2012-10-16T21:28:13.442Z,1350422893.443 [Supervisor](DEBUG): Initializing supervisor.
2012-10-16T21:28:13.479Z,1350422893.479 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-16T21:28:13.480Z,1350422893.480 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-16T21:28:13.490Z,1350422893.490 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-16T21:28:13.521Z,1350422893.521 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-16T21:28:13.543Z,1350422893.543 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-16T21:28:13.554Z,1350422893.554 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-16T21:28:13.555Z,1350422893.555 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-16T21:28:13.556Z,1350422893.556 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-16T21:28:13.559Z,1350422893.559 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-16T21:28:14.433Z,1350422894.434 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-16T21:28:14.439Z,1350422894.439 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-16T21:28:14.846Z,1350422894.846 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-16T21:28:14.847Z,1350422894.847 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-16T21:28:15.008Z,1350422895.008 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-16T21:28:15.729Z,1350422895.729 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-16T21:28:16.127Z,1350422896.127 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-16T21:28:16.128Z,1350422896.128 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-16T21:28:16.371Z,1350422896.371 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-16T21:28:16.373Z,1350422896.373 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-16T21:28:16.866Z,1350422896.866 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-16T21:28:16.866Z,1350422896.866 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-16T21:28:17.200Z,1350422897.200 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-16T21:28:17.202Z,1350422897.202 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-16T21:28:17.743Z,1350422897.743 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-16T21:28:17.746Z,1350422897.746 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-16T21:28:17.925Z,1350422897.925 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-16T21:28:17.926Z,1350422897.926 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-16T21:28:18.797Z,1350422898.797 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-16T21:28:18.797Z,1350422898.797 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-16T21:28:19.019Z,1350422899.019 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-16T21:28:19.020Z,1350422899.020 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-16T21:28:19.157Z,1350422899.157 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-16T21:28:19.161Z,1350422899.161 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-16T21:28:19.350Z,1350422899.350 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-16T21:28:19.599Z,1350422899.599 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-16T21:28:19.767Z,1350422899.767 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-16T21:28:19.952Z,1350422899.952 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-16T21:28:20.139Z,1350422900.139 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-16T21:28:20.388Z,1350422900.388 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-16T21:28:20.573Z,1350422900.573 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-16T21:28:20.735Z,1350422900.735 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2012-10-16T21:28:20.767Z,1350422900.767 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-16T21:28:21.087Z,1350422901.088 [InternalSim] Loaded
2012-10-16T21:28:21.088Z,1350422901.088 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-16T21:28:21.089Z,1350422901.089 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-16T21:28:21.089Z,1350422901.089 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-16T21:28:21.218Z,1350422901.217 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-16T21:28:21.252Z,1350422901.252 [SBIT] Loaded
2012-10-16T21:28:21.252Z,1350422901.252 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-16T21:28:21.253Z,1350422901.253 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-16T21:28:21.306Z,1350422901.306 [IBIT] Loaded
2012-10-16T21:28:21.306Z,1350422901.306 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-16T21:28:21.321Z,1350422901.321 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-16T21:28:21.588Z,1350422901.588 [CBIT] Loaded
