2012-10-16T22:10:53.728Z,1350425453.728 [Supervisor](DEBUG): Initializing supervisor.
2012-10-16T22:10:53.735Z,1350425453.735 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2012-10-16T22:10:53.735Z,1350425453.735 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2012-10-16T22:10:53.739Z,1350425453.739 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2012-10-16T22:10:53.742Z,1350425453.742 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2012-10-16T22:10:53.753Z,1350425453.753 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2012-10-16T22:10:53.755Z,1350425453.755 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2012-10-16T22:10:53.756Z,1350425453.756 [ComponentRegistry](DEBUG): SyncComponent "logger" handled in the control thread.
2012-10-16T22:10:53.756Z,1350425453.756 [Supervisor](INFO): Looking for Config files in directory: Config/
2012-10-16T22:10:53.759Z,1350425453.759 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2012-10-16T22:10:54.068Z,1350425454.068 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2012-10-16T22:10:54.070Z,1350425454.070 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2012-10-16T22:10:54.271Z,1350425454.271 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2012-10-16T22:10:54.272Z,1350425454.272 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2012-10-16T22:10:54.366Z,1350425454.366 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2012-10-16T22:10:54.368Z,1350425454.368 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2012-10-16T22:10:54.595Z,1350425454.595 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2012-10-16T22:10:54.596Z,1350425454.596 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2012-10-16T22:10:54.746Z,1350425454.746 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2012-10-16T22:10:54.748Z,1350425454.748 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2012-10-16T22:10:54.998Z,1350425454.998 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2012-10-16T22:10:54.999Z,1350425454.999 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2012-10-16T22:10:55.187Z,1350425455.187 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2012-10-16T22:10:55.189Z,1350425455.189 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2012-10-16T22:10:55.468Z,1350425455.468 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2012-10-16T22:10:55.470Z,1350425455.470 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2012-10-16T22:10:55.584Z,1350425455.584 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2012-10-16T22:10:55.584Z,1350425455.584 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2012-10-16T22:10:56.024Z,1350425456.024 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2012-10-16T22:10:56.025Z,1350425456.025 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2012-10-16T22:10:56.152Z,1350425456.152 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2012-10-16T22:10:56.153Z,1350425456.153 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2012-10-16T22:10:56.260Z,1350425456.260 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2012-10-16T22:10:56.318Z,1350425456.318 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2012-10-16T22:10:56.436Z,1350425456.436 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2012-10-16T22:10:56.580Z,1350425456.580 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2012-10-16T22:10:56.678Z,1350425456.678 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2012-10-16T22:10:56.792Z,1350425456.792 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2012-10-16T22:10:56.902Z,1350425456.902 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2012-10-16T22:10:57.032Z,1350425457.033 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2012-10-16T22:10:57.134Z,1350425457.134 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2012-10-16T22:10:57.230Z,1350425457.230 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2012-10-16T22:10:57.269Z,1350425457.269 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2012-10-16T22:10:57.462Z,1350425457.462 [InternalSim] Loaded
2012-10-16T22:10:57.462Z,1350425457.462 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2012-10-16T22:10:57.463Z,1350425457.463 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2012-10-16T22:10:57.464Z,1350425457.464 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2012-10-16T22:10:57.550Z,1350425457.550 [SBIT](DEBUG): Construct Startup Built In Test.
2012-10-16T22:10:57.564Z,1350425457.564 [SBIT] Loaded
2012-10-16T22:10:57.564Z,1350425457.564 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2012-10-16T22:10:57.565Z,1350425457.565 [IBIT](DEBUG): Construct Initiated Built In Test.
2012-10-16T22:10:57.598Z,1350425457.598 [IBIT] Loaded
2012-10-16T22:10:57.599Z,1350425457.599 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2012-10-16T22:10:57.602Z,1350425457.602 [CBIT](DEBUG): Construct CBIT Built In Test.
