2012-09-25T00:24:50.071Z,1348532690.071 [Supervisor](DEBUG): Initializing supervisor.
2012-09-25T00:24:50.079Z,1348532690.079 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-09-25T00:24:50.079Z,1348532690.079 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-09-25T00:24:50.083Z,1348532690.082 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-09-25T00:24:50.086Z,1348532690.086 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-09-25T00:24:50.097Z,1348532690.097 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-09-25T00:24:50.098Z,1348532690.099 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-09-25T00:24:50.099Z,1348532690.099 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-09-25T00:24:50.100Z,1348532690.100 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-09-25T00:24:50.103Z,1348532690.103 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-09-25T00:24:50.414Z,1348532690.414 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-09-25T00:24:50.416Z,1348532690.416 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-09-25T00:24:50.614Z,1348532690.614 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-09-25T00:24:50.615Z,1348532690.615 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-09-25T00:24:50.710Z,1348532690.710 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-09-25T00:24:50.712Z,1348532690.712 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-09-25T00:24:50.931Z,1348532690.931 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-09-25T00:24:50.932Z,1348532690.932 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-09-25T00:24:51.079Z,1348532691.079 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-09-25T00:24:51.081Z,1348532691.081 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-09-25T00:24:51.343Z,1348532691.343 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-09-25T00:24:51.344Z,1348532691.344 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-09-25T00:24:51.531Z,1348532691.531 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-09-25T00:24:51.533Z,1348532691.533 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-09-25T00:24:51.816Z,1348532691.816 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-09-25T00:24:51.818Z,1348532691.818 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-09-25T00:24:51.931Z,1348532691.931 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-09-25T00:24:51.932Z,1348532691.932 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-09-25T00:24:52.392Z,1348532692.392 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-09-25T00:24:52.392Z,1348532692.392 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-09-25T00:24:52.520Z,1348532692.520 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-09-25T00:24:52.521Z,1348532692.521 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-09-25T00:24:52.624Z,1348532692.624 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-09-25T00:24:52.666Z,1348532692.666 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-09-25T00:24:52.778Z,1348532692.778 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-09-25T00:24:52.924Z,1348532692.924 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-09-25T00:24:53.018Z,1348532693.018 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-09-25T00:24:53.130Z,1348532693.130 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-09-25T00:24:53.240Z,1348532693.240 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-09-25T00:24:53.372Z,1348532693.372 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-09-25T00:24:53.470Z,1348532693.470 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-09-25T00:24:53.616Z,1348532693.616 [Supervisor](FAULT): Ignoring configuration overrides from Data/config.db
2012-09-25T00:24:53.653Z,1348532693.653 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-09-25T00:24:53.834Z,1348532693.834 [InternalSim] Loaded
2012-09-25T00:24:53.835Z,1348532693.835 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-09-25T00:24:53.835Z,1348532693.835 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-09-25T00:24:53.836Z,1348532693.836 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-09-25T00:24:53.918Z,1348532693.918 [SBIT](DEBUG): Construct Startup Built In Test.
2012-09-25T00:24:53.931Z,1348532693.931 [SBIT] Loaded
2012-09-25T00:24:53.931Z,1348532693.931 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-09-25T00:24:53.932Z,1348532693.932 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-09-25T00:24:53.963Z,1348532693.963 [IBIT] Loaded
2012-09-25T00:24:53.964Z,1348532693.964 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-09-25T00:24:53.971Z,1348532693.971 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-09-25T00:24:54.092Z,1348532694.092 [CBIT] Loaded
2012-09-25T00:24:54.092Z,1348532694.092 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-09-25T00:24:54.092Z,1348532694.092 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-09-25T00:24:54.093Z,1348532694.093 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-09-25T00:24:54.264Z,1348532694.264 [BuoyancyServo] Loaded