2012-10-16T21:28:21.588Z,1350422901.588 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-16T21:28:21.589Z,1350422901.589 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-16T21:28:21.589Z,1350422901.589 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-16T21:28:21.819Z,1350422901.819 [BuoyancyServo] Loaded
2012-10-16T21:28:21.819Z,1350422901.819 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-16T21:28:21.849Z,1350422901.849 [ElevatorServo] Loaded
2012-10-16T21:28:21.849Z,1350422901.849 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-16T21:28:21.873Z,1350422901.873 [RudderServo] Loaded
2012-10-16T21:28:21.874Z,1350422901.874 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-16T21:28:21.897Z,1350422901.897 [ThrusterServo] Loaded
2012-10-16T21:28:21.897Z,1350422901.898 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-16T21:28:21.898Z,1350422901.898 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-16T21:28:21.899Z,1350422901.899 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-16T21:28:21.960Z,1350422901.960 [DepthRateCalculator] Loaded
2012-10-16T21:28:21.960Z,1350422901.960 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-16T21:28:29.922Z,1350422909.922 [HFRadarModelCalc] Loaded
2012-10-16T21:28:29.922Z,1350422909.922 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-16T21:28:29.951Z,1350422909.951 [NavChart] Loaded
2012-10-16T21:28:29.951Z,1350422909.951 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-16T21:28:29.976Z,1350422909.976 [PitchRateCalculator] Loaded
2012-10-16T21:28:29.977Z,1350422909.977 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-16T21:28:29.983Z,1350422909.983 [SpeedCalculator] Loaded
2012-10-16T21:28:29.983Z,1350422909.983 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-16T21:28:30.009Z,1350422910.009 [TempGradientCalculator] Loaded
2012-10-16T21:28:30.010Z,1350422910.010 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-16T21:28:30.027Z,1350422910.027 [YawRateCalculator] Loaded
2012-10-16T21:28:30.028Z,1350422910.028 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-16T21:28:30.087Z,1350422910.087 [Navigation] Loaded
2012-10-16T21:28:30.087Z,1350422910.087 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-16T21:28:30.087Z,1350422910.088 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-16T21:28:30.088Z,1350422910.088 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-16T21:28:30.596Z,1350422910.596 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-16T21:28:30.596Z,1350422910.596 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-16T21:28:30.646Z,1350422910.646 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-16T21:28:30.647Z,1350422910.647 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-16T21:28:30.775Z,1350422910.775 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-16T21:28:30.865Z,1350422910.865 [VerticalControl] Loaded
2012-10-16T21:28:30.865Z,1350422910.865 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-16T21:28:30.866Z,1350422910.866 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-16T21:28:30.911Z,1350422910.911 [HorizontalControl] Loaded
2012-10-16T21:28:30.912Z,1350422910.912 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-16T21:28:30.913Z,1350422910.912 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-16T21:28:30.914Z,1350422910.914 [SpeedControl] Loaded
2012-10-16T21:28:30.914Z,1350422910.914 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-16T21:28:30.915Z,1350422910.915 [LoopControl](DEBUG): Construct LoopControl.
2012-10-16T21:28:30.916Z,1350422910.916 [LoopControl] Loaded
2012-10-16T21:28:30.916Z,1350422910.916 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-16T21:28:30.917Z,1350422910.917 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-16T21:28:30.917Z,1350422910.917 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-16T21:28:30.925Z,1350422910.925 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-16T21:28:30.930Z,1350422910.930 [AsyncPiEstimator] Loaded
2012-10-16T21:28:30.942Z,1350422910.943 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-16T21:28:30.954Z,1350422910.954 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-16T21:28:30.955Z,1350422910.955 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-16T21:28:30.956Z,1350422910.956 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-16T21:28:31.267Z,1350422911.267 [AHRS_sp3003D] Loaded
2012-10-16T21:28:31.267Z,1350422911.267 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-16T21:28:31.843Z,1350422911.843 [Batt_Ocean_Server] Loaded
