2013-10-30T21:06:23.620Z,1383167183.620 [Supervisor](DEBUG): Initializing supervisor.
2013-10-30T21:06:23.623Z,1383167183.623 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-10-30T21:06:23.624Z,1383167183.624 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-10-30T21:06:23.625Z,1383167183.625 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-10-30T21:06:23.629Z,1383167183.629 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-10-30T21:06:23.641Z,1383167183.641 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-10-30T21:06:23.643Z,1383167183.643 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-10-30T21:06:23.643Z,1383167183.643 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-10-30T21:06:23.645Z,1383167183.645 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-10-30T21:06:23.646Z,1383167183.646 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-10-30T21:06:23.647Z,1383167183.647 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-10-30T21:06:24.097Z,1383167184.097 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-10-30T21:06:24.098Z,1383167184.098 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-10-30T21:06:24.290Z,1383167184.290 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-10-30T21:06:24.291Z,1383167184.291 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-10-30T21:06:24.379Z,1383167184.379 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-10-30T21:06:24.379Z,1383167184.379 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-10-30T21:06:24.496Z,1383167184.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-10-30T21:06:24.497Z,1383167184.497 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-10-30T21:06:24.640Z,1383167184.640 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-10-30T21:06:24.641Z,1383167184.641 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-10-30T21:06:24.888Z,1383167184.888 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-10-30T21:06:24.889Z,1383167184.889 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-10-30T21:06:25.057Z,1383167185.057 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-10-30T21:06:25.058Z,1383167185.058 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-10-30T21:06:25.329Z,1383167185.329 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-10-30T21:06:25.330Z,1383167185.330 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-10-30T21:06:25.434Z,1383167185.434 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-10-30T21:06:25.434Z,1383167185.434 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-10-30T21:06:25.859Z,1383167185.859 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-10-30T21:06:25.860Z,1383167185.860 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-10-30T21:06:25.974Z,1383167185.974 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-10-30T21:06:25.974Z,1383167185.974 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-10-30T21:06:26.063Z,1383167186.063 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-10-30T21:06:26.064Z,1383167186.064 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-10-30T21:06:26.171Z,1383167186.171 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-10-30T21:06:26.304Z,1383167186.304 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-10-30T21:06:26.403Z,1383167186.403 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-10-30T21:06:26.517Z,1383167186.517 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-10-30T21:06:26.618Z,1383167186.618 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-10-30T21:06:26.736Z,1383167186.736 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-10-30T21:06:26.837Z,1383167186.837 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-10-30T21:06:26.925Z,1383167186.925 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/LOGIN/
2013-10-30T21:06:26.926Z,1383167186.926 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-10-30T21:06:26.927Z,1383167186.927 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-10-30T21:06:27.096Z,1383167187.096 [InternalSim] Loaded
2013-10-30T21:06:27.097Z,1383167187.097 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-10-30T21:06:27.097Z,1383167187.097 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-10-30T21:06:27.098Z,1383167187.098 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-10-30T21:06:27.191Z,1383167187.191 [SBIT](DEBUG): Construct Startup Built In Test.
2013-10-30T21:06:27.221Z,1383167187.221 [SBIT] Loaded
2013-10-30T21:06:27.221Z,1383167187.221 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-10-30T21:06:27.222Z,1383167187.222 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-10-30T21:06:27.252Z,1383167187.252 [IBIT] Loaded
2013-10-30T21:06:27.252Z,1383167187.252 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-10-30T21:06:27.254Z,1383167187.254 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-10-30T21:06:27.371Z,1383167187.371 [CBIT] Loaded
2013-10-30T21:06:27.371Z,1383167187.371 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-10-30T21:06:27.372Z,1383167187.372 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-10-30T21:06:27.372Z,1383167187.372 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-10-30T21:06:27.544Z,1383167187.544 [BuoyancyServo] Loaded
2013-10-30T21:06:27.545Z,1383167187.545 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-10-30T21:06:27.557Z,1383167187.557 [ElevatorServo] Loaded
2013-10-30T21:06:27.557Z,1383167187.557 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-10-30T21:06:27.568Z,1383167187.568 [MassServo] Loaded
2013-10-30T21:06:27.569Z,1383167187.569 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-10-30T21:06:27.580Z,1383167187.580 [RudderServo] Loaded
2013-10-30T21:06:27.581Z,1383167187.581 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-10-30T21:06:27.595Z,1383167187.595 [ThrusterServo] Loaded
