2012-09-25T00:21:47.192Z,1348532507.192 [Supervisor](DEBUG): Initializing supervisor.
2012-09-25T00:21:47.198Z,1348532507.198 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-25T00:21:47.199Z,1348532507.199 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-25T00:21:47.202Z,1348532507.202 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-25T00:21:47.206Z,1348532507.206 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-25T00:21:47.217Z,1348532507.217 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-25T00:21:47.218Z,1348532507.218 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-25T00:21:47.219Z,1348532507.219 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-25T00:21:47.220Z,1348532507.220 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-25T00:21:47.222Z,1348532507.223 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-25T00:21:47.534Z,1348532507.534 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-25T00:21:47.536Z,1348532507.536 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-25T00:21:47.734Z,1348532507.734 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-25T00:21:47.735Z,1348532507.735 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-25T00:21:47.830Z,1348532507.830 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-25T00:21:47.832Z,1348532507.832 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-25T00:21:48.051Z,1348532508.051 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-25T00:21:48.052Z,1348532508.052 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-25T00:21:48.199Z,1348532508.199 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-25T00:21:48.201Z,1348532508.201 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-25T00:21:48.463Z,1348532508.463 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-25T00:21:48.464Z,1348532508.464 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-25T00:21:48.651Z,1348532508.651 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-25T00:21:48.653Z,1348532508.653 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-25T00:21:48.936Z,1348532508.936 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-25T00:21:48.938Z,1348532508.938 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-25T00:21:49.051Z,1348532509.051 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-25T00:21:49.052Z,1348532509.052 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-25T00:21:49.504Z,1348532509.504 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-25T00:21:49.504Z,1348532509.504 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-25T00:21:49.641Z,1348532509.641 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-25T00:21:49.641Z,1348532509.641 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-25T00:21:49.775Z,1348532509.776 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-25T00:21:49.780Z,1348532509.780 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-25T00:21:49.890Z,1348532509.890 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-25T00:21:50.032Z,1348532510.032 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-25T00:21:50.126Z,1348532510.126 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-25T00:21:50.238Z,1348532510.238 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-25T00:21:50.352Z,1348532510.352 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-25T00:21:50.484Z,1348532510.484 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-25T00:21:50.582Z,1348532510.582 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-25T00:21:50.728Z,1348532510.728 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-09-25T00:21:50.765Z,1348532510.765 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-25T00:21:50.946Z,1348532510.946 [InternalSim] Loaded
2012-09-25T00:21:50.946Z,1348532510.946 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-25T00:21:50.947Z,1348532510.947 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-25T00:21:50.948Z,1348532510.948 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-25T00:21:51.030Z,1348532511.030 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-25T00:21:51.043Z,1348532511.043 [SBIT] Loaded
2012-09-25T00:21:51.043Z,1348532511.043 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-25T00:21:51.044Z,1348532511.044 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-25T00:21:51.075Z,1348532511.075 [IBIT] Loaded
2012-09-25T00:21:51.075Z,1348532511.075 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-25T00:21:51.082Z,1348532511.082 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-25T00:21:51.204Z,1348532511.204 [CBIT] Loaded
2012-09-25T00:21:51.204Z,1348532511.204 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-25T00:21:51.204Z,1348532511.204 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-25T00:21:51.205Z,1348532511.205 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-25T00:21:51.373Z,1348532511.372 [BuoyancyServo] Loaded