2012-10-16T22:10:57.733Z,1350425457.733 [CBIT] Loaded
2012-10-16T22:10:57.733Z,1350425457.733 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2012-10-16T22:10:57.734Z,1350425457.734 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2012-10-16T22:10:57.734Z,1350425457.734 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2012-10-16T22:10:57.905Z,1350425457.905 [BuoyancyServo] Loaded
2012-10-16T22:10:57.905Z,1350425457.905 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2012-10-16T22:10:57.915Z,1350425457.915 [ElevatorServo] Loaded
2012-10-16T22:10:57.915Z,1350425457.915 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2012-10-16T22:10:57.928Z,1350425457.928 [RudderServo] Loaded
2012-10-16T22:10:57.928Z,1350425457.928 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2012-10-16T22:10:57.943Z,1350425457.944 [ThrusterServo] Loaded
2012-10-16T22:10:57.944Z,1350425457.944 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2012-10-16T22:10:57.944Z,1350425457.944 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2012-10-16T22:10:57.945Z,1350425457.945 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2012-10-16T22:10:57.982Z,1350425457.982 [DepthRateCalculator] Loaded
2012-10-16T22:10:57.982Z,1350425457.982 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2012-10-16T22:11:04.206Z,1350425464.206 [HFRadarModelCalc] Loaded
2012-10-16T22:11:04.206Z,1350425464.207 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2012-10-16T22:11:04.227Z,1350425464.227 [NavChart] Loaded
2012-10-16T22:11:04.227Z,1350425464.227 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2012-10-16T22:11:04.233Z,1350425464.233 [PitchRateCalculator] Loaded
2012-10-16T22:11:04.233Z,1350425464.233 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2012-10-16T22:11:04.244Z,1350425464.244 [SpeedCalculator] Loaded
2012-10-16T22:11:04.244Z,1350425464.244 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2012-10-16T22:11:04.259Z,1350425464.259 [TempGradientCalculator] Loaded
2012-10-16T22:11:04.259Z,1350425464.259 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2012-10-16T22:11:04.264Z,1350425464.264 [YawRateCalculator] Loaded
2012-10-16T22:11:04.265Z,1350425464.265 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2012-10-16T22:11:04.288Z,1350425464.288 [Navigation] Loaded
2012-10-16T22:11:04.289Z,1350425464.289 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2012-10-16T22:11:04.289Z,1350425464.289 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2012-10-16T22:11:04.290Z,1350425464.290 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2012-10-16T22:11:04.576Z,1350425464.576 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2012-10-16T22:11:04.577Z,1350425464.577 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2012-10-16T22:11:04.619Z,1350425464.619 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2012-10-16T22:11:04.619Z,1350425464.619 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2012-10-16T22:11:04.684Z,1350425464.684 [VerticalControl](DEBUG): Construct VerticalControl.
2012-10-16T22:11:04.733Z,1350425464.733 [VerticalControl] Loaded
2012-10-16T22:11:04.734Z,1350425464.734 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2012-10-16T22:11:04.735Z,1350425464.735 [HorizontalControl](DEBUG): Construct HorizontalControl.
2012-10-16T22:11:04.760Z,1350425464.760 [HorizontalControl] Loaded
2012-10-16T22:11:04.760Z,1350425464.760 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2012-10-16T22:11:04.761Z,1350425464.761 [SpeedControl](DEBUG): Construct SpeedControl.
2012-10-16T22:11:04.763Z,1350425464.763 [SpeedControl] Loaded
2012-10-16T22:11:04.763Z,1350425464.763 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2012-10-16T22:11:04.764Z,1350425464.764 [LoopControl](DEBUG): Construct LoopControl.
2012-10-16T22:11:04.765Z,1350425464.764 [LoopControl] Loaded
2012-10-16T22:11:04.765Z,1350425464.765 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2012-10-16T22:11:04.765Z,1350425464.765 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2012-10-16T22:11:04.766Z,1350425464.766 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2012-10-16T22:11:04.774Z,1350425464.774 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2012-10-16T22:11:04.779Z,1350425464.779 [AsyncPiEstimator] Loaded
2012-10-16T22:11:04.779Z,1350425464.779 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2012-10-16T22:11:04.783Z,1350425464.783 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406724E0
2012-10-16T22:11:04.783Z,1350425464.783 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2012-10-16T22:11:04.784Z,1350425464.784 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2012-10-16T22:11:04.968Z,1350425464.968 [AHRS_sp3003D] Loaded
2012-10-16T22:11:04.969Z,1350425464.969 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2012-10-16T22:11:05.259Z,1350425465.259 [Batt_Ocean_Server] Loaded
2012-10-16T22:11:05.259Z,1350425465.259 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2012-10-16T22:11:05.272Z,1350425465.272 [Depth_Keller] Loaded
2012-10-16T22:11:05.272Z,1350425465.272 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2012-10-16T22:11:05.282Z,1350425465.282 [DropWeight] Loaded
2012-10-16T22:11:05.282Z,1350425465.282 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2012-10-16T22:11:05.415Z,1350425465.415 [DVL_micro] Loaded
2012-10-16T22:11:05.415Z,1350425465.415 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2012-10-16T22:11:05.419Z,1350425465.419 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406F34E0
2012-10-16T22:11:05.511Z,1350425465.511 [NAL9602] Loaded
2012-10-16T22:11:05.512Z,1350425465.512 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2012-10-16T22:11:05.567Z,1350425465.567 [Onboard] Loaded
2012-10-16T22:11:05.567Z,1350425465.567 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2012-10-16T22:11:05.578Z,1350425465.578 [Radio_Freewave] Loaded
2012-10-16T22:11:05.578Z,1350425465.578 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2012-10-16T22:11:05.579Z,1350425465.579 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2012-10-16T22:11:05.580Z,1350425465.580 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2012-10-16T22:11:05.685Z,1350425465.685 [CTD_NeilBrown] Loaded
2012-10-16T22:11:05.685Z,1350425465.685 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2012-10-16T22:11:05.687Z,1350425465.687 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4074B4E0
2012-10-16T22:11:05.697Z,1350425465.697 [PAR_Licor] Loaded
2012-10-16T22:11:05.697Z,1350425465.697 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2012-10-16T22:11:05.718Z,1350425465.718 [Turbulence_NPS] Loaded
2012-10-16T22:11:05.719Z,1350425465.719 [ComponentRegistry](DEBUG): Component "Turbulence_NPS" handled in its own thread.
