2012-09-24T23:38:25.156Z,1348529905.156 [Supervisor](DEBUG): Initializing supervisor.
2012-09-24T23:38:25.162Z,1348529905.162 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-24T23:38:25.163Z,1348529905.163 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-24T23:38:25.166Z,1348529905.166 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-24T23:38:25.170Z,1348529905.170 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-24T23:38:25.181Z,1348529905.181 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-24T23:38:25.182Z,1348529905.182 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-24T23:38:25.183Z,1348529905.183 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-24T23:38:25.184Z,1348529905.184 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-24T23:38:25.186Z,1348529905.186 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-24T23:38:25.498Z,1348529905.498 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-24T23:38:25.500Z,1348529905.500 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-24T23:38:25.698Z,1348529905.698 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-24T23:38:25.698Z,1348529905.698 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-24T23:38:25.794Z,1348529905.794 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-24T23:38:25.796Z,1348529905.796 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-24T23:38:26.015Z,1348529906.015 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-24T23:38:26.016Z,1348529906.016 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-24T23:38:26.163Z,1348529906.163 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-24T23:38:26.165Z,1348529906.165 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-24T23:38:26.426Z,1348529906.426 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-24T23:38:26.426Z,1348529906.427 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-24T23:38:26.614Z,1348529906.614 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-24T23:38:26.616Z,1348529906.616 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-24T23:38:26.900Z,1348529906.900 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-24T23:38:26.902Z,1348529906.902 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-24T23:38:27.015Z,1348529907.015 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-24T23:38:27.015Z,1348529907.016 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-24T23:38:27.476Z,1348529907.476 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-24T23:38:27.477Z,1348529907.477 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-24T23:38:27.604Z,1348529907.604 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-24T23:38:27.605Z,1348529907.605 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-24T23:38:27.700Z,1348529907.700 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-24T23:38:27.704Z,1348529907.704 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-24T23:38:27.864Z,1348529907.864 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-24T23:38:28.008Z,1348529908.008 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-24T23:38:28.102Z,1348529908.102 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-24T23:38:28.214Z,1348529908.214 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-24T23:38:28.323Z,1348529908.323 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-24T23:38:28.455Z,1348529908.455 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-24T23:38:28.554Z,1348529908.554 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-24T23:38:28.700Z,1348529908.700 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-09-24T23:38:28.737Z,1348529908.737 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-24T23:38:28.922Z,1348529908.922 [InternalSim] Loaded
2012-09-24T23:38:28.922Z,1348529908.922 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-24T23:38:28.923Z,1348529908.923 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-24T23:38:28.924Z,1348529908.924 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-24T23:38:29.006Z,1348529909.006 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-24T23:38:29.023Z,1348529909.023 [SBIT] Loaded
2012-09-24T23:38:29.024Z,1348529909.024 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-24T23:38:29.025Z,1348529909.025 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-24T23:38:29.052Z,1348529909.052 [IBIT] Loaded
2012-09-24T23:38:29.052Z,1348529909.052 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-24T23:38:29.055Z,1348529909.055 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-24T23:38:29.180Z,1348529909.180 [CBIT] Loaded
2012-09-24T23:38:29.180Z,1348529909.180 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-24T23:38:29.181Z,1348529909.181 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-24T23:38:29.182Z,1348529909.181 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-24T23:38:29.348Z,1348529909.348 [BuoyancyServo] Loaded
2012-09-24T23:38:29.349Z,1348529909.349 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-24T23:38:29.358Z,1348529909.358 [ElevatorServo] Loaded
2012-09-24T23:38:29.358Z,1348529909.358 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-24T23:38:29.369Z,1348529909.369 [MassServo] Loaded
2012-09-24T23:38:29.370Z,1348529909.369 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-24T23:38:29.385Z,1348529909.385 [RudderServo] Loaded
2012-09-24T23:38:29.386Z,1348529909.386 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-24T23:38:29.397Z,1348529909.397 [ThrusterServo] Loaded
2012-09-24T23:38:29.397Z,1348529909.397 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-24T23:38:29.398Z,1348529909.398 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-24T23:38:29.398Z,1348529909.398 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-24T23:38:29.431Z,1348529909.431 [DepthRateCalculator] Loaded