2012-09-25T00:24:54.265Z,1348532694.265 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-09-25T00:24:54.274Z,1348532694.274 [ElevatorServo] Loaded
2012-09-25T00:24:54.274Z,1348532694.274 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-09-25T00:24:54.285Z,1348532694.286 [MassServo] Loaded
2012-09-25T00:24:54.286Z,1348532694.286 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-09-25T00:24:54.301Z,1348532694.301 [RudderServo] Loaded
2012-09-25T00:24:54.302Z,1348532694.302 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-09-25T00:24:54.313Z,1348532694.313 [ThrusterServo] Loaded
2012-09-25T00:24:54.313Z,1348532694.313 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-09-25T00:24:54.314Z,1348532694.314 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-09-25T00:24:54.314Z,1348532694.314 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-09-25T00:24:54.351Z,1348532694.351 [DepthRateCalculator] Loaded
2012-09-25T00:24:54.351Z,1348532694.351 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-09-25T00:24:57.097Z,1348532697.097 [HFRadarModelCalc] Loaded
2012-09-25T00:24:57.097Z,1348532697.097 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-09-25T00:24:57.112Z,1348532697.112 [NavChart] Loaded
2012-09-25T00:24:57.113Z,1348532697.113 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-09-25T00:24:57.119Z,1348532697.119 [PitchRateCalculator] Loaded
2012-09-25T00:24:57.119Z,1348532697.119 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-09-25T00:24:57.125Z,1348532697.125 [SpeedCalculator] Loaded
2012-09-25T00:24:57.125Z,1348532697.125 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-09-25T00:24:57.140Z,1348532697.140 [TempGradientCalculator] Loaded
2012-09-25T00:24:57.140Z,1348532697.141 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-09-25T00:24:57.146Z,1348532697.146 [YawRateCalculator] Loaded
2012-09-25T00:24:57.146Z,1348532697.146 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-09-25T00:24:57.166Z,1348532697.166 [Navigation] Loaded
2012-09-25T00:24:57.166Z,1348532697.166 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-09-25T00:24:57.166Z,1348532697.166 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-09-25T00:24:57.167Z,1348532697.167 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-09-25T00:24:57.451Z,1348532697.451 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-09-25T00:24:57.451Z,1348532697.451 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-09-25T00:24:57.493Z,1348532697.493 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-09-25T00:24:57.493Z,1348532697.493 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-09-25T00:24:57.556Z,1348532697.556 [VerticalControl](DEBUG): Construct VerticalControl.
2012-09-25T00:24:57.604Z,1348532697.604 [VerticalControl] Loaded
2012-09-25T00:24:57.604Z,1348532697.604 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-09-25T00:24:57.605Z,1348532697.605 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-09-25T00:24:57.625Z,1348532697.625 [HorizontalControl] Loaded
2012-09-25T00:24:57.626Z,1348532697.626 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-09-25T00:24:57.631Z,1348532697.631 [SpeedControl](DEBUG): Construct SpeedControl.
2012-09-25T00:24:57.632Z,1348532697.632 [SpeedControl] Loaded
2012-09-25T00:24:57.633Z,1348532697.633 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-09-25T00:24:57.633Z,1348532697.634 [LoopControl](DEBUG): Construct LoopControl.
2012-09-25T00:24:57.634Z,1348532697.634 [LoopControl] Loaded
2012-09-25T00:24:57.634Z,1348532697.634 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-09-25T00:24:57.635Z,1348532697.635 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-09-25T00:24:57.636Z,1348532697.635 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-09-25T00:24:57.644Z,1348532697.644 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-09-25T00:24:57.649Z,1348532697.649 [AsyncPiEstimator] Loaded
2012-09-25T00:24:57.649Z,1348532697.649 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-09-25T00:24:57.655Z,1348532697.655 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4060A4E0
2012-09-25T00:24:57.655Z,1348532697.655 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-09-25T00:24:57.656Z,1348532697.656 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-09-25T00:24:57.879Z,1348532697.879 [AHRS_sp3003D] Loaded
2012-09-25T00:24:57.879Z,1348532697.879 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-09-25T00:24:57.893Z,1348532697.893 [Depth_Keller] Loaded
2012-09-25T00:24:57.893Z,1348532697.893 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-09-25T00:24:57.899Z,1348532697.898 [DropWeight] Loaded
2012-09-25T00:24:57.899Z,1348532697.899 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-09-25T00:24:58.024Z,1348532698.024 [DVL_micro] Loaded
