T20:04:20.905Z,1383163460.905 [NAL9602](ERROR): parseGSV uart error: serial timeout
2013-10-30T20:04:26.634Z,1383163466.634 [NAL9602](INFO): Powering down
2013-10-30T20:04:38.099Z,1383163478.099 [SBIT](IMPORTANT): SBIT PASSED
2013-10-30T20:04:38.488Z,1383163478.488 [MissionManager](IMPORTANT): Started mission Startup
2013-10-30T20:04:38.488Z,1383163478.488 [Startup] Running Loop=1
2013-10-30T20:04:38.488Z,1383163478.488 [Startup](INFO): Aggregate::initialize Startup
2013-10-30T20:04:38.488Z,1383163478.488 [Startup:A.GoToSurface] Running Loop=1
2013-10-30T20:04:38.488Z,1383163478.488 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-10-30T20:04:38.494Z,1383163478.494 [Startup:StartupSatComms] Running Loop=1
2013-10-30T20:04:38.494Z,1383163478.494 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-10-30T20:04:38.494Z,1383163478.494 [Startup:StartupSatComms:A] Running Loop=1
2013-10-30T20:04:38.899Z,1383163478.899 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-10-30T20:04:39.274Z,1383163479.274 [NAL9602](INFO): Powering up
2013-10-30T20:04:50.014Z,1383163490.014 [NAL9602](INFO): NAL9602 initialized
2013-10-30T20:05:24.379Z,1383163524.379 [NAL9602](ERROR): getFix uart error: serial timeout
2013-10-30T20:05:38.792Z,1383163538.792 [Startup:StartupSatComms:A](INFO): Timed out from 2013-10-30T20:04:38.5Z
2013-10-30T20:05:38.792Z,1383163538.792 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-10-30T20:05:38.792Z,1383163538.792 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-10-30T20:05:38.793Z,1383163538.793 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-10-30T20:05:38.793Z,1383163538.793 [Startup:StartupSatComms:A] Stopped
2013-10-30T20:05:38.793Z,1383163538.793 [Startup:StartupSatComms:B] Running Loop=1
2013-10-30T20:05:39.186Z,1383163539.186 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-10-30T20:05:55.175Z,1383163555.175 [NAL9602](ERROR): parseGSV uart error: serial timeout
2013-10-30T20:06:02.422Z,1383163562.422 [CommandLine](IMPORTANT): got command quit
2013-10-30T20:06:03.524Z,1383163563.524 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-10-30T20:06:03.524Z,1383163563.524 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-10-30T20:06:03.564Z,1383163563.564 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-10-30T20:06:03.761Z,1383163563.761 [WetLabsBB2FL](INFO): Powering down
2013-10-30T20:06:03.772Z,1383163563.772 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-10-30T20:06:04.137Z,1383163564.137 [CTD_NeilBrown](INFO): Powering down
2013-10-30T20:06:04.141Z,1383163564.141 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-10-30T20:06:04.414Z,1383163564.414 [DVL_micro](INFO): uninitialize:Powering down
2013-10-30T20:06:04.421Z,1383163564.421 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-10-30T20:06:04.502Z,1383163564.502 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-10-30T20:06:04.522Z,1383163564.522 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-10-30T20:06:04.570Z,1383163564.570 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-10-30T20:06:04.572Z,1383163564.572 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-10-30T20:06:04.874Z,1383163564.874 [controlThread](DEBUG): Uninitializing ControlThread
2013-10-30T20:06:04.874Z,1383163564.874 [AHRS_sp3003D](INFO): Powering down
2013-10-30T20:06:04.963Z,1383163564.963 [NAL9602](INFO): Powering down
2013-10-30T20:06:04.964Z,1383163564.964 [DAT](INFO): Powering down
2013-10-30T20:06:04.965Z,1383163564.965 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T20:06:04.966Z,1383163564.966 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-10-30T20:06:04.970Z,1383163564.970 [Startup] Stopped
2013-10-30T20:06:04.970Z,1383163564.970 [Startup](INFO): Aggregate::uninitialize Startup
2013-10-30T20:06:04.970Z,1383163564.970 [Startup:A.GoToSurface] Stopped
2013-10-30T20:06:04.970Z,1383163564.970 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-10-30T20:06:04.970Z,1383163564.970 [Startup:StartupSatComms] Stopped
2013-10-30T20:06:04.970Z,1383163564.970 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-10-30T20:06:04.970Z,1383163564.970 [Startup:StartupSatComms:B] Stopped
2013-10-30T20:06:04.972Z,1383163564.972 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-10-30T20:06:04.972Z,1383163564.972 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-10-30T20:06:04.972Z,1383163564.972 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-10-30T20:06:04.972Z,1383163564.972 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-10-30T20:06:04.973Z,1383163564.973 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-10-30T20:06:04.973Z,1383163564.973 [BuoyancyServo](INFO): Powering down
2013-10-30T20:06:04.986Z,1383163564.986 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-10-30T20:06:04.986Z,1383163564.986 [ElevatorServo](INFO): Powering down
2013-10-30T20:06:04.987Z,1383163564.987 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-10-30T20:06:04.987Z,1383163564.987 [MassServo](INFO): Powering down
2013-10-30T20:06:04.988Z,1383163564.988 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-10-30T20:06:04.988Z,1383163564.988 [RudderServo](INFO): Powering down
2013-10-30T20:06:04.989Z,1383163564.989 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-10-30T20:06:04.989Z,1383163564.989 [ThrusterServo](INFO): Powering down
2013-10-30T20:06:04.990Z,1383163564.990 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-10-30T20:06:04.990Z,1383163564.990 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-10-30T20:06:04.991Z,1383163564.991 [CBIT](DEBUG): Uninitialize CBIT Component.