2012-09-24T23:38:29.431Z,1348529909.431 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-24T23:38:32.217Z,1348529912.217 [HFRadarModelCalc] Loaded
2012-09-24T23:38:32.217Z,1348529912.217 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-24T23:38:32.237Z,1348529912.237 [NavChart] Loaded
2012-09-24T23:38:32.237Z,1348529912.237 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-24T23:38:32.243Z,1348529912.243 [PitchRateCalculator] Loaded
2012-09-24T23:38:32.243Z,1348529912.243 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-24T23:38:32.249Z,1348529912.249 [SpeedCalculator] Loaded
2012-09-24T23:38:32.250Z,1348529912.250 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-24T23:38:32.268Z,1348529912.268 [TempGradientCalculator] Loaded
2012-09-24T23:38:32.269Z,1348529912.269 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-24T23:38:32.274Z,1348529912.274 [YawRateCalculator] Loaded
2012-09-24T23:38:32.275Z,1348529912.274 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-24T23:38:32.294Z,1348529912.294 [Navigation] Loaded
2012-09-24T23:38:32.294Z,1348529912.294 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-24T23:38:32.294Z,1348529912.294 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-24T23:38:32.295Z,1348529912.295 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-24T23:38:32.583Z,1348529912.583 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-24T23:38:32.584Z,1348529912.584 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-24T23:38:32.625Z,1348529912.625 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-24T23:38:32.625Z,1348529912.625 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-24T23:38:32.688Z,1348529912.688 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-24T23:38:32.736Z,1348529912.736 [VerticalControl] Loaded
2012-09-24T23:38:32.736Z,1348529912.736 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-24T23:38:32.737Z,1348529912.737 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-24T23:38:32.757Z,1348529912.757 [HorizontalControl] Loaded
2012-09-24T23:38:32.758Z,1348529912.758 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-24T23:38:32.759Z,1348529912.759 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-24T23:38:32.760Z,1348529912.760 [SpeedControl] Loaded
2012-09-24T23:38:32.761Z,1348529912.760 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-24T23:38:32.761Z,1348529912.761 [LoopControl](DEBUG): Construct LoopControl.
2012-09-24T23:38:32.762Z,1348529912.762 [LoopControl] Loaded
2012-09-24T23:38:32.766Z,1348529912.766 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-24T23:38:32.767Z,1348529912.767 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-24T23:38:32.767Z,1348529912.767 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-24T23:38:32.775Z,1348529912.775 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-24T23:38:32.784Z,1348529912.784 [AsyncPiEstimator] Loaded
2012-09-24T23:38:32.785Z,1348529912.784 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-24T23:38:32.786Z,1348529912.786 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-24T23:38:32.787Z,1348529912.787 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-24T23:38:32.787Z,1348529912.787 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-24T23:38:32.997Z,1348529912.997 [AHRS_sp3003D] Loaded
2012-09-24T23:38:32.998Z,1348529912.997 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-24T23:38:33.011Z,1348529913.011 [Depth_Keller] Loaded
2012-09-24T23:38:33.011Z,1348529913.011 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-24T23:38:33.017Z,1348529913.017 [DropWeight] Loaded
2012-09-24T23:38:33.017Z,1348529913.017 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-24T23:38:33.142Z,1348529913.142 [DVL_micro] Loaded
2012-09-24T23:38:33.143Z,1348529913.143 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-24T23:38:33.146Z,1348529913.146 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-24T23:38:33.234Z,1348529913.234 [NAL9602] Loaded
2012-09-24T23:38:33.235Z,1348529913.235 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-24T23:38:33.287Z,1348529913.287 [Onboard] Loaded
2012-09-24T23:38:33.287Z,1348529913.287 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-24T23:38:33.294Z,1348529913.294 [Radio_Freewave] Loaded
2012-09-24T23:38:33.294Z,1348529913.294 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-24T23:38:33.295Z,1348529913.295 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-24T23:38:33.296Z,1348529913.296 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-24T23:38:33.393Z,1348529913.393 [CTD_NeilBrown] Loaded
2012-09-24T23:38:33.393Z,1348529913.393 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-24T23:38:33.394Z,1348529913.394 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-24T23:38:33.405Z,1348529913.405 [PAR_Licor] Loaded
2012-09-24T23:38:33.405Z,1348529913.405 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-24T23:38:33.425Z,1348529913.425 [Turbulence_NPS] Loaded
2012-09-24T23:38:33.426Z,1348529913.426 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-24T23:38:33.430Z,1348529913.430 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-24T23:38:33.463Z,1348529913.463 [WetLabsBB2FL] Loaded
2012-09-24T23:38:33.463Z,1348529913.464 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-24T23:38:33.466Z,1348529913.466 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-24T23:38:33.467Z,1348529913.467 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-24T23:38:33.469Z,1348529913.469 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-24T23:38:33.470Z,1348529913.470 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-24T23:38:33.476Z,1348529913.476 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-24T23:38:33.479Z,1348529913.479 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-24T23:38:33.483Z,1348529913.483 [Supervisor](DEBUG): Running supervisor.
2012-09-24T23:38:33.484Z,1348529913.484 [CommandLine](INFO): Thread ID is 751
2012-09-24T23:38:33.487Z,1348529913.487 [controlThread](INFO): Thread ID is 750
2012-09-24T23:38:33.487Z,1348529913.487 [controlThread](DEBUG): Initializing ControlThread
2012-09-24T23:38:33.488Z,1348529913.488 [CycleStarter](INFO): Thread ID is 749
2012-09-24T23:38:33.488Z,1348529913.488 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-24T23:38:33.593Z,1348529913.593 [AsyncPiEstimator](INFO): Thread ID is 812
2012-09-24T23:38:33.593Z,1348529913.593 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-24T23:38:33.664Z,1348529913.664 [DVL_micro](INFO): Thread ID is 813
2012-09-24T23:38:33.748Z,1348529913.748 [CTD_NeilBrown](INFO): Thread ID is 814
2012-09-24T23:38:33.749Z,1348529913.749 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-24T23:38:33.755Z,1348529913.755 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-24T23:38:33.793Z,1348529913.793 [DVL_micro](INFO): Initializing
2012-09-24T23:38:33.793Z,1348529913.793 [DVL_micro](INFO): start:Powering up
2012-09-24T23:38:33.794Z,1348529913.794 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:38:33.794Z,1348529913.794 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T23:38:33.803Z,1348529913.803 [Turbulence_NPS](INFO): Thread ID is 815
2012-09-24T23:38:33.803Z,1348529913.803 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-24T23:38:33.813Z,1348529913.813 [SBIT](INFO): Initialize SBIT Component.
2012-09-24T23:38:33.814Z,1348529913.814 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-24T23:38:33.815Z,1348529913.815 [WetLabsBB2FL](INFO): Thread ID is 816
2012-09-24T23:38:33.816Z,1348529913.816 [WetLabsBB2FL](INFO): Powering down
2012-09-24T23:38:33.839Z,1348529913.839 [IBIT](INFO): Initialize IBIT Component.
2012-09-24T23:38:33.840Z,1348529913.840 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-24T23:38:33.840Z,1348529913.840 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-09-24T23:38:33.840Z,1348529913.840 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2012-09-24T23:38:33.847Z,1348529913.847 [NavChartDb](INFO): Thread ID is 817
2012-09-24T23:38:33.904Z,1348529913.904 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T23:38:33.904Z,1348529913.904 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-24T23:38:33.905Z,1348529913.905 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-24T23:38:33.905Z,1348529913.905 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-24T23:38:33.905Z,1348529913.905 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-24T23:38:33.907Z,1348529913.907 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-24T23:38:33.907Z,1348529913.907 [Navigation](DEBUG): Initializing Navigation.
2012-09-24T23:38:33.908Z,1348529913.908 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-24T23:38:33.909Z,1348529913.909 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-24T23:38:33.910Z,1348529913.910 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-24T23:38:33.911Z,1348529913.911 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-24T23:38:33.927Z,1348529913.927 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-24T23:38:33.956Z,1348529913.956 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T23:38:33.975Z,1348529913.975 [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>


2012-09-24T23:38:33.976Z,1348529913.976 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-24T23:38:34.084Z,1348529914.084 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-24T23:38:34.087Z,1348529914.087 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-24T23:38:34.090Z,1348529914.090 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T23:38:34.098Z,1348529914.098 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-24T23:38:34.101Z,1348529914.101 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T23:38:34.108Z,1348529914.108 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-24T23:38:34.116Z,1348529914.116 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-24T23:38:34.120Z,1348529914.120 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T23:38:34.124Z,1348529914.124 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-24T23:38:34.128Z,1348529914.128 [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>


2012-09-24T23:38:34.132Z,1348529914.132 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-09-24T23:38:34.154Z,1348529914.154 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T23:38:34.297Z,1348529914.297 [Depth_Keller](INFO): A/D timeout, 2 tries over 129 ms

2012-09-24T23:38:34.298Z,1348529914.297 [Depth_Keller] Data Fault, FailCount= 1
2012-09-24T23:38:34.298Z,1348529914.298 [Depth_Keller](ERROR): Data Fault
2012-09-24T23:38:34.327Z,1348529914.327 [Radio_Freewave](INFO): Powering up
2012-09-24T23:38:34.428Z,1348529914.428 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-24T23:38:34.431Z,1348529914.431 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-24T23:38:34.437Z,1348529914.437 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-24T23:38:34.443Z,1348529914.443 [MassServo](DEBUG): Initializing MassServo.
2012-09-24T23:38:34.448Z,1348529914.448 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T23:38:34.451Z,1348529914.451 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T23:38:34.457Z,1348529914.457 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-24T23:38:34.458Z,1348529914.458 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-24T23:38:34.476Z,1348529914.476 [CBIT](ERROR): Data Fault in component: Depth_Keller
2012-09-24T23:38:34.476Z,1348529914.476 [CBIT](INFO): Clearing failed state for component Depth_Keller
2012-09-24T23:38:34.476Z,1348529914.476 [Depth_Keller] No Fault, FailCount= 1
2012-09-24T23:38:35.859Z,1348529915.859 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:38:35.859Z,1348529915.859 [DVL_micro](INFO): Querying output modes
2012-09-24T23:38:35.859Z,1348529915.859 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T23:38:36.746Z,1348529916.746 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-24T23:38:36.747Z,1348529916.747 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-24T23:38:36.747Z,1348529916.747 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-09-24T23:38:36.747Z,1348529916.747 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-24T23:38:37.060Z,1348529917.060 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-24T23:38:37.120Z,1348529917.121 [AHRS_sp3003D](INFO): Powering down
2012-09-24T23:38:37.244Z,1348529917.244 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-24T23:38:37.244Z,1348529917.244 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-24T23:38:37.866Z,1348529917.866 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:38:37.866Z,1348529917.866 [DVL_micro](INFO): Output Modes: No Response
2012-09-24T23:38:37.867Z,1348529917.867 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T23:38:38.184Z,1348529918.184 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-24T23:38:38.242Z,1348529918.242 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-24T23:38:38.299Z,1348529918.299 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-24T23:38:38.313Z,1348529918.313 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T23:38:38.322Z,1348529918.322 [NAL9602](INFO): Powering up NAL9602
2012-09-24T23:38:38.449Z,1348529918.449 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-24T23:38:38.462Z,1348529918.462 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-24T23:38:38.507Z,1348529918.507 [NavChartDb](INFO): Creating index for Soundings
