2012-10-03T17:16:24.402Z,1349284584.402 [Supervisor](DEBUG): Initializing supervisor.
2012-10-03T17:16:24.413Z,1349284584.413 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-03T17:16:24.414Z,1349284584.414 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-03T17:16:24.419Z,1349284584.419 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-03T17:16:24.423Z,1349284584.423 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-03T17:16:24.433Z,1349284584.433 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-03T17:16:24.459Z,1349284584.459 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-03T17:16:24.460Z,1349284584.460 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-03T17:16:24.460Z,1349284584.460 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-03T17:16:24.463Z,1349284584.464 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-03T17:16:24.850Z,1349284584.850 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-03T17:16:24.859Z,1349284584.859 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-03T17:16:25.150Z,1349284585.150 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-03T17:16:25.151Z,1349284585.151 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-03T17:16:25.294Z,1349284585.294 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-03T17:16:25.296Z,1349284585.296 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-03T17:16:25.560Z,1349284585.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-03T17:16:25.561Z,1349284585.561 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-03T17:16:25.750Z,1349284585.750 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-03T17:16:26.899Z,1349284586.899 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-03T17:16:27.807Z,1349284587.807 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-03T17:16:27.807Z,1349284587.807 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-03T17:16:28.040Z,1349284588.040 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-03T17:16:28.058Z,1349284588.058 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-03T17:16:28.446Z,1349284588.446 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-03T17:16:28.451Z,1349284588.451 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-03T17:16:28.686Z,1349284588.686 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-03T17:16:28.686Z,1349284588.686 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-03T17:16:29.269Z,1349284589.269 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-03T17:16:29.270Z,1349284589.270 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-03T17:16:29.412Z,1349284589.412 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-03T17:16:29.413Z,1349284589.413 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-03T17:16:29.525Z,1349284589.525 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-03T17:16:29.587Z,1349284589.588 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-03T17:16:29.736Z,1349284589.736 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-03T17:16:29.912Z,1349284589.912 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-03T17:16:30.052Z,1349284590.052 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-03T17:16:30.201Z,1349284590.201 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-03T17:16:30.373Z,1349284590.373 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-03T17:16:30.635Z,1349284590.635 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-03T17:16:30.790Z,1349284590.790 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-03T17:16:32.870Z,1349284592.870 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-03T17:16:32.924Z,1349284592.924 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-03T17:16:33.159Z,1349284593.159 [InternalSim] Loaded
2012-10-03T17:16:33.159Z,1349284593.159 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-03T17:16:33.160Z,1349284593.160 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-03T17:16:33.161Z,1349284593.161 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-03T17:16:33.298Z,1349284593.297 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-03T17:16:33.314Z,1349284593.314 [SBIT] Loaded
2012-10-03T17:16:33.314Z,1349284593.314 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-03T17:16:33.315Z,1349284593.315 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-03T17:16:33.387Z,1349284593.387 [IBIT] Loaded
2012-10-03T17:16:33.387Z,1349284593.387 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-03T17:16:33.391Z,1349284593.391 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-03T17:16:33.561Z,1349284593.561 [CBIT] Loaded
2012-10-03T17:16:33.562Z,1349284593.562 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-03T17:16:33.562Z,1349284593.562 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-03T17:16:33.563Z,1349284593.563 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-03T17:16:33.777Z,1349284593.777 [BuoyancyServo] Loaded
2012-10-03T17:16:33.777Z,1349284593.777 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-03T17:16:33.788Z,1349284593.788 [ElevatorServo] Loaded
2012-10-03T17:16:33.789Z,1349284593.789 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-03T17:16:33.807Z,1349284593.807 [MassServo] Loaded
2012-10-03T17:16:33.807Z,1349284593.807 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2012-10-03T17:16:33.822Z,1349284593.822 [RudderServo] Loaded
2012-10-03T17:16:33.822Z,1349284593.822 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-03T17:16:33.834Z,1349284593.834 [ThrusterServo] Loaded
2012-10-03T17:16:33.834Z,1349284593.834 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-03T17:16:33.841Z,1349284593.841 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-03T17:16:33.842Z,1349284593.842 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-03T17:16:33.881Z,1349284593.881 [DepthRateCalculator] Loaded
