2012-09-24T23:43:59.574Z,1348530239.574 [Supervisor](DEBUG): Initializing supervisor.
2012-09-24T23:43:59.578Z,1348530239.578 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-24T23:43:59.579Z,1348530239.579 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-24T23:43:59.583Z,1348530239.583 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-24T23:43:59.587Z,1348530239.587 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-24T23:43:59.597Z,1348530239.597 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-24T23:43:59.599Z,1348530239.599 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-24T23:43:59.600Z,1348530239.600 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-24T23:43:59.600Z,1348530239.600 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-24T23:43:59.603Z,1348530239.603 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-24T23:43:59.918Z,1348530239.918 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-24T23:43:59.920Z,1348530239.920 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-24T23:44:00.119Z,1348530240.119 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-24T23:44:00.120Z,1348530240.120 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-24T23:44:00.214Z,1348530240.214 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-24T23:44:00.216Z,1348530240.216 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-24T23:44:00.436Z,1348530240.436 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-24T23:44:00.436Z,1348530240.436 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-24T23:44:00.583Z,1348530240.583 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-24T23:44:00.585Z,1348530240.585 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-24T23:44:00.850Z,1348530240.850 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-24T23:44:00.851Z,1348530240.851 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-24T23:44:01.039Z,1348530241.039 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-24T23:44:01.041Z,1348530241.041 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-24T23:44:01.328Z,1348530241.328 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-24T23:44:01.330Z,1348530241.330 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-24T23:44:01.443Z,1348530241.443 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-24T23:44:01.444Z,1348530241.444 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-24T23:44:01.896Z,1348530241.896 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-24T23:44:01.897Z,1348530241.897 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-24T23:44:02.024Z,1348530242.024 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-24T23:44:02.025Z,1348530242.025 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-24T23:44:02.120Z,1348530242.120 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-24T23:44:02.124Z,1348530242.124 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-24T23:44:02.239Z,1348530242.239 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-24T23:44:02.432Z,1348530242.432 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-24T23:44:02.530Z,1348530242.530 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-24T23:44:02.642Z,1348530242.642 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-24T23:44:02.756Z,1348530242.756 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-24T23:44:02.888Z,1348530242.888 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-24T23:44:02.990Z,1348530242.990 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-24T23:44:03.136Z,1348530243.136 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-09-24T23:44:03.174Z,1348530243.174 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-24T23:44:03.355Z,1348530243.355 [InternalSim] Loaded
2012-09-24T23:44:03.355Z,1348530243.355 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-24T23:44:03.356Z,1348530243.356 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-24T23:44:03.357Z,1348530243.357 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-24T23:44:03.439Z,1348530243.439 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-24T23:44:03.456Z,1348530243.456 [SBIT] Loaded
2012-09-24T23:44:03.456Z,1348530243.456 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-24T23:44:03.457Z,1348530243.457 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-24T23:44:03.484Z,1348530243.484 [IBIT] Loaded
2012-09-24T23:44:03.485Z,1348530243.485 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-24T23:44:03.488Z,1348530243.488 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-24T23:44:03.613Z,1348530243.613 [CBIT] Loaded
2012-09-24T23:44:03.613Z,1348530243.613 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-24T23:44:03.614Z,1348530243.614 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-24T23:44:03.614Z,1348530243.614 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-24T23:44:03.785Z,1348530243.785 [BuoyancyServo] Loaded
2012-09-24T23:44:03.785Z,1348530243.785 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-24T23:44:03.794Z,1348530243.794 [ElevatorServo] Loaded
2012-09-24T23:44:03.795Z,1348530243.795 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-24T23:44:03.806Z,1348530243.806 [MassServo] Loaded
2012-09-24T23:44:03.806Z,1348530243.806 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-24T23:44:03.822Z,1348530243.822 [RudderServo] Loaded
2012-09-24T23:44:03.822Z,1348530243.822 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-24T23:44:03.834Z,1348530243.833 [ThrusterServo] Loaded
2012-09-24T23:44:03.834Z,1348530243.834 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-24T23:44:03.834Z,1348530243.834 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-24T23:44:03.835Z,1348530243.835 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-24T23:44:03.872Z,1348530243.872 [DepthRateCalculator] Loaded