2012-09-25T00:21:51.373Z,1348532511.373 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-25T00:21:51.382Z,1348532511.382 [ElevatorServo] Loaded
2012-09-25T00:21:51.382Z,1348532511.382 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-25T00:21:51.394Z,1348532511.394 [MassServo] Loaded
2012-09-25T00:21:51.394Z,1348532511.394 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-25T00:21:51.409Z,1348532511.409 [RudderServo] Loaded
2012-09-25T00:21:51.410Z,1348532511.410 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-25T00:21:51.421Z,1348532511.421 [ThrusterServo] Loaded
2012-09-25T00:21:51.421Z,1348532511.421 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-25T00:21:51.421Z,1348532511.421 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-25T00:21:51.422Z,1348532511.422 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-25T00:21:51.455Z,1348532511.455 [DepthRateCalculator] Loaded
2012-09-25T00:21:51.455Z,1348532511.455 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-25T00:21:54.221Z,1348532514.221 [HFRadarModelCalc] Loaded
2012-09-25T00:21:54.221Z,1348532514.221 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-25T00:21:54.241Z,1348532514.241 [NavChart] Loaded
2012-09-25T00:21:54.241Z,1348532514.241 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-25T00:21:54.247Z,1348532514.247 [PitchRateCalculator] Loaded
2012-09-25T00:21:54.248Z,1348532514.247 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-25T00:21:54.254Z,1348532514.254 [SpeedCalculator] Loaded
2012-09-25T00:21:54.254Z,1348532514.254 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-25T00:21:54.273Z,1348532514.273 [TempGradientCalculator] Loaded
2012-09-25T00:21:54.273Z,1348532514.273 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-25T00:21:54.279Z,1348532514.279 [YawRateCalculator] Loaded
2012-09-25T00:21:54.279Z,1348532514.279 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-25T00:21:54.298Z,1348532514.298 [Navigation] Loaded
2012-09-25T00:21:54.299Z,1348532514.299 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-25T00:21:54.299Z,1348532514.299 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-25T00:21:54.300Z,1348532514.300 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-25T00:21:54.581Z,1348532514.581 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-25T00:21:54.582Z,1348532514.582 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-25T00:21:54.620Z,1348532514.620 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-25T00:21:54.621Z,1348532514.621 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-25T00:21:54.683Z,1348532514.683 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-25T00:21:54.731Z,1348532514.731 [VerticalControl] Loaded
2012-09-25T00:21:54.731Z,1348532514.731 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-25T00:21:54.732Z,1348532514.732 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-25T00:21:54.752Z,1348532514.752 [HorizontalControl] Loaded
2012-09-25T00:21:54.753Z,1348532514.753 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-25T00:21:54.754Z,1348532514.754 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-25T00:21:54.755Z,1348532514.755 [SpeedControl] Loaded
2012-09-25T00:21:54.756Z,1348532514.756 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-25T00:21:54.757Z,1348532514.757 [LoopControl](DEBUG): Construct LoopControl.
2012-09-25T00:21:54.757Z,1348532514.757 [LoopControl] Loaded
2012-09-25T00:21:54.757Z,1348532514.757 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-25T00:21:54.758Z,1348532514.758 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-25T00:21:54.762Z,1348532514.763 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-25T00:21:54.775Z,1348532514.775 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-25T00:21:54.780Z,1348532514.780 [AsyncPiEstimator] Loaded
2012-09-25T00:21:54.780Z,1348532514.780 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-25T00:21:54.782Z,1348532514.782 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-25T00:21:54.783Z,1348532514.783 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-25T00:21:54.784Z,1348532514.784 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-25T00:21:56.318Z,1348532516.318 [AHRS_sp3003D] Loaded
2012-09-25T00:21:56.318Z,1348532516.318 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-25T00:21:56.335Z,1348532516.335 [Depth_Keller] Loaded
2012-09-25T00:21:56.336Z,1348532516.336 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-25T00:21:56.341Z,1348532516.341 [DropWeight] Loaded
2012-09-25T00:21:56.342Z,1348532516.342 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-25T00:21:56.467Z,1348532516.467 [DVL_micro] Loaded