2012-10-03T17:16:33.881Z,1349284593.881 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-03T17:16:40.450Z,1349284600.450 [HFRadarModelCalc] Loaded
2012-10-03T17:16:40.450Z,1349284600.450 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-03T17:16:40.466Z,1349284600.466 [NavChart] Loaded
2012-10-03T17:16:40.466Z,1349284600.466 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-03T17:16:40.477Z,1349284600.477 [PitchRateCalculator] Loaded
2012-10-03T17:16:40.477Z,1349284600.477 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-03T17:16:40.483Z,1349284600.483 [SpeedCalculator] Loaded
2012-10-03T17:16:40.483Z,1349284600.483 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-03T17:16:40.498Z,1349284600.498 [TempGradientCalculator] Loaded
2012-10-03T17:16:40.498Z,1349284600.498 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-03T17:16:40.504Z,1349284600.504 [YawRateCalculator] Loaded
2012-10-03T17:16:40.504Z,1349284600.504 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-03T17:16:40.528Z,1349284600.528 [Navigation] Loaded
2012-10-03T17:16:40.528Z,1349284600.528 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-03T17:16:40.529Z,1349284600.529 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-03T17:16:40.529Z,1349284600.529 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-03T17:16:40.829Z,1349284600.829 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-03T17:16:40.830Z,1349284600.829 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-03T17:16:40.877Z,1349284600.876 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-03T17:16:40.877Z,1349284600.877 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-03T17:16:40.945Z,1349284600.945 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-03T17:16:40.988Z,1349284600.988 [VerticalControl] Loaded
2012-10-03T17:16:40.988Z,1349284600.988 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-03T17:16:40.989Z,1349284600.989 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-03T17:16:41.009Z,1349284601.009 [HorizontalControl] Loaded
2012-10-03T17:16:41.009Z,1349284601.009 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-03T17:16:41.010Z,1349284601.010 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-03T17:16:41.012Z,1349284601.012 [SpeedControl] Loaded
2012-10-03T17:16:41.012Z,1349284601.012 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-03T17:16:41.013Z,1349284601.013 [LoopControl](DEBUG): Construct LoopControl.
2012-10-03T17:16:41.014Z,1349284601.014 [LoopControl] Loaded
2012-10-03T17:16:41.014Z,1349284601.014 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-03T17:16:41.014Z,1349284601.014 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-03T17:16:41.015Z,1349284601.015 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-03T17:16:41.024Z,1349284601.024 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-03T17:16:41.029Z,1349284601.029 [AsyncPiEstimator] Loaded
2012-10-03T17:16:41.029Z,1349284601.029 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-03T17:16:41.031Z,1349284601.031 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406714E0
2012-10-03T17:16:41.031Z,1349284601.031 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-03T17:16:41.032Z,1349284601.032 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-03T17:16:41.216Z,1349284601.216 [AHRS_sp3003D] Loaded
2012-10-03T17:16:41.217Z,1349284601.217 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-03T17:16:41.231Z,1349284601.231 [Depth_Keller] Loaded
2012-10-03T17:16:41.231Z,1349284601.231 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-03T17:16:41.241Z,1349284601.241 [DropWeight] Loaded
2012-10-03T17:16:41.241Z,1349284601.241 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-03T17:16:41.370Z,1349284601.370 [DVL_micro] Loaded
2012-10-03T17:16:41.371Z,1349284601.371 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-03T17:16:41.375Z,1349284601.375 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F14E0
2012-10-03T17:16:41.467Z,1349284601.467 [NAL9602] Loaded
2012-10-03T17:16:41.467Z,1349284601.467 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-03T17:16:41.522Z,1349284601.522 [Onboard] Loaded
2012-10-03T17:16:41.523Z,1349284601.523 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-03T17:16:41.534Z,1349284601.534 [Radio_Freewave] Loaded
2012-10-03T17:16:41.534Z,1349284601.534 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-03T17:16:41.535Z,1349284601.535 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-03T17:16:41.536Z,1349284601.536 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-03T17:16:41.641Z,1349284601.641 [CTD_NeilBrown] Loaded
2012-10-03T17:16:41.641Z,1349284601.641 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-03T17:16:41.643Z,1349284601.643 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407494E0
2012-10-03T17:16:41.653Z,1349284601.653 [PAR_Licor] Loaded
2012-10-03T17:16:41.653Z,1349284601.653 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-03T17:16:41.670Z,1349284601.670 [Turbulence_NPS] Loaded
2012-10-03T17:16:41.670Z,1349284601.670 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-03T17:16:41.675Z,1349284601.675 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2012-10-03T17:16:41.705Z,1349284601.705 [WetLabsBB2FL] Loaded
2012-10-03T17:16:41.705Z,1349284601.705 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-03T17:16:41.707Z,1349284601.707 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407A94E0
2012-10-03T17:16:41.707Z,1349284601.707 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-03T17:16:41.710Z,1349284601.710 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-03T17:16:41.711Z,1349284601.711 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-03T17:16:41.720Z,1349284601.720 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-03T17:16:41.723Z,1349284601.723 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407D94E0
2012-10-03T17:16:41.727Z,1349284601.727 [Supervisor](DEBUG): Running supervisor.