2012-09-24T23:44:03.872Z,1348530243.872 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-24T23:44:06.834Z,1348530246.834 [HFRadarModelCalc] Loaded
2012-09-24T23:44:06.834Z,1348530246.834 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-24T23:44:06.850Z,1348530246.850 [NavChart] Loaded
2012-09-24T23:44:06.850Z,1348530246.850 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-24T23:44:06.860Z,1348530246.860 [PitchRateCalculator] Loaded
2012-09-24T23:44:06.861Z,1348530246.861 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-24T23:44:06.867Z,1348530246.867 [SpeedCalculator] Loaded
2012-09-24T23:44:06.867Z,1348530246.867 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-24T23:44:06.886Z,1348530246.886 [TempGradientCalculator] Loaded
2012-09-24T23:44:06.886Z,1348530246.886 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-24T23:44:06.892Z,1348530246.892 [YawRateCalculator] Loaded
2012-09-24T23:44:06.892Z,1348530246.892 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-24T23:44:06.911Z,1348530246.911 [Navigation] Loaded
2012-09-24T23:44:06.912Z,1348530246.912 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-24T23:44:06.912Z,1348530246.912 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-24T23:44:06.913Z,1348530246.913 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-24T23:44:07.192Z,1348530247.192 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-24T23:44:07.192Z,1348530247.192 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-24T23:44:07.230Z,1348530247.230 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-24T23:44:07.230Z,1348530247.230 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-24T23:44:07.296Z,1348530247.296 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-24T23:44:07.347Z,1348530247.347 [VerticalControl] Loaded
2012-09-24T23:44:07.347Z,1348530247.347 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-24T23:44:07.348Z,1348530247.348 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-24T23:44:07.373Z,1348530247.373 [HorizontalControl] Loaded
2012-09-24T23:44:07.374Z,1348530247.374 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-24T23:44:07.375Z,1348530247.375 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-24T23:44:07.376Z,1348530247.376 [SpeedControl] Loaded
2012-09-24T23:44:07.377Z,1348530247.377 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-24T23:44:07.377Z,1348530247.377 [LoopControl](DEBUG): Construct LoopControl.
2012-09-24T23:44:07.378Z,1348530247.378 [LoopControl] Loaded
2012-09-24T23:44:07.378Z,1348530247.378 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-24T23:44:07.380Z,1348530247.380 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-24T23:44:07.380Z,1348530247.380 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-24T23:44:07.677Z,1348530247.677 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-24T23:44:07.682Z,1348530247.682 [AsyncPiEstimator] Loaded
2012-09-24T23:44:07.682Z,1348530247.682 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-24T23:44:07.684Z,1348530247.684 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-24T23:44:07.684Z,1348530247.684 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-24T23:44:07.685Z,1348530247.685 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-24T23:44:07.858Z,1348530247.858 [AHRS_sp3003D] Loaded
2012-09-24T23:44:07.858Z,1348530247.858 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-24T23:44:07.876Z,1348530247.876 [Depth_Keller] Loaded
2012-09-24T23:44:07.876Z,1348530247.876 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-24T23:44:07.881Z,1348530247.881 [DropWeight] Loaded
2012-09-24T23:44:07.882Z,1348530247.882 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-24T23:44:08.007Z,1348530248.007 [DVL_micro] Loaded
2012-09-24T23:44:08.008Z,1348530248.008 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-24T23:44:08.011Z,1348530248.011 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-24T23:44:08.099Z,1348530248.099 [NAL9602] Loaded
2012-09-24T23:44:08.100Z,1348530248.099 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-24T23:44:08.152Z,1348530248.152 [Onboard] Loaded
2012-09-24T23:44:08.152Z,1348530248.152 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-24T23:44:08.159Z,1348530248.159 [Radio_Freewave] Loaded
2012-09-24T23:44:08.159Z,1348530248.159 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-24T23:44:08.160Z,1348530248.160 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-24T23:44:08.160Z,1348530248.160 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-24T23:44:08.264Z,1348530248.263 [CTD_NeilBrown] Loaded
2012-09-24T23:44:08.264Z,1348530248.264 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-24T23:44:08.267Z,1348530248.267 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-24T23:44:08.277Z,1348530248.277 [PAR_Licor] Loaded
2012-09-24T23:44:08.277Z,1348530248.277 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-24T23:44:08.298Z,1348530248.298 [Turbulence_NPS] Loaded
2012-09-24T23:44:08.298Z,1348530248.298 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-24T23:44:08.303Z,1348530248.303 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-24T23:44:08.336Z,1348530248.336 [WetLabsBB2FL] Loaded
2012-09-24T23:44:08.336Z,1348530248.336 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-24T23:44:08.339Z,1348530248.339 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-24T23:44:08.339Z,1348530248.339 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-24T23:44:08.342Z,1348530248.342 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-24T23:44:08.343Z,1348530248.343 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-24T23:44:08.349Z,1348530248.349 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-24T23:44:08.351Z,1348530248.351 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-24T23:44:08.355Z,1348530248.355 [Supervisor](DEBUG): Running supervisor.