2012-09-25T00:24:58.024Z,1348532698.024 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-09-25T00:24:58.026Z,1348532698.026 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 4068A4E0
2012-09-25T00:24:58.115Z,1348532698.115 [NAL9602] Loaded
2012-09-25T00:24:58.115Z,1348532698.115 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-09-25T00:24:58.167Z,1348532698.167 [Onboard] Loaded
2012-09-25T00:24:58.167Z,1348532698.167 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-09-25T00:24:58.174Z,1348532698.174 [Radio_Freewave] Loaded
2012-09-25T00:24:58.174Z,1348532698.174 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-09-25T00:24:58.175Z,1348532698.175 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-09-25T00:24:58.176Z,1348532698.176 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-09-25T00:24:58.279Z,1348532698.279 [CTD_NeilBrown] Loaded
2012-09-25T00:24:58.280Z,1348532698.280 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-09-25T00:24:58.282Z,1348532698.283 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406E24E0
2012-09-25T00:24:58.293Z,1348532698.293 [PAR_Licor] Loaded
2012-09-25T00:24:58.293Z,1348532698.293 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-09-25T00:24:58.313Z,1348532698.313 [Turbulence_NPS] Loaded
2012-09-25T00:24:58.314Z,1348532698.314 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-09-25T00:24:58.319Z,1348532698.319 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2012-09-25T00:24:58.352Z,1348532698.352 [WetLabsBB2FL] Loaded
2012-09-25T00:24:58.352Z,1348532698.352 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-09-25T00:24:58.354Z,1348532698.355 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2012-09-25T00:24:58.355Z,1348532698.355 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-09-25T00:24:58.357Z,1348532698.358 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-09-25T00:24:58.358Z,1348532698.358 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-09-25T00:24:58.364Z,1348532698.364 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-09-25T00:24:58.367Z,1348532698.367 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2012-09-25T00:24:58.371Z,1348532698.371 [Supervisor](DEBUG): Running supervisor.
2012-09-25T00:24:58.372Z,1348532698.372 [CommandLine](INFO): Thread ID is 749
2012-09-25T00:24:58.375Z,1348532698.375 [controlThread](INFO): Thread ID is 748
2012-09-25T00:24:58.375Z,1348532698.375 [controlThread](DEBUG): Initializing ControlThread
2012-09-25T00:24:58.376Z,1348532698.376 [CycleStarter](INFO): Thread ID is 747
2012-09-25T00:24:58.377Z,1348532698.376 [InternalSim](DEBUG):  InternalSim initializing...
2012-09-25T00:24:58.481Z,1348532698.481 [AsyncPiEstimator](INFO): Thread ID is 810
2012-09-25T00:24:58.481Z,1348532698.481 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-09-25T00:24:58.549Z,1348532698.549 [DVL_micro](INFO): Thread ID is 811
2012-09-25T00:24:58.634Z,1348532698.634 [CTD_NeilBrown](INFO): Thread ID is 812
2012-09-25T00:24:58.634Z,1348532698.634 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-09-25T00:24:58.643Z,1348532698.643 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-09-25T00:24:58.682Z,1348532698.682 [DVL_micro](INFO): Initializing
2012-09-25T00:24:58.682Z,1348532698.682 [DVL_micro](INFO): start:Powering up
2012-09-25T00:24:58.683Z,1348532698.683 [Turbulence_NPS](INFO): Thread ID is 813
2012-09-25T00:24:58.683Z,1348532698.683 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-09-25T00:24:58.691Z,1348532698.691 [SBIT](INFO): Initialize SBIT Component.
2012-09-25T00:24:58.692Z,1348532698.692 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9883
2012-09-25T00:24:58.692Z,1348532698.692 [IBIT](INFO): Initialize IBIT Component.
2012-09-25T00:24:58.693Z,1348532698.693 [CBIT](DEBUG): Initialize CBIT Component.
2012-09-25T00:24:58.693Z,1348532698.693 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-09-25T00:24:58.693Z,1348532698.694 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2012-09-25T00:24:58.695Z,1348532698.695 [WetLabsBB2FL](INFO): Thread ID is 814
2012-09-25T00:24:58.696Z,1348532698.696 [WetLabsBB2FL](INFO): Powering down
2012-09-25T00:24:58.711Z,1348532698.711 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:24:58.711Z,1348532698.711 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:24:58.724Z,1348532698.724 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-09-25T00:24:58.725Z,1348532698.725 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-09-25T00:24:58.725Z,1348532698.725 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-09-25T00:24:58.725Z,1348532698.725 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-09-25T00:24:58.726Z,1348532698.726 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-09-25T00:24:58.728Z,1348532698.728 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-09-25T00:24:58.728Z,1348532698.728 [Navigation](DEBUG): Initializing Navigation.