2012-10-16T22:11:05.723Z,1350425465.723 [Turbulence_NPS ThreadHandler](DEBUG): Created PCaller Thread at 4077B4E0
2012-10-16T22:11:05.757Z,1350425465.757 [WetLabsBB2FL] Loaded
2012-10-16T22:11:05.757Z,1350425465.757 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2012-10-16T22:11:05.759Z,1350425465.759 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AB4E0
2012-10-16T22:11:05.759Z,1350425465.759 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2012-10-16T22:11:05.762Z,1350425465.762 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2012-10-16T22:11:05.762Z,1350425465.763 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2012-10-16T22:11:05.772Z,1350425465.772 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2012-10-16T22:11:05.775Z,1350425465.775 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DB4E0
2012-10-16T22:11:05.779Z,1350425465.779 [Supervisor](DEBUG): Running supervisor.
2012-10-16T22:11:05.780Z,1350425465.780 [CommandLine](INFO): Thread ID is 750
2012-10-16T22:11:05.783Z,1350425465.783 [controlThread](INFO): Thread ID is 749
2012-10-16T22:11:05.783Z,1350425465.783 [controlThread](DEBUG): Initializing ControlThread
2012-10-16T22:11:05.784Z,1350425465.784 [CycleStarter](INFO): Thread ID is 748
2012-10-16T22:11:05.785Z,1350425465.785 [InternalSim](DEBUG):  InternalSim initializing...
2012-10-16T22:11:05.896Z,1350425465.896 [AsyncPiEstimator](INFO): Thread ID is 811
2012-10-16T22:11:05.896Z,1350425465.896 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2012-10-16T22:11:05.972Z,1350425465.972 [DVL_micro](INFO): Thread ID is 812
2012-10-16T22:11:06.057Z,1350425466.057 [CTD_NeilBrown](INFO): Thread ID is 813
2012-10-16T22:11:06.057Z,1350425466.057 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2012-10-16T22:11:06.063Z,1350425466.063 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2012-10-16T22:11:06.087Z,1350425466.087 [DVL_micro](INFO): Initializing
2012-10-16T22:11:06.087Z,1350425466.088 [DVL_micro](INFO): start:Powering up
2012-10-16T22:11:06.088Z,1350425466.088 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-16T22:11:06.089Z,1350425466.089 [DVL_micro](INFO): Cycling power to configure device.
2012-10-16T22:11:06.112Z,1350425466.112 [Turbulence_NPS](INFO): Thread ID is 814
2012-10-16T22:11:06.112Z,1350425466.112 [Turbulence_NPS](DEBUG): Initializing Turbulence_NPS.
2012-10-16T22:11:06.113Z,1350425466.113 [Turbulence_NPS](INFO): Opening uart, block timeout 10ths=1
2012-10-16T22:11:06.120Z,1350425466.120 [WetLabsBB2FL](INFO): Thread ID is 815
2012-10-16T22:11:06.121Z,1350425466.121 [WetLabsBB2FL](INFO): Powering down
2012-10-16T22:11:06.146Z,1350425466.146 [SBIT](INFO): Initialize SBIT Component.
2012-10-16T22:11:06.146Z,1350425466.146 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 9967
2012-10-16T22:11:06.152Z,1350425466.152 [NavChartDb](INFO): Thread ID is 816
2012-10-16T22:11:06.160Z,1350425466.160 [IBIT](INFO): Initialize IBIT Component.
2012-10-16T22:11:06.161Z,1350425466.161 [CBIT](DEBUG): Initialize CBIT Component.
2012-10-16T22:11:06.161Z,1350425466.161 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2012-10-16T22:11:06.208Z,1350425466.208 [Turbulence_NPS](INFO): Pause powering down
2012-10-16T22:11:06.220Z,1350425466.220 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2012-10-16T22:11:06.220Z,1350425466.220 [NavChart](DEBUG): Initialize NavChart Derivation.