2012-10-16T21:28:31.843Z,1350422911.843 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-10-16T21:28:31.892Z,1350422911.892 [Depth_Keller] Loaded
2012-10-16T21:28:31.893Z,1350422911.893 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-16T21:28:31.898Z,1350422911.898 [DropWeight] Loaded
2012-10-16T21:28:31.899Z,1350422911.899 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-16T21:28:32.155Z,1350422912.155 [DVL_micro] Loaded
2012-10-16T21:28:32.155Z,1350422912.155 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-16T21:28:32.163Z,1350422912.163 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-16T21:28:32.339Z,1350422912.339 [NAL9602] Loaded
2012-10-16T21:28:32.339Z,1350422912.339 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-16T21:28:32.461Z,1350422912.461 [Onboard] Loaded
2012-10-16T21:28:32.461Z,1350422912.461 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-16T21:28:32.468Z,1350422912.468 [Radio_Freewave] Loaded
2012-10-16T21:28:32.468Z,1350422912.468 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-16T21:28:32.469Z,1350422912.469 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-16T21:28:32.470Z,1350422912.470 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-16T21:28:32.644Z,1350422912.644 [CTD_NeilBrown] Loaded
2012-10-16T21:28:32.644Z,1350422912.644 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-16T21:28:32.650Z,1350422912.651 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-16T21:28:32.661Z,1350422912.661 [PAR_Licor] Loaded
2012-10-16T21:28:32.661Z,1350422912.661 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-16T21:28:32.702Z,1350422912.702 [Turbulence_NPS] Loaded
2012-10-16T21:28:32.702Z,1350422912.702 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-16T21:28:32.714Z,1350422912.714 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-16T21:28:32.792Z,1350422912.792 [WetLabsBB2FL] Loaded
2012-10-16T21:28:32.793Z,1350422912.793 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-16T21:28:32.802Z,1350422912.802 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-16T21:28:32.803Z,1350422912.803 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-16T21:28:32.805Z,1350422912.805 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-16T21:28:32.806Z,1350422912.806 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-16T21:28:32.825Z,1350422912.825 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-16T21:28:32.835Z,1350422912.835 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-16T21:28:32.840Z,1350422912.840 [Supervisor](DEBUG): Running supervisor.
2012-10-16T21:28:32.850Z,1350422912.850 [CommandLine](INFO): Thread ID is 1029
2012-10-16T21:28:32.863Z,1350422912.863 [controlThread](INFO): Thread ID is 1028
2012-10-16T21:28:32.863Z,1350422912.863 [controlThread](DEBUG): Initializing ControlThread
2012-10-16T21:28:32.864Z,1350422912.864 [CycleStarter](INFO): Thread ID is 1027
2012-10-16T21:28:32.864Z,1350422912.865 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-16T21:28:33.043Z,1350422913.043 [AsyncPiEstimator](INFO): Thread ID is 1096
2012-10-16T21:28:33.043Z,1350422913.043 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-16T21:28:33.178Z,1350422913.178 [DVL_micro](INFO): Thread ID is 1097
2012-10-16T21:28:33.340Z,1350422913.340 [CTD_NeilBrown](INFO): Thread ID is 1098
2012-10-16T21:28:33.340Z,1350422913.341 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-16T21:28:33.343Z,1350422913.343 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-16T21:28:33.412Z,1350422913.412 [DVL_micro](INFO): Initializing
2012-10-16T21:28:33.412Z,1350422913.412 [DVL_micro](INFO): start:Powering up
2012-10-16T21:28:33.413Z,1350422913.413 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-16T21:28:33.413Z,1350422913.413 [DVL_micro](INFO): Cycling power to configure device.
2012-10-16T21:28:33.415Z,1350422913.415 [Turbulence_NPS](INFO): Thread ID is 1099
2012-10-16T21:28:33.415Z,1350422913.415 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-16T21:28:33.416Z,1350422913.416 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-16T21:28:33.430Z,1350422913.430 [SBIT](INFO): Initialize SBIT Component.
2012-10-16T21:28:33.440Z,1350422913.440 [WetLabsBB2FL](INFO): Thread ID is 1100
2012-10-16T21:28:33.440Z,1350422913.440 [WetLabsBB2FL](INFO): Powering down
2012-10-16T21:28:33.459Z,1350422913.459 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9967
2012-10-16T21:28:33.460Z,1350422913.460 [IBIT](INFO): Initialize IBIT Component.