2012-09-24T23:44:08.356Z,1348530248.356 [CommandLine](INFO): Thread ID is 749
2012-09-24T23:44:08.359Z,1348530248.359 [controlThread](INFO): Thread ID is 748
2012-09-24T23:44:08.360Z,1348530248.360 [controlThread](DEBUG): Initializing ControlThread
2012-09-24T23:44:08.360Z,1348530248.360 [CycleStarter](INFO): Thread ID is 747
2012-09-24T23:44:08.361Z,1348530248.361 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-24T23:44:08.472Z,1348530248.472 [AsyncPiEstimator](INFO): Thread ID is 810
2012-09-24T23:44:08.472Z,1348530248.472 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-24T23:44:08.541Z,1348530248.541 [DVL_micro](INFO): Thread ID is 811
2012-09-24T23:44:08.626Z,1348530248.625 [CTD_NeilBrown](INFO): Thread ID is 812
2012-09-24T23:44:08.626Z,1348530248.626 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-24T23:44:08.635Z,1348530248.635 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-24T23:44:08.668Z,1348530248.668 [DVL_micro](INFO): Initializing
2012-09-24T23:44:08.669Z,1348530248.669 [DVL_micro](INFO): start:Powering up
2012-09-24T23:44:08.669Z,1348530248.669 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:44:08.670Z,1348530248.670 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T23:44:08.676Z,1348530248.676 [Turbulence_NPS](INFO): Thread ID is 813
2012-09-24T23:44:08.676Z,1348530248.676 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-24T23:44:08.692Z,1348530248.692 [WetLabsBB2FL](INFO): Thread ID is 814
2012-09-24T23:44:08.693Z,1348530248.693 [WetLabsBB2FL](INFO): Powering down
2012-09-24T23:44:08.712Z,1348530248.712 [SBIT](INFO): Initialize SBIT Component.
2012-09-24T23:44:08.712Z,1348530248.713 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-24T23:44:08.713Z,1348530248.713 [IBIT](INFO): Initialize IBIT Component.
2012-09-24T23:44:08.714Z,1348530248.714 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-24T23:44:08.714Z,1348530248.714 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-09-24T23:44:08.714Z,1348530248.714 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-09-24T23:44:08.724Z,1348530248.724 [NavChartDb](INFO): Thread ID is 815
2012-09-24T23:44:08.760Z,1348530248.760 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-24T23:44:08.760Z,1348530248.760 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-24T23:44:08.761Z,1348530248.761 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-24T23:44:08.761Z,1348530248.761 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-24T23:44:08.761Z,1348530248.761 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-24T23:44:08.762Z,1348530248.763 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-24T23:44:08.763Z,1348530248.763 [Navigation](DEBUG): Initializing Navigation.