2012-09-25T00:24:58.728Z,1348532698.728 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-09-25T00:24:58.730Z,1348532698.730 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-09-25T00:24:58.731Z,1348532698.731 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-09-25T00:24:58.732Z,1348532698.732 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-09-25T00:24:58.737Z,1348532698.737 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-09-25T00:24:58.748Z,1348532698.748 [NavChartDb](INFO): Thread ID is 815
2012-09-25T00:24:58.788Z,1348532698.788 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-25T00:24:58.807Z,1348532698.807 [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>


2012-09-25T00:24:58.807Z,1348532698.807 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-09-25T00:24:59.033Z,1348532699.033 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-09-25T00:24:59.035Z,1348532699.035 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-09-25T00:24:59.038Z,1348532699.039 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-25T00:24:59.055Z,1348532699.055 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-09-25T00:24:59.058Z,1348532699.058 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-25T00:24:59.064Z,1348532699.064 [Default:Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-09-25T00:24:59.073Z,1348532699.073 [Default:D.SetSpeed](DEBUG): Construct.
2012-09-25T00:24:59.076Z,1348532699.076 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-09-25T00:24:59.081Z,1348532699.081 [Default:F.Wait](DEBUG): Construct Wait.
2012-09-25T00:24:59.085Z,1348532699.085 [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>


2012-09-25T00:24:59.089Z,1348532699.089 [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,
2012-09-25T00:24:59.111Z,1348532699.111 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-25T00:24:59.341Z,1348532699.341 [Radio_Freewave](INFO): Powering up
2012-09-25T00:24:59.519Z,1348532699.519 [PAR_Licor](INFO): A/D timeout, 2 tries over 164 ms

2012-09-25T00:24:59.519Z,1348532699.519 [PAR_Licor] Data Fault, FailCount= 1
2012-09-25T00:24:59.519Z,1348532699.519 [PAR_Licor](ERROR): Data Fault
2012-09-25T00:24:59.599Z,1348532699.599 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-09-25T00:24:59.603Z,1348532699.603 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-09-25T00:24:59.609Z,1348532699.609 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-09-25T00:24:59.615Z,1348532699.615 [MassServo](DEBUG): Initializing MassServo.
2012-09-25T00:24:59.620Z,1348532699.620 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-25T00:24:59.623Z,1348532699.623 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-25T00:24:59.628Z,1348532699.628 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-09-25T00:24:59.629Z,1348532699.629 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-09-25T00:24:59.648Z,1348532699.648 [CBIT](FAULT): Main Battery Failure. Count: 1
2012-09-25T00:24:59.649Z,1348532699.649 [CBIT](ERROR): Data Fault in component: PAR_Licor
2012-09-25T00:24:59.649Z,1348532699.649 [CBIT](INFO): Clearing failed state for component PAR_Licor
2012-09-25T00:24:59.649Z,1348532699.649 [PAR_Licor] No Fault, FailCount= 1
2012-09-25T00:25:00.795Z,1348532700.795 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:25:00.795Z,1348532700.795 [DVL_micro](INFO): Querying output modes
2012-09-25T00:25:00.796Z,1348532700.796 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:25:02.071Z,1348532702.071 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-25T00:25:02.071Z,1348532702.071 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-25T00:25:02.071Z,1348532702.071 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-09-25T00:25:02.071Z,1348532702.071 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-25T00:25:02.357Z,1348532702.357 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-25T00:25:02.488Z,1348532702.488 [AHRS_sp3003D](INFO): Powering down
2012-09-25T00:25:02.637Z,1348532702.638 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-25T00:25:02.638Z,1348532702.638 [AHRS_sp3003D] No Fault, FailCount= 1
2012-09-25T00:25:02.799Z,1348532702.799 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:02.799Z,1348532702.799 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:25:02.799Z,1348532702.799 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:25:03.225Z,1348532703.225 [NAL9602](INFO): Powering up NAL9602
2012-09-25T00:25:03.617Z,1348532703.617 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-25T00:25:04.734Z,1348532704.734 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-25T00:25:04.735Z,1348532704.735 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-25T00:25:04.735Z,1348532704.735 [AHRS_sp3003D] Hardware Fault, FailCount= 2