2013-10-30T21:06:27.595Z,1383167187.595 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-10-30T21:06:27.596Z,1383167187.596 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-10-30T21:06:27.596Z,1383167187.596 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-10-30T21:06:27.651Z,1383167187.651 [DepthRateCalculator] Loaded
2013-10-30T21:06:27.652Z,1383167187.652 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-10-30T21:06:30.237Z,1383167190.237 [HFRadarModelCalc] Loaded
2013-10-30T21:06:30.237Z,1383167190.237 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-10-30T21:06:30.253Z,1383167190.253 [NavChart] Loaded
2013-10-30T21:06:30.254Z,1383167190.254 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-10-30T21:06:30.260Z,1383167190.260 [PitchRateCalculator] Loaded
2013-10-30T21:06:30.260Z,1383167190.260 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-10-30T21:06:30.271Z,1383167190.271 [SpeedCalculator] Loaded
2013-10-30T21:06:30.271Z,1383167190.271 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-10-30T21:06:30.287Z,1383167190.287 [TempGradientCalculator] Loaded
2013-10-30T21:06:30.288Z,1383167190.288 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-10-30T21:06:30.293Z,1383167190.293 [YawRateCalculator] Loaded
2013-10-30T21:06:30.294Z,1383167190.294 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-10-30T21:06:30.341Z,1383167190.341 [Navigation] Loaded
2013-10-30T21:06:30.341Z,1383167190.341 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-10-30T21:06:30.342Z,1383167190.342 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-10-30T21:06:30.342Z,1383167190.342 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-10-30T21:06:30.592Z,1383167190.592 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-10-30T21:06:30.592Z,1383167190.592 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-10-30T21:06:30.619Z,1383167190.619 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-10-30T21:06:30.620Z,1383167190.620 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-10-30T21:06:30.670Z,1383167190.670 [VerticalControl](DEBUG): Construct VerticalControl.
2013-10-30T21:06:30.765Z,1383167190.765 [VerticalControl] Loaded
2013-10-30T21:06:30.765Z,1383167190.765 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-10-30T21:06:30.766Z,1383167190.766 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-10-30T21:06:30.824Z,1383167190.824 [HorizontalControl] Loaded
2013-10-30T21:06:30.824Z,1383167190.824 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-10-30T21:06:30.825Z,1383167190.825 [SpeedControl](DEBUG): Construct SpeedControl.
2013-10-30T21:06:30.826Z,1383167190.826 [SpeedControl] Loaded
2013-10-30T21:06:30.827Z,1383167190.827 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-10-30T21:06:30.827Z,1383167190.827 [LoopControl](DEBUG): Construct LoopControl.
2013-10-30T21:06:30.828Z,1383167190.828 [LoopControl] Loaded
2013-10-30T21:06:30.828Z,1383167190.828 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-10-30T21:06:30.829Z,1383167190.829 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-10-30T21:06:30.829Z,1383167190.829 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-10-30T21:06:30.835Z,1383167190.835 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-10-30T21:06:30.840Z,1383167190.840 [AsyncPiEstimator] Loaded
2013-10-30T21:06:30.840Z,1383167190.840 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-10-30T21:06:30.841Z,1383167190.841 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406474E0
2013-10-30T21:06:30.842Z,1383167190.842 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-10-30T21:06:30.843Z,1383167190.843 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-10-30T21:06:31.052Z,1383167191.052 [AHRS_sp3003D] Loaded
2013-10-30T21:06:31.052Z,1383167191.052 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-10-30T21:06:31.066Z,1383167191.066 [Depth_Keller] Loaded
2013-10-30T21:06:31.067Z,1383167191.067 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-10-30T21:06:31.254Z,1383167191.254 [DVL_micro] Loaded
2013-10-30T21:06:31.254Z,1383167191.254 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-10-30T21:06:31.255Z,1383167191.255 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406CE4E0
2013-10-30T21:06:31.345Z,1383167191.345 [NAL9602] Loaded
2013-10-30T21:06:31.346Z,1383167191.346 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-10-30T21:06:31.387Z,1383167191.387 [Onboard] Loaded
2013-10-30T21:06:31.387Z,1383167191.387 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-10-30T21:06:31.394Z,1383167191.394 [Radio_Freewave] Loaded
2013-10-30T21:06:31.394Z,1383167191.394 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-10-30T21:06:31.542Z,1383167191.542 [DAT] Loaded
2013-10-30T21:06:31.542Z,1383167191.542 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-10-30T21:06:31.542Z,1383167191.542 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-10-30T21:06:31.543Z,1383167191.543 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-10-30T21:06:31.652Z,1383167191.652 [CTD_NeilBrown] Loaded
2013-10-30T21:06:31.652Z,1383167191.652 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-10-30T21:06:31.653Z,1383167191.653 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4072B4E0
2013-10-30T21:06:31.686Z,1383167191.686 [WetLabsBB2FL] Loaded
2013-10-30T21:06:31.687Z,1383167191.687 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-10-30T21:06:31.688Z,1383167191.688 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2013-10-30T21:06:31.688Z,1383167191.688 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-10-30T21:06:31.691Z,1383167191.691 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-10-30T21:06:31.692Z,1383167191.692 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-10-30T21:06:31.699Z,1383167191.699 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-10-30T21:06:31.700Z,1383167191.700 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2013-10-30T21:06:31.705Z,1383167191.705 [Supervisor](DEBUG): Running supervisor.