2012-09-25T00:21:56.468Z,1348532516.467 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-25T00:21:56.470Z,1348532516.470 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-25T00:21:56.559Z,1348532516.559 [NAL9602] Loaded
2012-09-25T00:21:56.559Z,1348532516.559 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-25T00:21:56.612Z,1348532516.612 [Onboard] Loaded
2012-09-25T00:21:56.612Z,1348532516.612 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-25T00:21:56.619Z,1348532516.619 [Radio_Freewave] Loaded
2012-09-25T00:21:56.619Z,1348532516.619 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-25T00:21:56.620Z,1348532516.620 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-25T00:21:56.621Z,1348532516.621 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-25T00:21:56.722Z,1348532516.722 [CTD_NeilBrown] Loaded
2012-09-25T00:21:56.722Z,1348532516.722 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-25T00:21:56.726Z,1348532516.726 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-25T00:21:56.737Z,1348532516.737 [PAR_Licor] Loaded
2012-09-25T00:21:56.737Z,1348532516.737 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-25T00:21:56.757Z,1348532516.757 [Turbulence_NPS] Loaded
2012-09-25T00:21:56.758Z,1348532516.758 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-25T00:21:56.762Z,1348532516.762 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-25T00:21:56.795Z,1348532516.796 [WetLabsBB2FL] Loaded
2012-09-25T00:21:56.796Z,1348532516.796 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-25T00:21:56.798Z,1348532516.798 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-25T00:21:56.799Z,1348532516.799 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-25T00:21:56.801Z,1348532516.801 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-25T00:21:56.802Z,1348532516.802 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-25T00:21:56.808Z,1348532516.808 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-25T00:21:56.811Z,1348532516.811 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-25T00:21:56.815Z,1348532516.815 [Supervisor](DEBUG): Running supervisor.
2012-09-25T00:21:56.816Z,1348532516.816 [CommandLine](INFO): Thread ID is 749
2012-09-25T00:21:56.819Z,1348532516.819 [controlThread](INFO): Thread ID is 748
2012-09-25T00:21:56.819Z,1348532516.819 [controlThread](DEBUG): Initializing ControlThread
2012-09-25T00:21:56.820Z,1348532516.820 [CycleStarter](INFO): Thread ID is 747
2012-09-25T00:21:56.820Z,1348532516.820 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-25T00:21:56.926Z,1348532516.926 [AsyncPiEstimator](INFO): Thread ID is 810
2012-09-25T00:21:56.926Z,1348532516.926 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-25T00:21:56.993Z,1348532516.993 [DVL_micro](INFO): Thread ID is 811
2012-09-25T00:21:57.078Z,1348532517.078 [CTD_NeilBrown](INFO): Thread ID is 812
2012-09-25T00:21:57.078Z,1348532517.078 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-25T00:21:57.087Z,1348532517.087 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-25T00:21:57.126Z,1348532517.126 [DVL_micro](INFO): Initializing
2012-09-25T00:21:57.126Z,1348532517.126 [DVL_micro](INFO): start:Powering up
2012-09-25T00:21:57.127Z,1348532517.127 [Turbulence_NPS](INFO): Thread ID is 813
2012-09-25T00:21:57.127Z,1348532517.127 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-25T00:21:57.135Z,1348532517.135 [SBIT](INFO): Initialize SBIT Component.
2012-09-25T00:21:57.135Z,1348532517.135 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-25T00:21:57.136Z,1348532517.136 [IBIT](INFO): Initialize IBIT Component.
2012-09-25T00:21:57.137Z,1348532517.137 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-25T00:21:57.137Z,1348532517.137 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-09-25T00:21:57.137Z,1348532517.137 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2012-09-25T00:21:57.139Z,1348532517.139 [WetLabsBB2FL](INFO): Thread ID is 814
2012-09-25T00:21:57.140Z,1348532517.140 [WetLabsBB2FL](INFO): Powering down
2012-09-25T00:21:57.155Z,1348532517.155 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:21:57.156Z,1348532517.156 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:21:57.168Z,1348532517.168 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-25T00:21:57.169Z,1348532517.169 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-25T00:21:57.169Z,1348532517.169 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-25T00:21:57.169Z,1348532517.169 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-25T00:21:57.170Z,1348532517.170 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-25T00:21:57.171Z,1348532517.171 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-25T00:21:57.172Z,1348532517.172 [Navigation](DEBUG): Initializing Navigation.