2012-10-03T17:16:41.728Z,1349284601.728 [CommandLine](INFO): Thread ID is 754
2012-10-03T17:16:41.732Z,1349284601.731 [controlThread](INFO): Thread ID is 753
2012-10-03T17:16:41.732Z,1349284601.732 [controlThread](DEBUG): Initializing ControlThread
2012-10-03T17:16:41.732Z,1349284601.732 [CycleStarter](INFO): Thread ID is 752
2012-10-03T17:16:41.733Z,1349284601.733 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-03T17:16:41.837Z,1349284601.837 [AsyncPiEstimator](INFO): Thread ID is 820
2012-10-03T17:16:41.838Z,1349284601.838 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-03T17:16:41.910Z,1349284601.910 [DVL_micro](INFO): Thread ID is 821
2012-10-03T17:16:41.000Z,1349284602.000 [CTD_NeilBrown](INFO): Thread ID is 822
2012-10-03T17:16:42.000Z,1349284602.000 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-03T17:16:42.007Z,1349284602.007 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-03T17:16:42.040Z,1349284602.039 [Turbulence_NPS](INFO): Thread ID is 823
2012-10-03T17:16:42.040Z,1349284602.040 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-03T17:16:42.041Z,1349284602.041 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-03T17:16:42.052Z,1349284602.052 [WetLabsBB2FL](INFO): Thread ID is 824
2012-10-03T17:16:42.052Z,1349284602.052 [WetLabsBB2FL](INFO): Powering down
2012-10-03T17:16:42.067Z,1349284602.067 [DVL_micro](INFO): Initializing
2012-10-03T17:16:42.068Z,1349284602.068 [DVL_micro](INFO): start:Powering up
2012-10-03T17:16:42.068Z,1349284602.068 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T17:16:42.069Z,1349284602.069 [DVL_micro](INFO): Cycling power to configure device.
2012-10-03T17:16:42.078Z,1349284602.078 [SBIT](INFO): Initialize SBIT Component.
2012-10-03T17:16:42.088Z,1349284602.088 [NavChartDb](INFO): Thread ID is 825
2012-10-03T17:16:42.078Z,1349284602.078 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9922
2012-10-03T17:16:42.091Z,1349284602.092 [IBIT](INFO): Initialize IBIT Component.
2012-10-03T17:16:42.094Z,1349284602.094 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-03T17:16:42.096Z,1349284602.096 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-03T17:16:42.096Z,1349284602.096 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-03T17:16:42.156Z,1349284602.156 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-03T17:16:42.157Z,1349284602.157 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-03T17:16:42.157Z,1349284602.157 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-03T17:16:42.158Z,1349284602.158 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-03T17:16:42.158Z,1349284602.158 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-03T17:16:42.160Z,1349284602.159 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-03T17:16:42.160Z,1349284602.160 [Navigation](DEBUG): Initializing Navigation.