2013-10-30T21:06:31.706Z,1383167191.706 [CommandLine](INFO): Thread ID is 1372
2013-10-30T21:06:31.709Z,1383167191.709 [controlThread](INFO): Thread ID is 1371
2013-10-30T21:06:31.709Z,1383167191.709 [controlThread](DEBUG): Initializing ControlThread
2013-10-30T21:06:31.709Z,1383167191.709 [CycleStarter](INFO): Thread ID is 1370
2013-10-30T21:06:31.710Z,1383167191.710 [InternalSim](DEBUG):  InternalSim initializing...
2013-10-30T21:06:31.746Z,1383167191.746 [logger](INFO): Thread ID is 1373
2013-10-30T21:06:31.770Z,1383167191.770 [SBIT](INFO): Initialize SBIT Component.
2013-10-30T21:06:31.771Z,1383167191.771 [SBIT](IMPORTANT): Tethys CM Info: 
 $Rev:10711
2013-10-30T21:06:31.771Z,1383167191.771 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-10-30T21:06:31.772Z,1383167191.772 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-10-30T21:06:31.772Z,1383167191.772 [IBIT](INFO): Initialize IBIT Component.
2013-10-30T21:06:31.774Z,1383167191.774 [CBIT](DEBUG): Initialize CBIT Component.
2013-10-30T21:06:31.774Z,1383167191.774 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-10-30T21:06:31.786Z,1383167191.786 [AsyncPiEstimator](INFO): Thread ID is 1434
2013-10-30T21:06:31.786Z,1383167191.786 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-10-30T21:06:31.798Z,1383167191.798 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T21:06:31.799Z,1383167191.799 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-10-30T21:06:31.799Z,1383167191.799 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-10-30T21:06:31.800Z,1383167191.800 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-10-30T21:06:31.800Z,1383167191.800 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-10-30T21:06:31.801Z,1383167191.801 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-10-30T21:06:31.801Z,1383167191.801 [Navigation](DEBUG): Initializing Navigation.
2013-10-30T21:06:31.802Z,1383167191.802 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-10-30T21:06:31.803Z,1383167191.803 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-10-30T21:06:31.804Z,1383167191.804 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-10-30T21:06:31.804Z,1383167191.804 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-10-30T21:06:31.814Z,1383167191.814 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-10-30T21:06:31.818Z,1383167191.818 [DVL_micro](INFO): Thread ID is 1435
2013-10-30T21:06:31.827Z,1383167191.827 [DVL_micro](INFO): Initializing
2013-10-30T21:06:31.827Z,1383167191.827 [DVL_micro](INFO): start:Powering up
2013-10-30T21:06:31.828Z,1383167191.828 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T21:06:31.829Z,1383167191.829 [DVL_micro](INFO): Cycling power to configure device.