2012-09-25T00:21:57.172Z,1348532517.172 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-25T00:21:57.174Z,1348532517.174 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-25T00:21:57.175Z,1348532517.175 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-25T00:21:57.176Z,1348532517.176 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-25T00:21:57.179Z,1348532517.179 [NavChartDb](INFO): Thread ID is 815
2012-09-25T00:21:57.189Z,1348532517.189 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-25T00:21:57.231Z,1348532517.231 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-25T00:21:57.253Z,1348532517.253 [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>


2012-09-25T00:21:57.254Z,1348532517.254 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-25T00:21:57.326Z,1348532517.326 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-25T00:21:57.329Z,1348532517.329 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-25T00:21:57.332Z,1348532517.332 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-25T00:21:57.344Z,1348532517.344 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-25T00:21:57.347Z,1348532517.347 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-25T00:21:57.354Z,1348532517.353 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-25T00:21:57.362Z,1348532517.362 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-25T00:21:57.365Z,1348532517.365 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-25T00:21:57.371Z,1348532517.371 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-25T00:21:57.375Z,1348532517.375 [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>


2012-09-25T00:21:57.382Z,1348532517.382 [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,
2012-09-25T00:21:57.403Z,1348532517.403 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-25T00:21:57.587Z,1348532517.587 [Depth_Keller](INFO): A/D timeout, 2 tries over 170 ms

2012-09-25T00:21:57.587Z,1348532517.587 [Depth_Keller] Data Fault, FailCount= 1
2012-09-25T00:21:57.587Z,1348532517.587 [Depth_Keller](ERROR): Data Fault
2012-09-25T00:21:57.641Z,1348532517.641 [Radio_Freewave](INFO): Powering up
2012-09-25T00:21:57.775Z,1348532517.775 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-25T00:21:57.865Z,1348532517.865 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-25T00:21:57.867Z,1348532517.867 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-25T00:21:57.873Z,1348532517.873 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-25T00:21:57.879Z,1348532517.879 [MassServo](DEBUG): Initializing MassServo.
2012-09-25T00:21:57.885Z,1348532517.885 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-25T00:21:57.887Z,1348532517.887 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-25T00:21:57.893Z,1348532517.893 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-25T00:21:57.895Z,1348532517.895 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-25T00:21:57.912Z,1348532517.912 [CBIT](FAULT): Main Battery Failure. Count: 1
2012-09-25T00:21:57.913Z,1348532517.913 [CBIT](ERROR): Data Fault in component: Depth_Keller
2012-09-25T00:21:57.914Z,1348532517.914 [CBIT](INFO): Clearing failed state for component Depth_Keller
2012-09-25T00:21:57.914Z,1348532517.914 [Depth_Keller] No Fault, FailCount= 1
2012-09-25T00:21:59.247Z,1348532519.247 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:21:59.247Z,1348532519.247 [DVL_micro](INFO): Querying output modes
2012-09-25T00:21:59.248Z,1348532519.247 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:22:00.227Z,1348532520.227 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-25T00:22:00.228Z,1348532520.227 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-25T00:22:00.228Z,1348532520.228 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-09-25T00:22:00.228Z,1348532520.228 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-25T00:22:00.644Z,1348532520.644 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-25T00:22:00.694Z,1348532520.694 [AHRS_sp3003D](INFO): Powering down
2012-09-25T00:22:00.962Z,1348532520.962 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-25T00:22:00.962Z,1348532520.962 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-25T00:22:01.435Z,1348532521.435 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:01.435Z,1348532521.435 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:22:01.435Z,1348532521.435 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:22:01.627Z,1348532521.627 [NAL9602](INFO): Powering up NAL9602
2012-09-25T00:22:01.995Z,1348532521.995 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-25T00:22:02.743Z,1348532522.743 [RudderServo](ERROR): getPosition uart error serial timeout
2012-09-25T00:22:02.743Z,1348532522.743 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2012-09-25T00:22:02.744Z,1348532522.744 [RudderServo] Communications Fault, FailCount= 1
2012-09-25T00:22:02.744Z,1348532522.744 [RudderServo](ERROR): Communications Fault
2012-09-25T00:22:02.747Z,1348532522.747 [CBIT](ERROR): Communications Fault in component: RudderServo