2012-10-03T17:16:42.160Z,1349284602.160 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-03T17:16:42.162Z,1349284602.162 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-03T17:16:42.163Z,1349284602.163 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-03T17:16:42.163Z,1349284602.164 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-03T17:16:42.174Z,1349284602.174 [Turbulence_NPS](INFO): Pause powering down
2012-10-03T17:16:42.208Z,1349284602.208 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-03T17:16:42.209Z,1349284602.209 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-03T17:16:42.209Z,1349284602.209 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-03T17:16:42.209Z,1349284602.209 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-03T17:16:42.210Z,1349284602.210 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-03T17:16:42.286Z,1349284602.286 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-03T17:16:42.296Z,1349284602.296 [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>


2012-10-03T17:16:42.297Z,1349284602.297 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-03T17:16:42.342Z,1349284602.342 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-03T17:16:42.344Z,1349284602.344 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-03T17:16:42.348Z,1349284602.348 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-03T17:16:42.356Z,1349284602.356 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-03T17:16:42.360Z,1349284602.360 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-03T17:16:42.371Z,1349284602.371 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-03T17:16:42.380Z,1349284602.380 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-03T17:16:42.383Z,1349284602.383 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-03T17:16:42.388Z,1349284602.388 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-03T17:16:42.391Z,1349284602.391 [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>


2012-10-03T17:16:42.396Z,1349284602.396 [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,
2012-10-03T17:16:42.419Z,1349284602.419 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-03T17:16:42.571Z,1349284602.571 [Depth_Keller](INFO): A/D timeout, 2 tries over 139 ms

2012-10-03T17:16:42.572Z,1349284602.572 [Depth_Keller] Data Fault, FailCount= 1
2012-10-03T17:16:42.572Z,1349284602.572 [Depth_Keller](ERROR): Data Fault
2012-10-03T17:16:42.599Z,1349284602.599 [Radio_Freewave](INFO): Powering up
2012-10-03T17:16:42.759Z,1349284602.759 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-03T17:16:42.795Z,1349284602.795 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-03T17:16:42.799Z,1349284602.799 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-03T17:16:42.806Z,1349284602.806 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-03T17:16:42.807Z,1349284602.807 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-03T17:16:42.814Z,1349284602.814 [MassServo](DEBUG): Initializing EZServoServo.
2012-10-03T17:16:42.815Z,1349284602.815 [MassServo](DEBUG): Initializing MassServo.
2012-10-03T17:16:42.821Z,1349284602.821 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-03T17:16:42.827Z,1349284602.827 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-03T17:16:42.828Z,1349284602.828 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-03T17:16:42.853Z,1349284602.853 [CBIT](ERROR): Data Fault in component: Depth_Keller
2012-10-03T17:16:42.853Z,1349284602.853 [CBIT](INFO): Clearing failed state for component Depth_Keller
2012-10-03T17:16:42.853Z,1349284602.853 [Depth_Keller] No Fault, FailCount= 1
2012-10-03T17:16:44.119Z,1349284604.119 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T17:16:44.119Z,1349284604.119 [DVL_micro](INFO): Querying output modes
2012-10-03T17:16:44.120Z,1349284604.120 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-03T17:16:45.235Z,1349284605.235 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-10-03T17:16:45.235Z,1349284605.235 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-10-03T17:16:45.235Z,1349284605.235 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2012-10-03T17:16:45.235Z,1349284605.235 [AHRS_sp3003D](ERROR): Hardware Fault
2012-10-03T17:16:45.456Z,1349284605.456 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-10-03T17:16:45.510Z,1349284605.510 [AHRS_sp3003D](INFO): Powering down
2012-10-03T17:16:45.677Z,1349284605.677 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-10-03T17:16:45.677Z,1349284605.677 [AHRS_sp3003D] No Fault, FailCount= 1
2012-10-03T17:16:46.177Z,1349284606.177 [DVL_micro](DEBUG): cmdResponse: 
2012-10-03T17:16:46.177Z,1349284606.178 [DVL_micro](INFO): Output Modes: No Response
2012-10-03T17:16:46.178Z,1349284606.178 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-03T17:16:46.891Z,1349284606.891 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-03T17:16:46.910Z,1349284606.910 [NAL9602](INFO): Powering up NAL9602
2012-10-03T17:16:48.071Z,1349284608.071 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-10-03T17:16:48.071Z,1349284608.071 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-10-03T17:16:48.071Z,1349284608.071 [AHRS_sp3003D] Hardware Fault, FailCount= 2
2012-10-03T17:16:48.071Z,1349284608.071 [AHRS_sp3003D](ERROR): Hardware Fault
2012-10-03T17:16:48.371Z,1349284608.371 [DVL_micro](DEBUG): cmdResponse: 
2012-10-03T17:16:48.380Z,1349284608.380 [DVL_micro](INFO): pause:Powering down
2012-10-03T17:16:48.404Z,1349284608.404 [DVL_micro](INFO): NQ1 requested
2012-10-03T17:16:48.405Z,1349284608.405 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T17:16:48.405Z,1349284608.405 [DVL_micro](INFO): resume:Powering up
2012-10-03T17:16:48.405Z,1349284608.405 [DVL_micro](INFO): Cycling power to configure device.