2012-09-24T23:44:08.763Z,1348530248.763 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-24T23:44:08.765Z,1348530248.765 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-24T23:44:08.766Z,1348530248.766 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-24T23:44:08.767Z,1348530248.767 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-24T23:44:08.810Z,1348530248.810 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-24T23:44:08.844Z,1348530248.844 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T23:44:08.854Z,1348530248.854 [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>


2012-09-24T23:44:08.858Z,1348530248.858 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-24T23:44:08.952Z,1348530248.952 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-24T23:44:08.954Z,1348530248.954 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-24T23:44:08.958Z,1348530248.958 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T23:44:08.965Z,1348530248.966 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-24T23:44:08.969Z,1348530248.969 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T23:44:08.976Z,1348530248.976 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-24T23:44:08.985Z,1348530248.985 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-24T23:44:08.988Z,1348530248.988 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-24T23:44:08.993Z,1348530248.993 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-24T23:44:08.997Z,1348530248.997 [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>


2012-09-24T23:44:09.002Z,1348530249.002 [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,
2012-09-24T23:44:09.022Z,1348530249.022 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T23:44:09.167Z,1348530249.167 [Depth_Keller](INFO): A/D timeout, 2 tries over 131 ms

2012-09-24T23:44:09.168Z,1348530249.168 [Depth_Keller] Data Fault, FailCount= 1
2012-09-24T23:44:09.168Z,1348530249.168 [Depth_Keller](ERROR): Data Fault
2012-09-24T23:44:09.257Z,1348530249.257 [Radio_Freewave](INFO): Powering up
2012-09-24T23:44:09.435Z,1348530249.435 [PAR_Licor](INFO): A/D timeout, 2 tries over 165 ms

2012-09-24T23:44:09.435Z,1348530249.435 [PAR_Licor] Data Fault, FailCount= 1
2012-09-24T23:44:09.435Z,1348530249.435 [PAR_Licor](ERROR): Data Fault
2012-09-24T23:44:09.440Z,1348530249.441 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-24T23:44:09.536Z,1348530249.536 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-24T23:44:09.539Z,1348530249.539 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-24T23:44:09.546Z,1348530249.546 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-24T23:44:09.552Z,1348530249.552 [MassServo](DEBUG): Initializing MassServo.
2012-09-24T23:44:09.557Z,1348530249.557 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T23:44:09.559Z,1348530249.559 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T23:44:09.565Z,1348530249.565 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-24T23:44:09.566Z,1348530249.566 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-24T23:44:09.589Z,1348530249.589 [CBIT](ERROR): Data Fault in component: Depth_Keller
2012-09-24T23:44:09.590Z,1348530249.589 [CBIT](INFO): Clearing failed state for component Depth_Keller
2012-09-24T23:44:09.590Z,1348530249.590 [Depth_Keller] No Fault, FailCount= 1
2012-09-24T23:44:09.590Z,1348530249.590 [CBIT](ERROR): Data Fault in component: PAR_Licor
2012-09-24T23:44:09.590Z,1348530249.590 [CBIT](INFO): Clearing failed state for component PAR_Licor
2012-09-24T23:44:09.590Z,1348530249.590 [PAR_Licor] No Fault, FailCount= 1
2012-09-24T23:44:10.735Z,1348530250.735 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:44:10.735Z,1348530250.736 [DVL_micro](INFO): Querying output modes
2012-09-24T23:44:10.736Z,1348530250.736 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T23:44:11.907Z,1348530251.907 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-24T23:44:11.907Z,1348530251.907 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-24T23:44:11.907Z,1348530251.907 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-09-24T23:44:11.907Z,1348530251.907 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-24T23:44:12.165Z,1348530252.165 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-24T23:44:12.223Z,1348530252.223 [AHRS_sp3003D](INFO): Powering down
2012-09-24T23:44:12.400Z,1348530252.400 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-24T23:44:12.400Z,1348530252.400 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-24T23:44:12.574Z,1348530252.574 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-24T23:44:12.651Z,1348530252.651 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-24T23:44:12.749Z,1348530252.749 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:12.749Z,1348530252.749 [DVL_micro](INFO): Output Modes: No Response