2012-10-16T22:11:06.220Z,1350425466.220 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2012-10-16T22:11:06.221Z,1350425466.221 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2012-10-16T22:11:06.221Z,1350425466.221 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2012-10-16T22:11:06.222Z,1350425466.222 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2012-10-16T22:11:06.223Z,1350425466.223 [Navigation](DEBUG): Initializing Navigation.
2012-10-16T22:11:06.223Z,1350425466.223 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2012-10-16T22:11:06.225Z,1350425466.225 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2012-10-16T22:11:06.225Z,1350425466.225 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2012-10-16T22:11:06.226Z,1350425466.226 [LoopControl](DEBUG): Initialize LoopControlComponent.
2012-10-16T22:11:06.260Z,1350425466.260 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2012-10-16T22:11:06.261Z,1350425466.261 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2012-10-16T22:11:06.261Z,1350425466.261 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2012-10-16T22:11:06.261Z,1350425466.261 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2012-10-16T22:11:06.262Z,1350425466.262 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2012-10-16T22:11:07.611Z,1350425467.611 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2012-10-16T22:11:07.611Z,1350425467.611 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2012-10-16T22:11:07.611Z,1350425467.611 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2012-10-16T22:11:07.611Z,1350425467.611 [Batt_Ocean_Server](ERROR): Communications Fault
2012-10-16T22:11:07.619Z,1350425467.619 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2012-10-16T22:11:07.652Z,1350425467.652 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-16T22:11:07.692Z,1350425467.692 [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>


2012-10-16T22:11:07.693Z,1350425467.693 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2012-10-16T22:11:07.728Z,1350425467.728 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2012-10-16T22:11:07.730Z,1350425467.730 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2012-10-16T22:11:07.734Z,1350425467.734 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-16T22:11:07.741Z,1350425467.741 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2012-10-16T22:11:07.744Z,1350425467.744 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-16T22:11:07.751Z,1350425467.751 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2012-10-16T22:11:07.760Z,1350425467.760 [Default:D.SetSpeed](DEBUG): Construct.
2012-10-16T22:11:07.767Z,1350425467.767 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2012-10-16T22:11:07.771Z,1350425467.772 [Default:F.Wait](DEBUG): Construct Wait.
2012-10-16T22:11:07.775Z,1350425467.775 [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>


2012-10-16T22:11:07.779Z,1350425467.779 [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,
2012-10-16T22:11:07.800Z,1350425467.800 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2012-10-16T22:11:08.063Z,1350425468.063 [Radio_Freewave](INFO): Powering up
2012-10-16T22:11:08.171Z,1350425468.171 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2012-10-16T22:11:08.171Z,1350425468.171 [DVL_micro](INFO): Querying output modes
2012-10-16T22:11:08.172Z,1350425468.172 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2012-10-16T22:11:08.196Z,1350425468.196 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2012-10-16T22:11:08.196Z,1350425468.196 [DVL_micro](INFO): NQ1 output enabled
2012-10-16T22:11:08.196Z,1350425468.196 [DVL_micro](INFO): RSSI output enabled
2012-10-16T22:11:08.197Z,1350425468.197 [DVL_micro](INFO): ADCP output enabled
2012-10-16T22:11:08.197Z,1350425468.197 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2012-10-16T22:11:08.211Z,1350425468.211 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2012-10-16T22:11:08.216Z,1350425468.217 [DVL_micro](INFO): pause:Powering down
2012-10-16T22:11:08.274Z,1350425468.274 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2012-10-16T22:11:08.284Z,1350425468.284 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2012-10-16T22:11:08.294Z,1350425468.294 [ElevatorServo](DEBUG): Initializing EZServoServo.
2012-10-16T22:11:08.295Z,1350425468.295 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2012-10-16T22:11:08.309Z,1350425468.309 [RudderServo](DEBUG): Initializing EZServoServo.
2012-10-16T22:11:08.310Z,1350425468.310 [RudderServo](DEBUG): Initializing RudderServo.
2012-10-16T22:11:08.316Z,1350425468.316 [ThrusterServo](DEBUG): Initializing EZServoServo.
2012-10-16T22:11:08.319Z,1350425468.319 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2012-10-16T22:11:08.344Z,1350425468.344 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2012-10-16T22:11:08.345Z,1350425468.345 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2012-10-16T22:11:08.345Z,1350425468.345 [Batt_Ocean_Server] No Fault, FailCount= 1
2012-10-16T22:11:12.780Z,1350425472.780 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2012-10-16T22:11:12.801Z,1350425472.801 [NAL9602](INFO): Powering up NAL9602
2012-10-16T22:11:22.568Z,1350425482.568 [SBIT](IMPORTANT): Beginning Startup BIT
2012-10-16T22:11:22.570Z,1350425482.570 [CBIT](IMPORTANT): Beginning GF scan
2012-10-16T22:11:23.867Z,1350425483.867 [NAL9602](INFO): NAL9602 initialized