2013-10-30T21:06:31.845Z,1383167191.845 [CTD_NeilBrown](INFO): Thread ID is 1436
2013-10-30T21:06:31.863Z,1383167191.863 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T21:06:31.866Z,1383167191.866 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-10-30T21:06:31.870Z,1383167191.870 [WetLabsBB2FL](INFO): Thread ID is 1437
2013-10-30T21:06:31.871Z,1383167191.871 [WetLabsBB2FL](INFO): Powering down
2013-10-30T21:06:31.898Z,1383167191.898 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-10-30T21:06:31.910Z,1383167191.910 [NavChartDb](INFO): Thread ID is 1438
2013-10-30T21:06:31.918Z,1383167191.918 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-10-30T21:06:31.919Z,1383167191.919 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-10-30T21:06:31.919Z,1383167191.919 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-10-30T21:06:31.920Z,1383167191.920 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-10-30T21:06:31.920Z,1383167191.920 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-10-30T21:06:31.920Z,1383167191.920 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-10-30T21:06:31.920Z,1383167191.920 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-10-30T21:06:31.921Z,1383167191.921 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-10-30T21:06:31.921Z,1383167191.921 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-10-30T21:06:31.923Z,1383167191.923 [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>


2013-10-30T21:06:31.924Z,1383167191.924 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-10-30T21:06:32.039Z,1383167192.039 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-10-30T21:06:32.042Z,1383167192.042 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-10-30T21:06:32.045Z,1383167192.045 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T21:06:32.077Z,1383167192.077 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-10-30T21:06:32.095Z,1383167192.095 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T21:06:32.111Z,1383167192.111 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-10-30T21:06:32.120Z,1383167192.120 [Default:D.SetSpeed](DEBUG): Construct.
2013-10-30T21:06:32.135Z,1383167192.135 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-10-30T21:06:32.148Z,1383167192.148 [Default:F.Wait](DEBUG): Construct Wait.
2013-10-30T21:06:32.172Z,1383167192.172 [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>


2013-10-30T21:06:32.176Z,1383167192.176 [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,
2013-10-30T21:06:32.218Z,1383167192.218 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-10-30T21:06:32.233Z,1383167192.233 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-10-30T21:06:32.393Z,1383167192.393 [Radio_Freewave](INFO): Powering up
2013-10-30T21:06:32.408Z,1383167192.408 [DAT](INFO): Powering up
2013-10-30T21:06:32.409Z,1383167192.409 [DAT](DEBUG): Initializing DAT.
2013-10-30T21:06:32.627Z,1383167192.627 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-10-30T21:06:32.635Z,1383167192.635 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-10-30T21:06:32.642Z,1383167192.642 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-10-30T21:06:32.667Z,1383167192.667 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-10-30T21:06:32.673Z,1383167192.673 [MassServo](DEBUG): Initializing EZServoServo.
2013-10-30T21:06:32.679Z,1383167192.679 [MassServo](DEBUG): Initializing MassServo.
2013-10-30T21:06:32.701Z,1383167192.701 [RudderServo](DEBUG): Initializing EZServoServo.
2013-10-30T21:06:32.707Z,1383167192.707 [RudderServo](DEBUG): Initializing RudderServo.
2013-10-30T21:06:32.713Z,1383167192.713 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-10-30T21:06:32.719Z,1383167192.719 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-10-30T21:06:33.704Z,1383167193.704 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-10-30T21:06:33.704Z,1383167193.704 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-10-30T21:06:33.705Z,1383167193.705 [BuoyancyServo] Communications Fault, FailCount= 1
2013-10-30T21:06:33.705Z,1383167193.705 [BuoyancyServo](ERROR): Communications Fault
2013-10-30T21:06:33.918Z,1383167193.918 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-10-30T21:06:33.965Z,1383167193.965 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-10-30T21:06:33.966Z,1383167193.966 [DVL_micro](INFO): Querying output modes
2013-10-30T21:06:33.966Z,1383167193.966 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-10-30T21:06:33.977Z,1383167193.977 [DVL_micro](DEBUG): cmdResponse: 01
2013-10-30T21:06:33.977Z,1383167193.977 [DVL_micro](INFO): NQ1 output enabled
2013-10-30T21:06:33.977Z,1383167193.977 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-10-30T21:06:33.989Z,1383167193.989 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-10-30T21:06:33.995Z,1383167193.995 [DVL_micro](INFO): pause:Powering down