2012-09-24T23:44:12.749Z,1348530252.749 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T23:44:12.840Z,1348530252.840 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-24T23:44:12.884Z,1348530252.884 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-24T23:44:12.912Z,1348530252.912 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-24T23:44:12.913Z,1348530252.913 [NavChartDb](INFO): Creating index for Soundings
2012-09-24T23:44:12.952Z,1348530252.952 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-24T23:44:12.954Z,1348530252.954 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-24T23:44:12.996Z,1348530252.996 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-24T23:44:12.998Z,1348530252.998 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-24T23:44:13.056Z,1348530253.056 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-24T23:44:13.058Z,1348530253.058 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-24T23:44:13.294Z,1348530253.294 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-24T23:44:13.388Z,1348530253.388 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-24T23:44:13.390Z,1348530253.390 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-24T23:44:13.426Z,1348530253.426 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T23:44:13.434Z,1348530253.434 [NAL9602](INFO): Powering up NAL9602
2012-09-24T23:44:13.452Z,1348530253.452 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-24T23:44:13.454Z,1348530253.454 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-24T23:44:13.554Z,1348530253.554 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-24T23:44:13.637Z,1348530253.637 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-24T23:44:13.697Z,1348530253.697 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-24T23:44:13.699Z,1348530253.699 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-24T23:44:13.701Z,1348530253.701 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-24T23:44:13.768Z,1348530253.768 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-24T23:44:13.770Z,1348530253.770 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-24T23:44:13.889Z,1348530253.889 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-24T23:44:13.979Z,1348530253.979 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-24T23:44:13.981Z,1348530253.981 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-24T23:44:14.044Z,1348530254.044 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-24T23:44:14.046Z,1348530254.046 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-24T23:44:14.101Z,1348530254.101 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-24T23:44:14.103Z,1348530254.103 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-24T23:44:14.105Z,1348530254.105 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-24T23:44:14.165Z,1348530254.165 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-24T23:44:14.233Z,1348530254.233 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-24T23:44:14.237Z,1348530254.237 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-24T23:44:14.239Z,1348530254.239 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-24T23:44:14.241Z,1348530254.241 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-24T23:44:14.539Z,1348530254.539 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-24T23:44:14.539Z,1348530254.539 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-24T23:44:14.539Z,1348530254.539 [AHRS_sp3003D] Hardware Fault, FailCount= 2
2012-09-24T23:44:14.539Z,1348530254.539 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-24T23:44:14.727Z,1348530254.727 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-24T23:44:14.751Z,1348530254.751 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:14.756Z,1348530254.756 [DVL_micro](INFO): pause:Powering down
2012-09-24T23:44:14.757Z,1348530254.757 [DVL_micro](INFO): NQ1 requested
2012-09-24T23:44:14.758Z,1348530254.758 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:44:14.758Z,1348530254.758 [DVL_micro](INFO): resume:Powering up
2012-09-24T23:44:14.758Z,1348530254.758 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T23:44:14.847Z,1348530254.847 [AHRS_sp3003D](INFO): Powering down
2012-09-24T23:44:15.177Z,1348530255.177 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-24T23:44:15.177Z,1348530255.178 [AHRS_sp3003D] No Fault, FailCount= 2
2012-09-24T23:44:16.041Z,1348530256.041 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T23:44:16.115Z,1348530256.115 [RudderServo](FAULT): Overload Error
2012-09-24T23:44:16.115Z,1348530256.115 [RudderServo] Hardware Fault, FailCount= 1