2012-10-16T21:28:33.461Z,1350422913.461 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-16T21:28:33.461Z,1350422913.461 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2012-10-16T21:28:33.461Z,1350422913.461 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-16T21:28:33.491Z,1350422913.491 [Turbulence_NPS](INFO): Pause powering down
2012-10-16T21:28:33.503Z,1350422913.503 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-16T21:28:33.504Z,1350422913.504 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-16T21:28:33.504Z,1350422913.504 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-16T21:28:33.505Z,1350422913.505 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-16T21:28:33.505Z,1350422913.505 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-16T21:28:33.511Z,1350422913.511 [NavChartDb](INFO): Thread ID is 1101
2012-10-16T21:28:33.524Z,1350422913.523 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-16T21:28:33.524Z,1350422913.524 [Navigation](DEBUG): Initializing Navigation.
2012-10-16T21:28:33.524Z,1350422913.524 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-16T21:28:33.526Z,1350422913.526 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-16T21:28:33.539Z,1350422913.539 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-16T21:28:33.539Z,1350422913.539 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-16T21:28:33.808Z,1350422913.808 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-16T21:28:33.808Z,1350422913.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-16T21:28:33.809Z,1350422913.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-16T21:28:33.809Z,1350422913.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-16T21:28:33.809Z,1350422913.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-16T21:28:35.562Z,1350422915.562 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2012-10-16T21:28:35.562Z,1350422915.562 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2012-10-16T21:28:35.562Z,1350422915.562 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2012-10-16T21:28:35.562Z,1350422915.562 [Batt_Ocean_Server](ERROR): Communications Fault
2012-10-16T21:28:35.580Z,1350422915.580 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-16T21:28:35.715Z,1350422915.715 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-16T21:28:35.715Z,1350422915.715 [DVL_micro](INFO): Querying output modes
2012-10-16T21:28:35.716Z,1350422915.716 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-16T21:28:35.743Z,1350422915.743 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-16T21:28:35.743Z,1350422915.743 [DVL_micro](INFO): NQ1 output enabled
2012-10-16T21:28:35.743Z,1350422915.743 [DVL_micro](INFO): RSSI output enabled
2012-10-16T21:28:35.743Z,1350422915.743 [DVL_micro](INFO): ADCP output enabled
2012-10-16T21:28:35.743Z,1350422915.743 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-16T21:28:35.751Z,1350422915.751 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-16T21:28:35.756Z,1350422915.756 [DVL_micro](INFO): pause:Powering down
2012-10-16T21:28:35.773Z,1350422915.773 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-16T21:28:35.801Z,1350422915.801 [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>


2012-10-16T21:28:35.801Z,1350422915.801 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-16T21:28:35.856Z,1350422915.856 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-16T21:28:35.858Z,1350422915.858 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-16T21:28:35.869Z,1350422915.869 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-16T21:28:35.877Z,1350422915.877 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-16T21:28:35.893Z,1350422915.893 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-16T21:28:35.916Z,1350422915.916 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-16T21:28:35.924Z,1350422915.924 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-16T21:28:35.940Z,1350422915.940 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-16T21:28:35.945Z,1350422915.945 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-16T21:28:35.948Z,1350422915.948 [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>


2012-10-16T21:28:35.953Z,1350422915.953 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,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,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-10-16T21:28:36.015Z,1350422916.015 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-16T21:28:36.339Z,1350422916.339 [Radio_Freewave](INFO): Powering up