2012-10-03T17:16:49.127Z,1349284609.127 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-10-03T17:16:49.203Z,1349284609.203 [AHRS_sp3003D](INFO): Powering down
2012-10-03T17:16:50.173Z,1349284610.173 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-10-03T17:16:50.173Z,1349284610.173 [AHRS_sp3003D] No Fault, FailCount= 2
2012-10-03T17:16:50.411Z,1349284610.411 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T17:16:50.411Z,1349284610.411 [DVL_micro](INFO): Querying output modes
2012-10-03T17:16:50.412Z,1349284610.412 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-03T17:16:50.769Z,1349284610.769 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-03T17:16:52.147Z,1349284612.147 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-10-03T17:16:52.147Z,1349284612.147 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-10-03T17:16:52.147Z,1349284612.147 [AHRS_sp3003D] Hardware Fault, FailCount= 3
2012-10-03T17:16:52.147Z,1349284612.147 [AHRS_sp3003D](ERROR): Hardware Fault
2012-10-03T17:16:52.467Z,1349284612.467 [DVL_micro](DEBUG): cmdResponse: 
2012-10-03T17:16:52.467Z,1349284612.467 [DVL_micro](INFO): Output Modes: No Response
2012-10-03T17:16:52.467Z,1349284612.467 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-03T17:16:53.052Z,1349284613.052 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-10-03T17:16:53.111Z,1349284613.111 [AHRS_sp3003D](INFO): Powering down
2012-10-03T17:16:54.096Z,1349284614.096 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-10-03T17:16:54.096Z,1349284614.096 [AHRS_sp3003D] No Fault, FailCount= 3
2012-10-03T17:16:54.503Z,1349284614.503 [DVL_micro](DEBUG): cmdResponse: 
2012-10-03T17:16:54.505Z,1349284614.505 [DVL_micro](INFO): pause:Powering down
2012-10-03T17:16:54.528Z,1349284614.528 [CommandLine](IMPORTANT): got command quit
2012-10-03T17:16:54.893Z,1349284614.893 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-03T17:16:55.767Z,1349284615.767 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2012-10-03T17:16:55.767Z,1349284615.767 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2012-10-03T17:16:57.275Z,1349284617.275 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-10-03T17:16:57.275Z,1349284617.275 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-10-03T17:16:57.275Z,1349284617.275 [AHRS_sp3003D] Hardware Fault, FailCount= 4
2012-10-03T17:16:57.275Z,1349284617.275 [AHRS_sp3003D](ERROR): Hardware Fault
2012-10-03T17:16:57.883Z,1349284617.883 [DVL_micro](INFO): NQ1 requested
2012-10-03T17:16:57.884Z,1349284617.884 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T17:16:57.884Z,1349284617.884 [DVL_micro](INFO): resume:Powering up
2012-10-03T17:16:57.884Z,1349284617.884 [DVL_micro](INFO): Cycling power to configure device.