2012-09-24T23:38:38.530Z,1348529918.530 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-24T23:38:38.532Z,1348529918.532 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-24T23:38:38.550Z,1348529918.550 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-24T23:38:38.552Z,1348529918.552 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-24T23:38:38.574Z,1348529918.574 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-24T23:38:38.576Z,1348529918.576 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-24T23:38:38.614Z,1348529918.614 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-24T23:38:38.616Z,1348529918.616 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-24T23:38:38.631Z,1348529918.631 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-24T23:38:38.633Z,1348529918.633 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-24T23:38:38.787Z,1348529918.787 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-24T23:38:38.789Z,1348529918.789 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-24T23:38:38.987Z,1348529918.987 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-24T23:38:38.989Z,1348529918.989 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-24T23:38:39.124Z,1348529919.124 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-24T23:38:39.162Z,1348529919.162 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-24T23:38:39.164Z,1348529919.164 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-24T23:38:39.167Z,1348529919.167 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-24T23:38:39.169Z,1348529919.168 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-24T23:38:39.171Z,1348529919.171 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-24T23:38:39.173Z,1348529919.173 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-24T23:38:39.187Z,1348529919.187 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-24T23:38:39.189Z,1348529919.189 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-24T23:38:39.220Z,1348529919.220 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-24T23:38:39.221Z,1348529919.221 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-24T23:38:39.260Z,1348529919.260 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-24T23:38:39.262Z,1348529919.262 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-24T23:38:39.300Z,1348529919.300 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-24T23:38:39.302Z,1348529919.302 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-24T23:38:39.328Z,1348529919.328 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-24T23:38:39.330Z,1348529919.330 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-24T23:38:39.470Z,1348529919.470 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-24T23:38:39.471Z,1348529919.471 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-24T23:38:39.471Z,1348529919.471 [AHRS_sp3003D] Hardware Fault, FailCount= 2
2012-09-24T23:38:39.471Z,1348529919.471 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-24T23:38:39.642Z,1348529919.642 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-24T23:38:39.745Z,1348529919.745 [AHRS_sp3003D](INFO): Powering down
2012-09-24T23:38:39.870Z,1348529919.870 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:38:39.875Z,1348529919.875 [DVL_micro](INFO): pause:Powering down
2012-09-24T23:38:39.877Z,1348529919.877 [DVL_micro](INFO): NQ1 requested
2012-09-24T23:38:39.877Z,1348529919.878 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:38:39.878Z,1348529919.878 [DVL_micro](INFO): resume:Powering up
2012-09-24T23:38:39.878Z,1348529919.878 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T23:38:39.961Z,1348529919.961 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-24T23:38:39.961Z,1348529919.961 [AHRS_sp3003D] No Fault, FailCount= 2
2012-09-24T23:38:40.941Z,1348529920.941 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T23:38:41.034Z,1348529921.034 [RudderServo](FAULT): Overload Error
2012-09-24T23:38:41.035Z,1348529921.035 [RudderServo] Hardware Fault, FailCount= 1
2012-09-24T23:38:41.035Z,1348529921.035 [RudderServo](ERROR): Hardware Fault
2012-09-24T23:38:41.062Z,1348529921.062 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T23:38:41.524Z,1348529921.524 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T23:38:41.524Z,1348529921.524 [RudderServo](INFO): Powering down
2012-09-24T23:38:41.540Z,1348529921.540 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-24T23:38:41.540Z,1348529921.540 [RudderServo] No Fault, FailCount= 1
2012-09-24T23:38:41.826Z,1348529921.826 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-24T23:38:41.827Z,1348529921.827 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xA409A0
2012-09-24T23:38:41.827Z,1348529921.827 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-24T23:38:41.827Z,1348529921.827 [AHRS_sp3003D] Hardware Fault, FailCount= 3
2012-09-24T23:38:41.827Z,1348529921.827 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-24T23:38:41.877Z,1348529921.877 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-24T23:38:41.887Z,1348529921.887 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:38:41.888Z,1348529921.888 [DVL_micro](INFO): Querying output modes
2012-09-24T23:38:41.888Z,1348529921.888 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T23:38:42.137Z,1348529922.137 [AHRS_sp3003D](INFO): Powering down
2012-09-24T23:38:42.260Z,1348529922.260 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T23:38:42.380Z,1348529922.379 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-24T23:38:42.380Z,1348529922.380 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T23:38:42.383Z,1348529922.383 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-24T23:38:42.383Z,1348529922.383 [AHRS_sp3003D] No Fault, FailCount= 3