2012-09-24T23:44:16.115Z,1348530256.115 [RudderServo](ERROR): Hardware Fault
2012-09-24T23:44:16.146Z,1348530256.145 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T23:44:16.524Z,1348530256.524 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T23:44:16.525Z,1348530256.524 [RudderServo](INFO): Powering down
2012-09-24T23:44:16.538Z,1348530256.538 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-24T23:44:16.538Z,1348530256.538 [RudderServo] No Fault, FailCount= 1
2012-09-24T23:44:16.697Z,1348530256.697 [CommandLine](IMPORTANT): got command maintain mission
2012-09-24T23:44:16.698Z,1348530256.698 [CommandLine](FAULT): Incomplete syntax. Try: help maintain
2012-09-24T23:44:16.767Z,1348530256.767 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:44:16.767Z,1348530256.767 [DVL_micro](INFO): Querying output modes
2012-09-24T23:44:16.767Z,1348530256.767 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T23:44:17.159Z,1348530257.159 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-24T23:44:17.159Z,1348530257.159 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-24T23:44:17.159Z,1348530257.159 [AHRS_sp3003D] Hardware Fault, FailCount= 3
2012-09-24T23:44:17.159Z,1348530257.159 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-24T23:44:17.184Z,1348530257.184 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-24T23:44:17.241Z,1348530257.241 [AHRS_sp3003D](INFO): Powering down
2012-09-24T23:44:17.352Z,1348530257.352 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T23:44:17.472Z,1348530257.472 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-24T23:44:17.472Z,1348530257.472 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T23:44:17.477Z,1348530257.477 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-24T23:44:17.477Z,1348530257.477 [AHRS_sp3003D] No Fault, FailCount= 3
2012-09-24T23:44:18.441Z,1348530258.441 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T23:44:18.771Z,1348530258.771 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:18.771Z,1348530258.771 [DVL_micro](INFO): Output Modes: No Response
2012-09-24T23:44:18.771Z,1348530258.771 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T23:44:18.865Z,1348530258.865 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:39%. Temp:22 C. ABORTING MISSION
2012-09-24T23:44:19.559Z,1348530259.559 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-24T23:44:19.559Z,1348530259.559 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-24T23:44:19.559Z,1348530259.559 [AHRS_sp3003D] Hardware Fault, FailCount= 4
2012-09-24T23:44:19.559Z,1348530259.559 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-24T23:44:19.584Z,1348530259.584 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-24T23:44:19.641Z,1348530259.641 [AHRS_sp3003D](INFO): Powering down
2012-09-24T23:44:19.773Z,1348530259.773 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-24T23:44:19.773Z,1348530259.773 [AHRS_sp3003D] No Fault, FailCount= 4
2012-09-24T23:44:20.775Z,1348530260.775 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:20.777Z,1348530260.777 [DVL_micro](INFO): pause:Powering down
2012-09-24T23:44:20.841Z,1348530260.842 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-24T23:44:21.959Z,1348530261.959 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-24T23:44:21.959Z,1348530261.959 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-24T23:44:21.959Z,1348530261.959 [AHRS_sp3003D] Hardware Fault, FailCount= 5
2012-09-24T23:44:21.959Z,1348530261.959 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-24T23:44:21.991Z,1348530261.991 [DVL_micro](INFO): NQ1 requested
2012-09-24T23:44:21.992Z,1348530261.992 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:44:21.992Z,1348530261.992 [DVL_micro](INFO): resume:Powering up
2012-09-24T23:44:21.993Z,1348530261.993 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T23:44:22.011Z,1348530262.011 [RudderServo](FAULT): Overload Error
2012-09-24T23:44:22.011Z,1348530262.011 [RudderServo] Hardware Fault, FailCount= 2
2012-09-24T23:44:22.011Z,1348530262.011 [RudderServo](ERROR): Hardware Fault
2012-09-24T23:44:22.038Z,1348530262.038 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T23:44:22.038Z,1348530262.038 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-24T23:44:22.039Z,1348530262.039 [CBIT](CRITICAL): Hardware Fault in component: AHRS_sp3003D
2012-09-24T23:44:22.095Z,1348530262.095 [AHRS_sp3003D](INFO): Powering down
2012-09-24T23:44:22.212Z,1348530262.212 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T23:44:22.213Z,1348530262.213 [RudderServo](INFO): Powering down
2012-09-24T23:44:22.216Z,1348530262.216 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-24T23:44:22.216Z,1348530262.216 [RudderServo] No Fault, FailCount= 2