2012-10-03T17:16:58.321Z,1349284618.321 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-10-03T17:16:58.388Z,1349284618.388 [AHRS_sp3003D](INFO): Powering down
2012-10-03T17:16:58.503Z,1349284618.503 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2012-10-03T17:16:58.510Z,1349284618.510 [NAL9602](INFO): NAL9602 initialized
2012-10-03T17:16:58.530Z,1349284618.530 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-03T17:16:58.533Z,1349284618.533 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2012-10-03T17:16:58.533Z,1349284618.533 [AHRS_sp3003D] No Fault, FailCount= 4
2012-10-03T17:16:58.533Z,1349284618.533 [CBIT](IMPORTANT): Beginning GF scan
2012-10-03T17:16:58.643Z,1349284618.643 [WetLabsBB2FL](INFO): Powering down
2012-10-03T17:16:58.651Z,1349284618.651 [ComponentRegistry](INFO): Shutting down Turbulence_NPS ThreadHandler
2012-10-03T17:16:58.707Z,1349284618.707 [Turbulence_NPS](INFO): Uninitialize Powering down
2012-10-03T17:16:58.711Z,1349284618.711 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2012-10-03T17:16:58.752Z,1349284618.751 [CTD_NeilBrown](INFO): Powering down
2012-10-03T17:16:58.775Z,1349284618.775 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2012-10-03T17:16:59.566Z,1349284619.566 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-03T17:16:59.943Z,1349284619.943 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-03T17:16:59.943Z,1349284619.943 [DVL_micro](INFO): Querying output modes
2012-10-03T17:16:59.944Z,1349284619.944 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-03T17:17:00.683Z,1349284620.683 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2012-10-03T17:17:00.683Z,1349284620.683 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2012-10-03T17:17:00.683Z,1349284620.683 [AHRS_sp3003D] Hardware Fault, FailCount= 5
2012-10-03T17:17:00.683Z,1349284620.683 [AHRS_sp3003D](ERROR): Hardware Fault
2012-10-03T17:17:01.274Z,1349284621.274 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2012-10-03T17:17:01.275Z,1349284621.275 [CBIT](CRITICAL): Hardware Fault in component: AHRS_sp3003D
2012-10-03T17:17:01.349Z,1349284621.349 [AHRS_sp3003D](INFO): Powering down
2012-10-03T17:17:01.947Z,1349284621.947 [DVL_micro](DEBUG): cmdResponse: 
2012-10-03T17:17:01.947Z,1349284621.947 [DVL_micro](INFO): Output Modes: No Response
2012-10-03T17:17:01.947Z,1349284621.947 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-03T17:17:03.951Z,1349284623.951 [DVL_micro](DEBUG): cmdResponse: 
2012-10-03T17:17:03.952Z,1349284623.952 [DVL_micro](INFO): uninitialize:Powering down
2012-10-03T17:17:03.964Z,1349284623.964 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2012-10-03T17:17:04.116Z,1349284624.116 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2012-10-03T17:17:04.116Z,1349284624.116 [DropWeight] Hardware Fault, FailCount= 1
2012-10-03T17:17:04.116Z,1349284624.116 [DropWeight](ERROR): Hardware Fault
2012-10-03T17:17:04.171Z,1349284624.171 [CBIT](ERROR): Hardware Fault in component: DropWeight
2012-10-03T17:17:04.171Z,1349284624.171 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2012-10-03T17:17:04.175Z,1349284624.175 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2012-10-03T17:17:04.184Z,1349284624.184 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2012-10-03T17:17:04.192Z,1349284624.192 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2012-10-03T17:17:04.728Z,1349284624.728 [controlThread](DEBUG): Uninitializing ControlThread
2012-10-03T17:17:04.729Z,1349284624.729 [AHRS_sp3003D](INFO): Powering down
2012-10-03T17:17:04.729Z,1349284624.729 [NAL9602](INFO): Powering down
2012-10-03T17:17:04.735Z,1349284624.735 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-03T17:17:04.735Z,1349284624.735 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2012-10-03T17:17:04.741Z,1349284624.741 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2012-10-03T17:17:04.741Z,1349284624.741 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2012-10-03T17:17:04.741Z,1349284624.741 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2012-10-03T17:17:04.742Z,1349284624.742 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2012-10-03T17:17:04.742Z,1349284624.742 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2012-10-03T17:17:04.742Z,1349284624.742 [BuoyancyServo](INFO): Powering down
2012-10-03T17:17:04.747Z,1349284624.747 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2012-10-03T17:17:04.747Z,1349284624.747 [ElevatorServo](INFO): Powering down
2012-10-03T17:17:04.748Z,1349284624.748 [MassServo](DEBUG): Uninitialize Mass Servo.
2012-10-03T17:17:04.748Z,1349284624.748 [MassServo](INFO): Powering down
2012-10-03T17:17:04.749Z,1349284624.749 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2012-10-03T17:17:04.749Z,1349284624.749 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-03T17:17:04.749Z,1349284624.749 [ThrusterServo](INFO): Powering down
2012-10-03T17:17:04.750Z,1349284624.750 [SBIT](DEBUG): Uninitialize SBIT Component.
2012-10-03T17:17:04.750Z,1349284624.750 [IBIT](DEBUG): Uninitialize IBIT Component.
2012-10-03T17:17:04.751Z,1349284624.751 [CBIT](DEBUG): Uninitialize CBIT Component.