2012-09-25T00:22:02.957Z,1348532522.957 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-25T00:22:03.095Z,1348532523.095 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-25T00:22:03.135Z,1348532523.135 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-25T00:22:03.399Z,1348532523.399 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-25T00:22:03.399Z,1348532523.399 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-25T00:22:03.399Z,1348532523.399 [AHRS_sp3003D] Hardware Fault, FailCount= 2
2012-09-25T00:22:03.399Z,1348532523.399 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-25T00:22:03.416Z,1348532523.416 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-25T00:22:03.439Z,1348532523.439 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:03.444Z,1348532523.444 [DVL_micro](INFO): pause:Powering down
2012-09-25T00:22:03.445Z,1348532523.445 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:22:03.445Z,1348532523.445 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:22:03.446Z,1348532523.446 [DVL_micro](INFO): resume:Powering up
2012-09-25T00:22:03.446Z,1348532523.446 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:22:03.541Z,1348532523.542 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-25T00:22:03.599Z,1348532523.599 [NavChartDb](INFO): Creating index for Soundings
2012-09-25T00:22:03.660Z,1348532523.660 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-25T00:22:03.660Z,1348532523.661 [RudderServo](INFO): Powering down
2012-09-25T00:22:03.682Z,1348532523.682 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-25T00:22:03.733Z,1348532523.733 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-25T00:22:03.733Z,1348532523.733 [RudderServo] No Fault, FailCount= 1
2012-09-25T00:22:03.733Z,1348532523.733 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-25T00:22:03.888Z,1348532523.888 [AHRS_sp3003D](INFO): Powering down
2012-09-25T00:22:03.762Z,1348532523.762 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-25T00:22:03.937Z,1348532523.937 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-25T00:22:04.021Z,1348532524.021 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-25T00:22:04.023Z,1348532524.023 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-25T00:22:04.025Z,1348532524.025 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-25T00:22:04.154Z,1348532524.155 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-25T00:22:04.157Z,1348532524.157 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-25T00:22:04.207Z,1348532524.207 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-25T00:22:04.209Z,1348532524.209 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-25T00:22:04.275Z,1348532524.274 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-25T00:22:04.275Z,1348532524.275 [AHRS_sp3003D] No Fault, FailCount= 2
2012-09-25T00:22:04.317Z,1348532524.317 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-25T00:22:04.405Z,1348532524.405 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-25T00:22:04.571Z,1348532524.571 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-25T00:22:04.656Z,1348532524.656 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-25T00:22:04.658Z,1348532524.658 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-25T00:22:04.716Z,1348532524.716 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-25T00:22:04.716Z,1348532524.716 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-25T00:22:04.743Z,1348532524.743 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-25T00:22:04.745Z,1348532524.745 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-25T00:22:04.830Z,1348532524.830 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-25T00:22:04.889Z,1348532524.889 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-25T00:22:04.891Z,1348532524.891 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-25T00:22:04.892Z,1348532524.892 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-25T00:22:04.976Z,1348532524.976 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-25T00:22:04.979Z,1348532524.979 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-25T00:22:04.981Z,1348532524.981 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-25T00:22:05.273Z,1348532525.273 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-25T00:22:05.277Z,1348532525.277 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-25T00:22:05.337Z,1348532525.337 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-25T00:22:05.360Z,1348532525.360 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-25T00:22:05.366Z,1348532525.366 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-25T00:22:05.459Z,1348532525.459 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:22:05.460Z,1348532525.460 [DVL_micro](INFO): Querying output modes