2012-09-24T23:38:43.337Z,1348529923.337 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T23:38:43.890Z,1348529923.890 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:38:43.890Z,1348529923.890 [DVL_micro](INFO): Output Modes: No Response
2012-09-24T23:38:43.891Z,1348529923.891 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T23:38:44.454Z,1348529924.454 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-24T23:38:44.454Z,1348529924.454 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-24T23:38:44.454Z,1348529924.454 [AHRS_sp3003D] Hardware Fault, FailCount= 4
2012-09-24T23:38:44.455Z,1348529924.455 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-24T23:38:44.480Z,1348529924.480 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:37%. Temp:22 C. ABORTING MISSION
2012-09-24T23:38:44.480Z,1348529924.480 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-24T23:38:44.537Z,1348529924.537 [AHRS_sp3003D](INFO): Powering down
2012-09-24T23:38:44.665Z,1348529924.665 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-24T23:38:44.665Z,1348529924.665 [AHRS_sp3003D] No Fault, FailCount= 4
2012-09-24T23:38:45.737Z,1348529925.737 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T23:38:45.894Z,1348529925.894 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:38:45.897Z,1348529925.897 [DVL_micro](INFO): pause:Powering down
2012-09-24T23:38:46.854Z,1348529926.854 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-24T23:38:46.854Z,1348529926.854 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-24T23:38:46.854Z,1348529926.855 [AHRS_sp3003D] Hardware Fault, FailCount= 5
2012-09-24T23:38:46.855Z,1348529926.855 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-24T23:38:46.906Z,1348529926.906 [RudderServo](FAULT): Overload Error
2012-09-24T23:38:46.906Z,1348529926.906 [RudderServo] Hardware Fault, FailCount= 2
2012-09-24T23:38:46.906Z,1348529926.907 [RudderServo](ERROR): Hardware Fault
2012-09-24T23:38:46.936Z,1348529926.936 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T23:38:46.936Z,1348529926.936 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-24T23:38:46.936Z,1348529926.936 [CBIT](CRITICAL): Hardware Fault in component: AHRS_sp3003D
2012-09-24T23:38:46.985Z,1348529926.985 [AHRS_sp3003D](INFO): Powering down
2012-09-24T23:38:47.100Z,1348529927.100 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T23:38:47.100Z,1348529927.100 [RudderServo](INFO): Powering down
2012-09-24T23:38:47.103Z,1348529927.103 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-24T23:38:47.103Z,1348529927.103 [RudderServo] No Fault, FailCount= 2
2012-09-24T23:38:47.111Z,1348529927.111 [DVL_micro](INFO): NQ1 requested
2012-09-24T23:38:47.112Z,1348529927.112 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:38:47.112Z,1348529927.112 [DVL_micro](INFO): resume:Powering up
2012-09-24T23:38:47.112Z,1348529927.112 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T23:38:47.809Z,1348529927.809 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T23:38:47.927Z,1348529927.927 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-24T23:38:47.927Z,1348529927.927 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T23:38:49.015Z,1348529929.015 [NAL9602](INFO): NAL9602 initialized
2012-09-24T23:38:49.119Z,1348529929.119 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:38:49.119Z,1348529929.119 [DVL_micro](INFO): Querying output modes
2012-09-24T23:38:49.119Z,1348529929.119 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T23:38:49.414Z,1348529929.414 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-24T23:38:49.417Z,1348529929.417 [CBIT](IMPORTANT): Beginning GF scan
2012-09-24T23:38:50.200Z,1348529930.200 [Radio_Freewave](INFO): Powering down
2012-09-24T23:38:50.602Z,1348529930.602 [Radio_Freewave](INFO): Powering up
2012-09-24T23:38:51.122Z,1348529931.122 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:38:51.122Z,1348529931.122 [DVL_micro](INFO): Output Modes: No Response
2012-09-24T23:38:51.123Z,1348529931.123 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T23:38:52.638Z,1348529932.638 [RudderServo](FAULT): Overload Error
2012-09-24T23:38:52.639Z,1348529932.639 [RudderServo] Hardware Fault, FailCount= 3
2012-09-24T23:38:52.639Z,1348529932.639 [RudderServo](ERROR): Hardware Fault
2012-09-24T23:38:52.670Z,1348529932.670 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T23:38:52.670Z,1348529932.670 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2012-09-24T23:38:53.015Z,1348529933.015 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T23:38:53.015Z,1348529933.015 [RudderServo](INFO): Powering down
2012-09-24T23:38:53.126Z,1348529933.126 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:38:53.128Z,1348529933.128 [DVL_micro](INFO): NQ1 requested
2012-09-24T23:38:53.128Z,1348529933.128 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T23:38:55.135Z,1348529935.135 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:38:55.135Z,1348529935.135 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0