2012-09-25T00:25:04.735Z,1348532704.735 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-25T00:25:04.803Z,1348532704.803 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:04.809Z,1348532704.809 [DVL_micro](INFO): pause:Powering down
2012-09-25T00:25:04.815Z,1348532704.815 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:25:04.818Z,1348532704.818 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:25:04.823Z,1348532704.823 [DVL_micro](INFO): resume:Powering up
2012-09-25T00:25:04.823Z,1348532704.823 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:25:04.840Z,1348532704.839 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-25T00:25:04.906Z,1348532704.906 [AHRS_sp3003D](INFO): Powering down
2012-09-25T00:25:05.247Z,1348532705.247 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-25T00:25:05.247Z,1348532705.247 [AHRS_sp3003D] No Fault, FailCount= 2
2012-09-25T00:25:06.117Z,1348532706.117 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-25T00:25:06.763Z,1348532706.763 [RudderServo](FAULT): Overload Error
2012-09-25T00:25:06.763Z,1348532706.763 [RudderServo] Hardware Fault, FailCount= 1
2012-09-25T00:25:06.763Z,1348532706.763 [RudderServo](ERROR): Hardware Fault
2012-09-25T00:25:06.833Z,1348532706.833 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-25T00:25:06.843Z,1348532706.843 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:25:06.843Z,1348532706.843 [DVL_micro](INFO): Querying output modes
2012-09-25T00:25:06.843Z,1348532706.843 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:25:07.255Z,1348532707.255 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-25T00:25:07.255Z,1348532707.255 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-25T00:25:07.255Z,1348532707.255 [AHRS_sp3003D] Hardware Fault, FailCount= 3
2012-09-25T00:25:07.255Z,1348532707.255 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-25T00:25:07.354Z,1348532707.354 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-25T00:25:07.354Z,1348532707.354 [RudderServo](INFO): Powering down
2012-09-25T00:25:07.380Z,1348532707.379 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-25T00:25:07.380Z,1348532707.380 [RudderServo] No Fault, FailCount= 1
2012-09-25T00:25:07.380Z,1348532707.380 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-25T00:25:07.436Z,1348532707.436 [AHRS_sp3003D](INFO): Powering down
2012-09-25T00:25:07.637Z,1348532707.637 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-25T00:25:07.637Z,1348532707.637 [AHRS_sp3003D] No Fault, FailCount= 3
2012-09-25T00:25:07.710Z,1348532707.710 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-09-25T00:25:07.814Z,1348532707.814 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-09-25T00:25:07.993Z,1348532707.993 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-25T00:25:08.022Z,1348532708.022 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-09-25T00:25:08.119Z,1348532708.119 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-25T00:25:08.119Z,1348532708.119 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-25T00:25:08.149Z,1348532708.149 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-09-25T00:25:08.287Z,1348532708.287 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-09-25T00:25:08.288Z,1348532708.288 [NavChartDb](INFO): Creating index for Soundings
2012-09-25T00:25:08.424Z,1348532708.424 [NavChartDb](INFO): Creating index for Contour 0p0
2012-09-25T00:25:08.428Z,1348532708.428 [NavChartDb](INFO): Creating index for Contour 1p8
2012-09-25T00:25:08.430Z,1348532708.430 [NavChartDb](INFO): Creating index for Contour 3p6
2012-09-25T00:25:08.496Z,1348532708.496 [NavChartDb](INFO): Creating index for Contour 5p4
2012-09-25T00:25:08.498Z,1348532708.498 [NavChartDb](INFO): Creating index for Contour 9p1
2012-09-25T00:25:08.562Z,1348532708.562 [NavChartDb](INFO): Creating index for Contour 10p9
2012-09-25T00:25:08.622Z,1348532708.622 [NavChartDb](INFO): Creating index for Contour 18p2
2012-09-25T00:25:08.682Z,1348532708.681 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-25T00:25:08.718Z,1348532708.718 [NavChartDb](INFO): Creating index for Contour 36p5
2012-09-25T00:25:08.847Z,1348532708.847 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:08.847Z,1348532708.847 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:25:08.847Z,1348532708.847 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:25:09.024Z,1348532709.024 [NavChartDb](INFO): Creating index for Contour 54p8
2012-09-25T00:25:09.307Z,1348532709.307 [NavChartDb](INFO): Creating index for Contour 73p1
2012-09-25T00:25:09.309Z,1348532709.309 [NavChartDb](INFO): Creating index for Contour 91p4