2012-09-25T00:22:05.460Z,1348532525.460 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:22:05.549Z,1348532525.549 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-25T00:22:05.636Z,1348532525.636 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-25T00:22:05.640Z,1348532525.640 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-25T00:22:05.644Z,1348532525.644 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-25T00:22:06.423Z,1348532526.423 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-25T00:22:06.423Z,1348532526.423 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-25T00:22:06.423Z,1348532526.423 [AHRS_sp3003D] Hardware Fault, FailCount= 3
2012-09-25T00:22:06.423Z,1348532526.423 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-25T00:22:06.628Z,1348532526.628 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-25T00:22:06.748Z,1348532526.748 [AHRS_sp3003D](INFO): Powering down
2012-09-25T00:22:06.940Z,1348532526.940 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-25T00:22:06.940Z,1348532526.940 [AHRS_sp3003D] No Fault, FailCount= 3
2012-09-25T00:22:07.463Z,1348532527.463 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:07.463Z,1348532527.463 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:22:07.463Z,1348532527.463 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:22:07.945Z,1348532527.945 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-25T00:22:08.831Z,1348532528.831 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-25T00:22:08.831Z,1348532528.831 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xBEFFB8
2012-09-25T00:22:08.831Z,1348532528.831 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-25T00:22:08.831Z,1348532528.831 [AHRS_sp3003D] Hardware Fault, FailCount= 4
2012-09-25T00:22:08.831Z,1348532528.831 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-25T00:22:08.910Z,1348532528.909 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-25T00:22:09.145Z,1348532529.145 [AHRS_sp3003D](INFO): Powering down
2012-09-25T00:22:09.311Z,1348532529.311 [RudderServo](FAULT): Overload Error
2012-09-25T00:22:09.311Z,1348532529.311 [RudderServo] Hardware Fault, FailCount= 2
2012-09-25T00:22:09.311Z,1348532529.311 [RudderServo](ERROR): Hardware Fault
2012-09-25T00:22:09.338Z,1348532529.338 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-25T00:22:09.339Z,1348532529.339 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-25T00:22:09.339Z,1348532529.339 [AHRS_sp3003D] No Fault, FailCount= 4
2012-09-25T00:22:09.467Z,1348532529.467 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:09.469Z,1348532529.469 [DVL_micro](INFO): pause:Powering down
2012-09-25T00:22:09.615Z,1348532529.615 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-25T00:22:09.615Z,1348532529.615 [RudderServo](INFO): Powering down
2012-09-25T00:22:09.623Z,1348532529.623 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-25T00:22:09.623Z,1348532529.623 [RudderServo] No Fault, FailCount= 2
2012-09-25T00:22:10.345Z,1348532530.345 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-25T00:22:10.448Z,1348532530.448 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-25T00:22:10.568Z,1348532530.568 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-25T00:22:10.568Z,1348532530.568 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-25T00:22:11.462Z,1348532531.462 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-25T00:22:11.463Z,1348532531.463 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-25T00:22:11.463Z,1348532531.463 [AHRS_sp3003D] Hardware Fault, FailCount= 5
2012-09-25T00:22:11.463Z,1348532531.463 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-25T00:22:11.491Z,1348532531.491 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:22:11.491Z,1348532531.491 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:22:11.491Z,1348532531.491 [DVL_micro](INFO): resume:Powering up
2012-09-25T00:22:11.492Z,1348532531.492 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:22:11.549Z,1348532531.549 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-25T00:22:11.550Z,1348532531.550 [CBIT](CRITICAL): Hardware Fault in component: AHRS_sp3003D
2012-09-25T00:22:11.607Z,1348532531.606 [AHRS_sp3003D](INFO): Powering down
2012-09-25T00:22:12.035Z,1348532532.035 [NAL9602](INFO): NAL9602 initialized
2012-09-25T00:22:12.839Z,1348532532.839 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-25T00:22:12.841Z,1348532532.841 [CBIT](IMPORTANT): Beginning GF scan
2012-09-25T00:22:13.499Z,1348532533.499 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:22:13.499Z,1348532533.499 [DVL_micro](INFO): Querying output modes
2012-09-25T00:22:13.499Z,1348532533.499 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:22:15.502Z,1348532535.502 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:15.502Z,1348532535.503 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:22:15.503Z,1348532535.503 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:22:15.659Z,1348532535.659 [RudderServo](FAULT): Overload Error
2012-09-25T00:22:15.659Z,1348532535.659 [RudderServo] Hardware Fault, FailCount= 3
2012-09-25T00:22:15.659Z,1348532535.659 [RudderServo](ERROR): Hardware Fault