2012-09-24T23:44:22.923Z,1348530262.923 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-24T23:44:23.044Z,1348530263.044 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-24T23:44:23.044Z,1348530263.044 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-24T23:44:23.999Z,1348530263.999 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:44:23.999Z,1348530263.999 [DVL_micro](INFO): Querying output modes
2012-09-24T23:44:23.999Z,1348530264.000 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T23:44:24.123Z,1348530264.123 [NAL9602](INFO): NAL9602 initialized
2012-09-24T23:44:24.148Z,1348530264.148 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-24T23:44:24.150Z,1348530264.150 [CBIT](IMPORTANT): Beginning GF scan
2012-09-24T23:44:24.916Z,1348530264.916 [Radio_Freewave](INFO): Powering down
2012-09-24T23:44:25.309Z,1348530265.309 [Radio_Freewave](INFO): Powering up
2012-09-24T23:44:26.003Z,1348530266.003 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:26.003Z,1348530266.003 [DVL_micro](INFO): Output Modes: No Response
2012-09-24T23:44:26.003Z,1348530266.003 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T23:44:27.743Z,1348530267.743 [RudderServo](FAULT): Overload Error
2012-09-24T23:44:27.743Z,1348530267.743 [RudderServo] Hardware Fault, FailCount= 3
2012-09-24T23:44:27.743Z,1348530267.743 [RudderServo](ERROR): Hardware Fault
2012-09-24T23:44:27.778Z,1348530267.778 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-24T23:44:27.778Z,1348530267.778 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2012-09-24T23:44:28.007Z,1348530268.007 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:28.008Z,1348530268.008 [DVL_micro](INFO): NQ1 requested
2012-09-24T23:44:28.008Z,1348530268.008 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T23:44:28.127Z,1348530268.127 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-24T23:44:28.127Z,1348530268.127 [RudderServo](INFO): Powering down
2012-09-24T23:44:30.015Z,1348530270.015 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:44:30.015Z,1348530270.015 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-24T23:44:32.019Z,1348530272.019 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:32.019Z,1348530272.019 [DVL_micro](INFO): Enabling NQ1 output
2012-09-24T23:44:32.019Z,1348530272.019 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-24T23:44:34.023Z,1348530274.023 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:34.023Z,1348530274.023 [DVL_micro](INFO): Querying output modes
2012-09-24T23:44:34.023Z,1348530274.023 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T23:44:36.027Z,1348530276.027 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:36.027Z,1348530276.027 [DVL_micro](INFO): Output Modes: No Response
2012-09-24T23:44:36.027Z,1348530276.027 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T23:44:38.031Z,1348530278.031 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:40.035Z,1348530280.035 [DVL_micro](INFO): NQ1 requested
2012-09-24T23:44:40.035Z,1348530280.035 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T23:44:42.043Z,1348530282.043 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:44:42.043Z,1348530282.043 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-24T23:44:44.047Z,1348530284.047 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:44.047Z,1348530284.047 [DVL_micro](INFO): Enabling NQ1 output
2012-09-24T23:44:44.047Z,1348530284.047 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-24T23:44:46.051Z,1348530286.051 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:46.051Z,1348530286.051 [DVL_micro](INFO): Querying output modes
2012-09-24T23:44:46.051Z,1348530286.051 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-24T23:44:48.055Z,1348530288.055 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:48.055Z,1348530288.055 [DVL_micro](INFO): Output Modes: No Response
2012-09-24T23:44:48.055Z,1348530288.055 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-24T23:44:50.060Z,1348530290.059 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:50.525Z,1348530290.525 [CBIT](IMPORTANT): No ground fault detected
2012-09-24T23:44:52.063Z,1348530292.063 [DVL_micro](INFO): NQ1 requested
2012-09-24T23:44:52.063Z,1348530292.063 [DVL_micro](INFO): Cycling power to configure device.
2012-09-24T23:44:54.071Z,1348530294.071 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-24T23:44:54.071Z,1348530294.071 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-24T23:44:56.075Z,1348530296.075 [DVL_micro](DEBUG): cmdResponse: 
2012-09-24T23:44:56.075Z,1348530296.075 [DVL_micro](INFO): Enabling NQ1 output
2012-09-24T23:44:56.075Z,1348530296.075 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1