2012-09-25T00:25:09.361Z,1348532709.361 [NavChartDb](INFO): Creating index for Contour 182p8
2012-09-25T00:25:09.422Z,1348532709.422 [NavChartDb](INFO): Creating index for Contour 365p7
2012-09-25T00:25:09.568Z,1348532709.568 [NavChartDb](INFO): Creating index for Contour 548p6
2012-09-25T00:25:09.570Z,1348532709.570 [NavChartDb](INFO): Creating index for Contour 731p5
2012-09-25T00:25:09.687Z,1348532709.687 [NavChartDb](INFO): Creating index for Contour 914p4
2012-09-25T00:25:09.689Z,1348532709.689 [NavChartDb](INFO): Creating index for Contour 1097p2
2012-09-25T00:25:09.691Z,1348532709.691 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-25T00:25:09.691Z,1348532709.691 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xA409A0
2012-09-25T00:25:09.691Z,1348532709.691 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-25T00:25:09.691Z,1348532709.691 [AHRS_sp3003D] Hardware Fault, FailCount= 4
2012-09-25T00:25:09.691Z,1348532709.691 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-25T00:25:09.781Z,1348532709.781 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-25T00:25:09.961Z,1348532709.961 [AHRS_sp3003D](INFO): Powering down
2012-09-25T00:25:09.985Z,1348532709.985 [NavChartDb](INFO): Creating index for Contour 1280p1
2012-09-25T00:25:10.038Z,1348532710.038 [NavChartDb](INFO): Creating index for Contour 1463p0
2012-09-25T00:25:10.134Z,1348532710.134 [NavChartDb](INFO): Creating index for Contour 1645p9
2012-09-25T00:25:10.161Z,1348532710.161 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-09-25T00:25:10.161Z,1348532710.161 [AHRS_sp3003D] No Fault, FailCount= 4
2012-09-25T00:25:10.414Z,1348532710.414 [NavChartDb](INFO): Creating index for Contour 1828p8
2012-09-25T00:25:10.481Z,1348532710.481 [NavChartDb](INFO): Creating index for Contour 2011p6
2012-09-25T00:25:10.574Z,1348532710.574 [NavChartDb](INFO): Creating index for Contour 2194p5
2012-09-25T00:25:10.693Z,1348532710.693 [NavChartDb](INFO): Creating index for Contour 2377p4
2012-09-25T00:25:10.831Z,1348532710.831 [NavChartDb](INFO): Creating index for Contour 2560p3
2012-09-25T00:25:10.833Z,1348532710.833 [NavChartDb](INFO): Creating index for Contour 2743p2
2012-09-25T00:25:10.851Z,1348532710.851 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:10.854Z,1348532710.854 [DVL_micro](INFO): pause:Powering down
2012-09-25T00:25:11.078Z,1348532711.078 [NavChartDb](INFO): Creating index for Contour 2926p0
2012-09-25T00:25:11.117Z,1348532711.117 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-09-25T00:25:11.137Z,1348532711.137 [NavChartDb](INFO): Creating index for Contour 3108p9
2012-09-25T00:25:11.479Z,1348532711.479 [NavChartDb](INFO): Creating index for Contour 3291p8
2012-09-25T00:25:11.481Z,1348532711.481 [NavChartDb](INFO): Creating index for Contour 3474p7
2012-09-25T00:25:11.584Z,1348532711.584 [NavChartDb](INFO): Creating index for Contour 3657p6
2012-09-25T00:25:12.003Z,1348532712.003 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-09-25T00:25:12.003Z,1348532712.003 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xA409A0
2012-09-25T00:25:12.003Z,1348532712.003 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-09-25T00:25:12.003Z,1348532712.003 [AHRS_sp3003D] Hardware Fault, FailCount= 5
2012-09-25T00:25:12.003Z,1348532712.003 [AHRS_sp3003D](ERROR): Hardware Fault
2012-09-25T00:25:12.072Z,1348532712.072 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:25:12.072Z,1348532712.072 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:25:12.072Z,1348532712.072 [DVL_micro](INFO): resume:Powering up
2012-09-25T00:25:12.073Z,1348532712.073 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:25:12.082Z,1348532712.082 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-09-25T00:25:12.083Z,1348532712.083 [CBIT](CRITICAL): Hardware Fault in component: AHRS_sp3003D
2012-09-25T00:25:12.317Z,1348532712.318 [AHRS_sp3003D](INFO): Powering down
2012-09-25T00:25:12.780Z,1348532712.780 [RudderServo](FAULT): Overload Error
2012-09-25T00:25:12.780Z,1348532712.780 [RudderServo] Hardware Fault, FailCount= 2
2012-09-25T00:25:12.780Z,1348532712.780 [RudderServo](ERROR): Hardware Fault
2012-09-25T00:25:12.806Z,1348532712.806 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-25T00:25:13.231Z,1348532713.231 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-25T00:25:13.231Z,1348532713.231 [RudderServo](INFO): Powering down
2012-09-25T00:25:13.234Z,1348532713.234 [CBIT](INFO): Clearing failed state for component RudderServo
2012-09-25T00:25:13.235Z,1348532713.234 [RudderServo] No Fault, FailCount= 2
2012-09-25T00:25:13.943Z,1348532713.943 [NAL9602](INFO): NAL9602 initialized
2012-09-25T00:25:14.007Z,1348532714.007 [RudderServo](DEBUG): Initializing EZServoServo.