2012-09-25T00:22:15.690Z,1348532535.690 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-25T00:22:15.690Z,1348532535.690 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2012-09-25T00:22:16.031Z,1348532536.031 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-25T00:22:16.031Z,1348532536.031 [RudderServo](INFO): Powering down
2012-09-25T00:22:16.832Z,1348532536.832 [CBIT](CRITICAL): Environmental Failure. Press:14.982194 PSI. Humidity:40%. Temp:21 C. ABORTING MISSION
2012-09-25T00:22:17.506Z,1348532537.506 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:17.508Z,1348532537.508 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:22:17.508Z,1348532537.508 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:22:19.515Z,1348532539.515 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:22:19.515Z,1348532539.515 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-25T00:22:21.518Z,1348532541.518 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:21.518Z,1348532541.519 [DVL_micro](INFO): Enabling NQ1 output
2012-09-25T00:22:21.519Z,1348532541.519 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-25T00:22:23.522Z,1348532543.522 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:23.522Z,1348532543.523 [DVL_micro](INFO): Querying output modes
2012-09-25T00:22:23.523Z,1348532543.523 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:22:25.526Z,1348532545.526 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:25.526Z,1348532545.526 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:22:25.527Z,1348532545.527 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:22:27.530Z,1348532547.530 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:29.535Z,1348532549.535 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:22:29.535Z,1348532549.535 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:22:31.543Z,1348532551.543 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:22:31.543Z,1348532551.543 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-25T00:22:33.546Z,1348532553.546 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:33.547Z,1348532553.546 [DVL_micro](INFO): Enabling NQ1 output
2012-09-25T00:22:33.547Z,1348532553.547 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-25T00:22:35.550Z,1348532555.550 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:35.550Z,1348532555.550 [DVL_micro](INFO): Querying output modes
2012-09-25T00:22:35.551Z,1348532555.551 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:22:37.554Z,1348532557.554 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:37.554Z,1348532557.555 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:22:37.555Z,1348532557.555 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:22:39.233Z,1348532559.233 [CBIT](IMPORTANT): No ground fault detected
2012-09-25T00:22:39.558Z,1348532559.558 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:41.563Z,1348532561.563 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:22:41.563Z,1348532561.563 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:22:43.571Z,1348532563.571 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:22:43.571Z,1348532563.571 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-25T00:22:45.574Z,1348532565.574 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:45.575Z,1348532565.575 [DVL_micro](INFO): Enabling NQ1 output
2012-09-25T00:22:45.575Z,1348532565.575 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-25T00:22:47.578Z,1348532567.578 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:47.578Z,1348532567.579 [DVL_micro](INFO): Querying output modes
2012-09-25T00:22:47.579Z,1348532567.579 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:22:49.583Z,1348532569.583 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:49.583Z,1348532569.583 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:22:49.583Z,1348532569.583 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:22:49.638Z,1348532569.638 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:40%. Temp:22 C. ABORTING MISSION
2012-09-25T00:22:51.587Z,1348532571.587 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:53.591Z,1348532573.591 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:22:53.591Z,1348532573.591 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:22:55.599Z,1348532575.599 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:22:55.599Z,1348532575.599 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-25T00:22:57.607Z,1348532577.607 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:57.607Z,1348532577.607 [DVL_micro](INFO): Enabling NQ1 output
2012-09-25T00:22:57.607Z,1348532577.607 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-25T00:22:59.610Z,1348532579.610 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:22:59.610Z,1348532579.611 [DVL_micro](INFO): Querying output modes
2012-09-25T00:22:59.611Z,1348532579.611 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:23:01.618Z,1348532581.618 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:23:01.619Z,1348532581.619 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:23:01.619Z,1348532581.619 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525