2012-10-16T21:28:36.672Z,1350422916.672 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-16T21:28:36.679Z,1350422916.679 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-16T21:28:36.685Z,1350422916.685 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-16T21:28:36.691Z,1350422916.691 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-16T21:28:36.697Z,1350422916.697 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-16T21:28:36.703Z,1350422916.703 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-16T21:28:36.708Z,1350422916.708 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-16T21:28:36.715Z,1350422916.715 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-16T21:28:36.739Z,1350422916.739 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2012-10-16T21:28:36.739Z,1350422916.739 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2012-10-16T21:28:36.739Z,1350422916.739 [Batt_Ocean_Server] No Fault, FailCount= 1
2012-10-16T21:28:42.406Z,1350422922.406 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2012-10-16T21:28:42.407Z,1350422922.407 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2012-10-16T21:28:42.407Z,1350422922.407 [Batt_Ocean_Server] Communications Fault, FailCount= 2
2012-10-16T21:28:42.407Z,1350422922.407 [Batt_Ocean_Server](ERROR): Communications Fault
2012-10-16T21:28:42.438Z,1350422922.438 [NAL9602](INFO): Powering up NAL9602
2012-10-16T21:28:43.397Z,1350422923.397 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2012-10-16T21:28:44.233Z,1350422924.233 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2012-10-16T21:28:44.233Z,1350422924.233 [Batt_Ocean_Server] No Fault, FailCount= 2
2012-10-16T21:28:46.442Z,1350422926.443 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2012-10-16T21:28:46.443Z,1350422926.443 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2012-10-16T21:28:46.443Z,1350422926.443 [Batt_Ocean_Server] Communications Fault, FailCount= 3
2012-10-16T21:28:46.443Z,1350422926.443 [Batt_Ocean_Server](ERROR): Communications Fault
2012-10-16T21:28:46.766Z,1350422926.766 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2012-10-16T21:28:46.766Z,1350422926.766 [CBIT](CRITICAL): Communications Fault in component: Batt_Ocean_Server
2012-10-16T21:28:50.632Z,1350422930.632 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-16T21:28:50.635Z,1350422930.635 [CBIT](IMPORTANT): Beginning GF scan
2012-10-16T21:28:55.063Z,1350422935.063 [NAL9602](INFO): NAL9602 initialized
2012-10-16T21:29:19.981Z,1350422959.981 [CBIT](IMPORTANT): No ground fault detected
2012-10-16T21:29:24.107Z,1350422964.107 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 300.000000 revolution_per_minute
2012-10-16T21:29:24.109Z,1350422964.109 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2012-10-16T21:29:24.862Z,1350422964.862 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,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,Maintain_SpeedControl.propOmegaAction,BuoyancyServo,ElevatorServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,logger,
2012-10-16T21:29:27.475Z,1350422967.474 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2012-10-16T21:29:27.475Z,1350422967.475 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2012-10-16T21:29:27.475Z,1350422967.475 [ThrusterServo] Communications Fault, FailCount= 1
2012-10-16T21:29:27.475Z,1350422967.475 [ThrusterServo](ERROR): Communications Fault
2012-10-16T21:29:27.478Z,1350422967.478 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2012-10-16T21:29:28.671Z,1350422968.671 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2012-10-16T21:29:28.671Z,1350422968.671 [ThrusterServo](INFO): Powering down
2012-10-16T21:29:28.674Z,1350422968.674 [CBIT](INFO): Clearing failed state for component ThrusterServo
2012-10-16T21:29:28.678Z,1350422968.678 [ThrusterServo] No Fault, FailCount= 1
2012-10-16T21:29:30.856Z,1350422970.856 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-16T21:29:31.087Z,1350422971.087 [ThrusterServo](DEBUG): Initialization error opening port: port not yet opened
2012-10-16T21:29:31.087Z,1350422971.087 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-16T21:29:47.663Z,1350422987.663 [SBIT](IMPORTANT): SBIT PASSED
2012-10-16T21:29:48.162Z,1350422988.162 [MissionManager](IMPORTANT): Started mission Startup
2012-10-16T21:29:48.162Z,1350422988.162 [Startup] Running Loop=1
2012-10-16T21:29:48.163Z,1350422988.163 [Startup](INFO): Aggregate::initialize Startup
2012-10-16T21:29:48.163Z,1350422988.163 [Startup:A.GoToSurface] Running Loop=1
2012-10-16T21:29:48.163Z,1350422988.163 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2012-10-16T21:29:48.173Z,1350422988.173 [Startup:StartupSatComms] Running Loop=1
2012-10-16T21:29:48.173Z,1350422988.173 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2012-10-16T21:29:48.174Z,1350422988.174 [Startup:StartupSatComms:A] Running Loop=1
2012-10-16T21:29:49.265Z,1350422989.265 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix