2013-02-13T19:00:56.801Z,1360782056.801 [Supervisor](DEBUG): Initializing supervisor.
2013-02-13T19:00:56.807Z,1360782056.807 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-02-13T19:00:56.807Z,1360782056.807 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-02-13T19:00:56.810Z,1360782056.810 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-02-13T19:00:56.814Z,1360782056.814 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-02-13T19:00:56.826Z,1360782056.826 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-02-13T19:00:56.830Z,1360782056.830 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-02-13T19:00:56.831Z,1360782056.831 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-02-13T19:00:56.834Z,1360782056.834 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-02-13T19:00:56.835Z,1360782056.835 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-02-13T19:00:56.839Z,1360782056.839 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-02-13T19:00:57.150Z,1360782057.150 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-02-13T19:00:57.150Z,1360782057.150 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-02-13T19:00:57.360Z,1360782057.360 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-02-13T19:00:57.361Z,1360782057.361 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-02-13T19:00:57.458Z,1360782057.458 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-02-13T19:00:57.460Z,1360782057.460 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-02-13T19:00:57.679Z,1360782057.679 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-02-13T19:00:57.680Z,1360782057.680 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-02-13T19:00:57.827Z,1360782057.827 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-02-13T19:00:57.829Z,1360782057.829 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-02-13T19:00:58.087Z,1360782058.087 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-02-13T19:00:58.088Z,1360782058.088 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-02-13T19:00:58.278Z,1360782058.278 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-02-13T19:00:58.280Z,1360782058.280 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-02-13T19:00:58.558Z,1360782058.558 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-02-13T19:00:58.560Z,1360782058.560 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-02-13T19:00:58.670Z,1360782058.670 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-02-13T19:00:58.670Z,1360782058.670 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-02-13T19:00:59.114Z,1360782059.114 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-02-13T19:00:59.115Z,1360782059.115 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-02-13T19:00:59.245Z,1360782059.245 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-02-13T19:00:59.246Z,1360782059.246 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-02-13T19:00:59.350Z,1360782059.350 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-02-13T19:00:59.365Z,1360782059.365 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-02-13T19:00:59.494Z,1360782059.494 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-02-13T19:00:59.640Z,1360782059.640 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-02-13T19:00:59.738Z,1360782059.738 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-02-13T19:00:59.850Z,1360782059.850 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-02-13T19:00:59.964Z,1360782059.964 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-02-13T19:01:00.096Z,1360782060.096 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-02-13T19:01:00.200Z,1360782060.200 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-02-13T19:01:00.298Z,1360782060.298 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-02-13T19:01:00.329Z,1360782060.329 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-02-13T19:01:00.526Z,1360782060.526 [InternalSim] Loaded
2013-02-13T19:01:00.526Z,1360782060.526 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-02-13T19:01:00.527Z,1360782060.527 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-02-13T19:01:00.527Z,1360782060.527 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-02-13T19:01:00.609Z,1360782060.609 [SBIT](DEBUG): Construct Startup Built In Test.
2013-02-13T19:01:00.642Z,1360782060.642 [SBIT] Loaded
2013-02-13T19:01:00.642Z,1360782060.642 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-02-13T19:01:00.643Z,1360782060.643 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-02-13T19:01:00.676Z,1360782060.676 [IBIT] Loaded
2013-02-13T19:01:00.677Z,1360782060.677 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-02-13T19:01:00.680Z,1360782060.680 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-02-13T19:01:00.813Z,1360782060.813 [CBIT] Loaded
2013-02-13T19:01:00.813Z,1360782060.813 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-02-13T19:01:00.813Z,1360782060.813 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-02-13T19:01:00.814Z,1360782060.814 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-02-13T19:01:00.996Z,1360782060.996 [BuoyancyServo] Loaded
2013-02-13T19:01:00.996Z,1360782060.996 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-02-13T19:01:01.009Z,1360782061.009 [ElevatorServo] Loaded
2013-02-13T19:01:01.009Z,1360782061.009 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-02-13T19:01:01.025Z,1360782061.025 [MassServo] Loaded
2013-02-13T19:01:01.025Z,1360782061.025 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-02-13T19:01:01.037Z,1360782061.037 [RudderServo] Loaded
2013-02-13T19:01:01.037Z,1360782061.037 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-02-13T19:01:01.049Z,1360782061.049 [ThrusterServo] Loaded
2013-02-13T19:01:01.050Z,1360782061.050 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-02-13T19:01:01.050Z,1360782061.050 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-02-13T19:01:01.051Z,1360782061.051 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-02-13T19:01:01.087Z,1360782061.087 [DepthRateCalculator] Loaded
2013-02-13T19:01:01.087Z,1360782061.087 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-02-13T19:01:04.880Z,1360782064.880 [HFRadarModelCalc] Loaded
2013-02-13T19:01:04.881Z,1360782064.881 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-02-13T19:01:04.901Z,1360782064.901 [NavChart] Loaded
2013-02-13T19:01:04.901Z,1360782064.901 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-02-13T19:01:04.911Z,1360782064.911 [PitchRateCalculator] Loaded
2013-02-13T19:01:04.911Z,1360782064.911 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-02-13T19:01:04.918Z,1360782064.918 [SpeedCalculator] Loaded
2013-02-13T19:01:04.918Z,1360782064.918 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-02-13T19:01:04.933Z,1360782064.933 [TempGradientCalculator] Loaded
2013-02-13T19:01:04.933Z,1360782064.933 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-02-13T19:01:04.939Z,1360782064.939 [YawRateCalculator] Loaded
2013-02-13T19:01:04.939Z,1360782064.939 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-02-13T19:01:04.984Z,1360782064.984 [Navigation] Loaded
2013-02-13T19:01:04.984Z,1360782064.984 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-02-13T19:01:04.985Z,1360782064.985 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-02-13T19:01:04.986Z,1360782064.986 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-02-13T19:01:05.268Z,1360782065.268 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-02-13T19:01:05.268Z,1360782065.268 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-02-13T19:01:05.306Z,1360782065.306 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-02-13T19:01:05.307Z,1360782065.307 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-02-13T19:01:05.371Z,1360782065.371 [VerticalControl](DEBUG): Construct VerticalControl.
2013-02-13T19:01:05.474Z,1360782065.474 [VerticalControl] Loaded
2013-02-13T19:01:05.478Z,1360782065.478 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-02-13T19:01:05.479Z,1360782065.479 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-02-13T19:01:05.540Z,1360782065.540 [HorizontalControl] Loaded
2013-02-13T19:01:05.541Z,1360782065.541 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-02-13T19:01:05.541Z,1360782065.542 [SpeedControl](DEBUG): Construct SpeedControl.
2013-02-13T19:01:05.543Z,1360782065.543 [SpeedControl] Loaded
2013-02-13T19:01:05.544Z,1360782065.543 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-02-13T19:01:05.544Z,1360782065.545 [LoopControl](DEBUG): Construct LoopControl.
2013-02-13T19:01:05.545Z,1360782065.545 [LoopControl] Loaded
2013-02-13T19:01:05.545Z,1360782065.545 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-02-13T19:01:05.546Z,1360782065.546 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-02-13T19:01:05.546Z,1360782065.546 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-02-13T19:01:05.554Z,1360782065.554 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-02-13T19:01:05.559Z,1360782065.559 [AsyncPiEstimator] Loaded
2013-02-13T19:01:05.560Z,1360782065.560 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-02-13T19:01:05.562Z,1360782065.562 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A34E0
2013-02-13T19:01:05.563Z,1360782065.563 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-02-13T19:01:05.564Z,1360782065.564 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-02-13T19:01:05.750Z,1360782065.750 [AHRS_sp3003D] Loaded
2013-02-13T19:01:05.750Z,1360782065.750 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-02-13T19:01:06.041Z,1360782066.041 [Batt_Ocean_Server] Loaded
2013-02-13T19:01:06.041Z,1360782066.041 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-02-13T19:01:06.055Z,1360782066.055 [Depth_Keller] Loaded
2013-02-13T19:01:06.056Z,1360782066.056 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-02-13T19:01:06.239Z,1360782066.239 [DVL_micro] Loaded
2013-02-13T19:01:06.239Z,1360782066.239 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-02-13T19:01:06.242Z,1360782066.242 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407274E0
2013-02-13T19:01:06.298Z,1360782066.298 [Onboard] Loaded
2013-02-13T19:01:06.298Z,1360782066.298 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-02-13T19:01:06.305Z,1360782066.305 [Radio_Freewave] Loaded
2013-02-13T19:01:06.305Z,1360782066.305 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-02-13T19:01:06.400Z,1360782066.399 [DAT] Loaded
2013-02-13T19:01:06.400Z,1360782066.400 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-02-13T19:01:06.400Z,1360782066.400 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-02-13T19:01:06.401Z,1360782066.401 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-02-13T19:01:06.486Z,1360782066.486 [PAR_Licor] Loaded
2013-02-13T19:01:06.487Z,1360782066.487 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-02-13T19:01:06.488Z,1360782066.488 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-02-13T19:01:06.490Z,1360782066.490 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-02-13T19:01:06.491Z,1360782066.491 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-02-13T19:01:06.502Z,1360782066.502 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-02-13T19:01:06.510Z,1360782066.510 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407794E0
2013-02-13T19:01:06.515Z,1360782066.515 [Supervisor](DEBUG): Running supervisor.
2013-02-13T19:01:06.516Z,1360782066.516 [CommandLine](INFO): Thread ID is 749
2013-02-13T19:01:06.519Z,1360782066.519 [controlThread](INFO): Thread ID is 748
2013-02-13T19:01:06.519Z,1360782066.519 [controlThread](DEBUG): Initializing ControlThread
2013-02-13T19:01:06.520Z,1360782066.520 [CycleStarter](INFO): Thread ID is 747
2013-02-13T19:01:06.520Z,1360782066.520 [InternalSim](DEBUG):  InternalSim initializing...
2013-02-13T19:01:06.632Z,1360782066.632 [logger](INFO): Thread ID is 750
2013-02-13T19:01:06.732Z,1360782066.732 [AsyncPiEstimator](INFO): Thread ID is 811
2013-02-13T19:01:06.732Z,1360782066.732 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-02-13T19:01:06.839Z,1360782066.839 [DVL_micro](INFO): Thread ID is 812
2013-02-13T19:01:06.858Z,1360782066.858 [DVL_micro](INFO): Initializing
2013-02-13T19:01:06.858Z,1360782066.858 [DVL_micro](INFO): start:Powering up
2013-02-13T19:01:06.859Z,1360782066.859 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:01:06.860Z,1360782066.860 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T19:01:06.871Z,1360782066.871 [NavChartDb](INFO): Thread ID is 813
2013-02-13T19:01:06.879Z,1360782066.879 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-02-13T19:01:06.880Z,1360782066.880 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-02-13T19:01:06.880Z,1360782066.880 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-02-13T19:01:06.881Z,1360782066.881 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-02-13T19:01:06.881Z,1360782066.881 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-02-13T19:01:06.979Z,1360782066.979 [SBIT](INFO): Initialize SBIT Component.
2013-02-13T19:01:06.980Z,1360782066.980 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10106
2013-02-13T19:01:06.980Z,1360782066.980 [IBIT](INFO): Initialize IBIT Component.
2013-02-13T19:01:06.981Z,1360782066.981 [CBIT](DEBUG): Initialize CBIT Component.
2013-02-13T19:01:06.982Z,1360782066.981 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-02-13T19:01:06.982Z,1360782066.982 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-02-13T19:01:07.008Z,1360782067.008 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-13T19:01:07.008Z,1360782067.008 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-02-13T19:01:07.009Z,1360782067.009 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-02-13T19:01:07.009Z,1360782067.009 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-02-13T19:01:07.009Z,1360782067.009 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-02-13T19:01:07.011Z,1360782067.011 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-02-13T19:01:07.011Z,1360782067.011 [Navigation](DEBUG): Initializing Navigation.