2012-09-25T00:25:14.079Z,1348532714.079 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:25:14.079Z,1348532714.079 [DVL_micro](INFO): Querying output modes
2012-09-25T00:25:14.079Z,1348532714.079 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:25:14.128Z,1348532714.128 [RudderServo](DEBUG): Initialization error opening port: port not yet opened
2012-09-25T00:25:14.128Z,1348532714.128 [RudderServo](DEBUG): Initializing RudderServo.
2012-09-25T00:25:14.381Z,1348532714.381 [SBIT](IMPORTANT): Beginning Startup BIT
2012-09-25T00:25:14.384Z,1348532714.384 [CBIT](IMPORTANT): Beginning GF scan
2012-09-25T00:25:15.548Z,1348532715.548 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:41%. Temp:22 C. ABORTING MISSION
2012-09-25T00:25:16.083Z,1348532716.082 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:16.083Z,1348532716.083 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:25:16.083Z,1348532716.083 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:25:18.086Z,1348532718.086 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:18.088Z,1348532718.088 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:25:18.088Z,1348532718.088 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:25:18.771Z,1348532718.771 [RudderServo](FAULT): Overload Error
2012-09-25T00:25:18.771Z,1348532718.771 [RudderServo] Hardware Fault, FailCount= 3
2012-09-25T00:25:18.771Z,1348532718.771 [RudderServo](ERROR): Hardware Fault
2012-09-25T00:25:18.802Z,1348532718.802 [CBIT](ERROR): Hardware Fault in component: RudderServo
2012-09-25T00:25:18.802Z,1348532718.802 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2012-09-25T00:25:19.144Z,1348532719.144 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-09-25T00:25:19.144Z,1348532719.144 [RudderServo](INFO): Powering down
2012-09-25T00:25:20.095Z,1348532720.095 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:25:20.095Z,1348532720.095 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-25T00:25:22.098Z,1348532722.099 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:22.099Z,1348532722.099 [DVL_micro](INFO): Enabling NQ1 output
2012-09-25T00:25:22.099Z,1348532722.099 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-25T00:25:24.102Z,1348532724.102 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:24.103Z,1348532724.103 [DVL_micro](INFO): Querying output modes
2012-09-25T00:25:24.103Z,1348532724.103 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:25:26.106Z,1348532726.106 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:26.107Z,1348532726.107 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:25:26.107Z,1348532726.107 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:25:28.111Z,1348532728.111 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:30.115Z,1348532730.115 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:25:30.115Z,1348532730.115 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:25:32.123Z,1348532732.123 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:25:32.123Z,1348532732.123 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-25T00:25:34.126Z,1348532734.126 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:34.127Z,1348532734.127 [DVL_micro](INFO): Enabling NQ1 output
2012-09-25T00:25:34.127Z,1348532734.127 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-25T00:25:36.131Z,1348532736.131 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:36.131Z,1348532736.131 [DVL_micro](INFO): Querying output modes
2012-09-25T00:25:36.131Z,1348532736.131 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:25:38.134Z,1348532738.135 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:38.135Z,1348532738.135 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:25:38.135Z,1348532738.135 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:25:40.139Z,1348532740.138 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:40.743Z,1348532740.743 [CBIT](IMPORTANT): No ground fault detected
2012-09-25T00:25:42.143Z,1348532742.143 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:25:42.143Z,1348532742.143 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:25:44.153Z,1348532744.153 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:25:44.154Z,1348532744.154 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-25T00:25:46.154Z,1348532746.155 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:46.155Z,1348532746.155 [DVL_micro](INFO): Enabling NQ1 output
2012-09-25T00:25:46.155Z,1348532746.155 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-25T00:25:48.159Z,1348532748.158 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:48.159Z,1348532748.159 [DVL_micro](INFO): Querying output modes
2012-09-25T00:25:48.159Z,1348532748.159 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:25:50.162Z,1348532750.162 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:50.163Z,1348532750.163 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:25:50.163Z,1348532750.163 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:25:52.167Z,1348532752.167 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:54.171Z,1348532754.171 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:25:54.171Z,1348532754.171 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:25:56.179Z,1348532756.179 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:25:56.179Z,1348532756.179 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-25T00:25:58.183Z,1348532758.182 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:25:58.183Z,1348532758.183 [DVL_micro](INFO): Enabling NQ1 output
2012-09-25T00:25:58.183Z,1348532758.183 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-25T00:26:00.186Z,1348532760.187 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:00.187Z,1348532760.187 [DVL_micro](INFO): Querying output modes
2012-09-25T00:26:00.187Z,1348532760.187 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:26:02.191Z,1348532762.191 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:02.191Z,1348532762.191 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:26:02.191Z,1348532762.191 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:26:04.194Z,1348532764.194 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:06.199Z,1348532766.199 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:26:06.199Z,1348532766.199 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:26:07.836Z,1348532767.836 [SBIT](IMPORTANT): SBIT PASSED
2012-09-25T00:26:08.207Z,1348532768.207 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:26:08.207Z,1348532768.207 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-25T00:26:08.237Z,1348532768.237 [MissionManager](IMPORTANT): Started mission Startup
2012-09-25T00:26:08.237Z,1348532768.237 [Startup] Running Loop=1
2012-09-25T00:26:08.237Z,1348532768.237 [Startup](INFO): Aggregate::initialize Startup
2012-09-25T00:26:08.237Z,1348532768.237 [Startup:A.GoToSurface] Running Loop=1
2012-09-25T00:26:08.237Z,1348532768.237 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-09-25T00:26:08.243Z,1348532768.243 [Startup:StartupSatComms] Running Loop=1
2012-09-25T00:26:08.243Z,1348532768.243 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-09-25T00:26:08.243Z,1348532768.243 [Startup:StartupSatComms:A] Running Loop=1
2012-09-25T00:26:08.625Z,1348532768.625 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2012-09-25T00:26:10.211Z,1348532770.211 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:10.211Z,1348532770.211 [DVL_micro](INFO): Enabling NQ1 output
2012-09-25T00:26:10.211Z,1348532770.211 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-25T00:26:12.215Z,1348532772.215 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:12.215Z,1348532772.215 [DVL_micro](INFO): Querying output modes
2012-09-25T00:26:12.215Z,1348532772.215 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:26:14.219Z,1348532774.219 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:14.219Z,1348532774.219 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:26:14.219Z,1348532774.219 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:26:16.222Z,1348532776.223 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:18.227Z,1348532778.227 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:26:18.227Z,1348532778.227 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:26:20.235Z,1348532780.235 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:26:20.235Z,1348532780.235 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-25T00:26:22.238Z,1348532782.239 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:22.239Z,1348532782.239 [DVL_micro](INFO): Enabling NQ1 output
2012-09-25T00:26:22.239Z,1348532782.239 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-25T00:26:24.243Z,1348532784.243 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:24.243Z,1348532784.243 [DVL_micro](INFO): Querying output modes
2012-09-25T00:26:24.243Z,1348532784.243 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:26:26.247Z,1348532786.247 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:26.247Z,1348532786.247 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:26:26.247Z,1348532786.247 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-09-25T00:26:28.250Z,1348532788.250 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:30.255Z,1348532790.255 [DVL_micro](INFO): NQ1 requested
2012-09-25T00:26:30.255Z,1348532790.255 [DVL_micro](INFO): Cycling power to configure device.
2012-09-25T00:26:32.263Z,1348532792.263 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-09-25T00:26:32.263Z,1348532792.263 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2012-09-25T00:26:34.266Z,1348532794.266 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:34.267Z,1348532794.267 [DVL_micro](INFO): Enabling NQ1 output
2012-09-25T00:26:34.267Z,1348532794.267 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2012-09-25T00:26:36.271Z,1348532796.270 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:36.271Z,1348532796.271 [DVL_micro](INFO): Querying output modes
2012-09-25T00:26:36.271Z,1348532796.271 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-09-25T00:26:38.275Z,1348532798.274 [DVL_micro](DEBUG): cmdResponse: 
2012-09-25T00:26:38.275Z,1348532798.275 [DVL_micro](INFO): Output Modes: No Response
2012-09-25T00:26:38.275Z,1348532798.275 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525