2013-10-30T21:06:34.371Z,1383167194.371 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-10-30T21:06:34.372Z,1383167194.372 [BuoyancyServo](INFO): Powering down
2013-10-30T21:06:36.438Z,1383167196.438 [NAL9602](INFO): Powering up NAL9602
2013-10-30T21:06:36.648Z,1383167196.648 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-10-30T21:06:36.648Z,1383167196.648 [BuoyancyServo] No Fault, FailCount= 1
2013-10-30T21:06:37.104Z,1383167197.104 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-10-30T21:06:37.228Z,1383167197.228 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-10-30T21:06:47.414Z,1383167207.414 [NAL9602](ERROR): NAL9602 initialize error - Can't enter command mode:
COMMAND MODE: Ready for Input
2013-10-30T21:06:47.414Z,1383167207.414 [NAL9602] Communications Fault, FailCount= 1
2013-10-30T21:06:47.414Z,1383167207.414 [NAL9602](ERROR): Communications Fault
2013-10-30T21:06:47.568Z,1383167207.568 [SBIT](IMPORTANT): Beginning Startup BIT
2013-10-30T21:06:47.570Z,1383167207.570 [CBIT](ERROR): Communications Fault in component: NAL9602
2013-10-30T21:06:47.571Z,1383167207.571 [CBIT](IMPORTANT): Beginning GF scan
2013-10-30T21:06:47.964Z,1383167207.964 [NAL9602](INFO): Powering down
2013-10-30T21:06:49.417Z,1383167209.417 [CBIT](INFO): Clearing failed state for component NAL9602
2013-10-30T21:06:49.417Z,1383167209.417 [NAL9602] No Fault, FailCount= 1
2013-10-30T21:06:53.004Z,1383167213.004 [DAT](INFO): Powering down
2013-10-30T21:06:53.694Z,1383167213.694 [NAL9602](INFO): Powering up NAL9602
2013-10-30T21:07:04.677Z,1383167224.677 [NAL9602](INFO): NAL9602 initialized
2013-10-30T21:07:13.434Z,1383167233.434 [CommandLine](IMPORTANT): got command restart application
2013-10-30T21:07:14.451Z,1383167234.451 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-10-30T21:07:14.452Z,1383167234.452 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-10-30T21:07:14.737Z,1383167234.737 [CBIT](IMPORTANT): No ground fault detected
2013-10-30T21:07:15.213Z,1383167235.213 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-10-30T21:07:15.364Z,1383167235.364 [WetLabsBB2FL](INFO): Powering down
2013-10-30T21:07:15.373Z,1383167235.373 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-10-30T21:07:15.634Z,1383167235.634 [CTD_NeilBrown](INFO): Powering down
2013-10-30T21:07:15.645Z,1383167235.645 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-10-30T21:07:15.935Z,1383167235.935 [DVL_micro](INFO): uninitialize:Powering down
2013-10-30T21:07:15.954Z,1383167235.954 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-10-30T21:07:16.122Z,1383167236.122 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-10-30T21:07:16.131Z,1383167236.131 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-10-30T21:07:16.163Z,1383167236.163 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-10-30T21:07:16.171Z,1383167236.171 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-10-30T21:07:16.201Z,1383167236.201 [controlThread](DEBUG): Uninitializing ControlThread
2013-10-30T21:07:16.201Z,1383167236.201 [AHRS_sp3003D](INFO): Powering down
2013-10-30T21:07:16.287Z,1383167236.287 [NAL9602](INFO): Powering down
2013-10-30T21:07:16.289Z,1383167236.289 [DAT](INFO): Powering down
2013-10-30T21:07:16.290Z,1383167236.290 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-10-30T21:07:16.290Z,1383167236.290 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-10-30T21:07:16.296Z,1383167236.296 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-10-30T21:07:16.296Z,1383167236.296 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-10-30T21:07:16.296Z,1383167236.296 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-10-30T21:07:16.297Z,1383167236.297 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-10-30T21:07:16.297Z,1383167236.297 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-10-30T21:07:16.297Z,1383167236.297 [BuoyancyServo](INFO): Powering down
2013-10-30T21:07:16.311Z,1383167236.311 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-10-30T21:07:16.311Z,1383167236.311 [ElevatorServo](INFO): Powering down
2013-10-30T21:07:16.312Z,1383167236.312 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-10-30T21:07:16.312Z,1383167236.312 [MassServo](INFO): Powering down
2013-10-30T21:07:16.313Z,1383167236.313 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-10-30T21:07:16.313Z,1383167236.313 [RudderServo](INFO): Powering down
2013-10-30T21:07:16.313Z,1383167236.313 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-10-30T21:07:16.314Z,1383167236.314 [ThrusterServo](INFO): Powering down
2013-10-30T21:07:16.315Z,1383167236.315 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-10-30T21:07:16.315Z,1383167236.315 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-10-30T21:07:16.315Z,1383167236.315 [CBIT](DEBUG): Uninitialize CBIT Component.