2013-02-13T19:01:07.012Z,1360782067.012 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-02-13T19:01:07.014Z,1360782067.013 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-02-13T19:01:07.014Z,1360782067.014 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-02-13T19:01:07.015Z,1360782067.015 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-02-13T19:01:08.207Z,1360782068.207 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-02-13T19:01:08.207Z,1360782068.207 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-02-13T19:01:08.207Z,1360782068.207 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2013-02-13T19:01:08.207Z,1360782068.207 [Batt_Ocean_Server](ERROR): Communications Fault
2013-02-13T19:01:08.214Z,1360782068.214 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-02-13T19:01:08.278Z,1360782068.279 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-13T19:01:08.293Z,1360782068.293 [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>


2013-02-13T19:01:08.294Z,1360782068.294 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-02-13T19:01:08.386Z,1360782068.385 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-02-13T19:01:08.388Z,1360782068.388 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-02-13T19:01:08.400Z,1360782068.400 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-13T19:01:08.417Z,1360782068.417 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-02-13T19:01:08.420Z,1360782068.420 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-13T19:01:08.450Z,1360782068.450 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-02-13T19:01:08.475Z,1360782068.476 [Default:D.SetSpeed](DEBUG): Construct.
2013-02-13T19:01:08.487Z,1360782068.487 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-13T19:01:08.492Z,1360782068.492 [Default:F.Wait](DEBUG): Construct Wait.
2013-02-13T19:01:08.511Z,1360782068.511 [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>


2013-02-13T19:01:08.516Z,1360782068.516 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,Onboard,Radio_Freewave,DAT,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,
2013-02-13T19:01:08.576Z,1360782068.576 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T19:01:08.603Z,1360782068.603 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-02-13T19:01:08.654Z,1360782068.654 [Radio_Freewave](INFO): Powering up
2013-02-13T19:01:08.675Z,1360782068.675 [DAT](INFO): Powering up
2013-02-13T19:01:08.675Z,1360782068.675 [DAT](DEBUG): Initializing DAT.
2013-02-13T19:01:08.911Z,1360782068.911 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:01:08.911Z,1360782068.911 [DVL_micro](INFO): Querying output modes
2013-02-13T19:01:08.912Z,1360782068.912 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-13T19:01:08.980Z,1360782068.980 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:01:08.991Z,1360782068.991 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-02-13T19:01:09.005Z,1360782069.005 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:01:09.011Z,1360782069.011 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-13T19:01:09.017Z,1360782069.017 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:01:09.023Z,1360782069.023 [MassServo](DEBUG): Initializing MassServo.
2013-02-13T19:01:09.029Z,1360782069.029 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:01:09.059Z,1360782069.059 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-13T19:01:09.064Z,1360782069.064 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:01:09.071Z,1360782069.071 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-02-13T19:01:09.116Z,1360782069.116 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-02-13T19:01:09.116Z,1360782069.116 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-02-13T19:01:09.116Z,1360782069.116 [Batt_Ocean_Server] No Fault, FailCount= 1
2013-02-13T19:01:09.554Z,1360782069.554 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T19:01:09.554Z,1360782069.555 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T19:01:09.554Z,1360782069.555 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-02-13T19:01:09.555Z,1360782069.555 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T19:01:10.922Z,1360782070.922 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:10.923Z,1360782070.922 [DVL_micro](INFO): Output Modes: No Response
2013-02-13T19:01:10.923Z,1360782070.923 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-13T19:01:11.351Z,1360782071.351 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-02-13T19:01:11.833Z,1360782071.833 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T19:01:11.985Z,1360782071.985 [AHRS_sp3003D](INFO): Powering down
2013-02-13T19:01:12.946Z,1360782072.946 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:12.951Z,1360782072.951 [DVL_micro](INFO): pause:Powering down
2013-02-13T19:01:12.953Z,1360782072.953 [DVL_micro](INFO): NQ1 requested
2013-02-13T19:01:12.953Z,1360782072.954 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:01:12.954Z,1360782072.954 [DVL_micro](INFO): resume:Powering up
2013-02-13T19:01:12.954Z,1360782072.954 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T19:01:13.589Z,1360782073.589 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-02-13T19:01:13.589Z,1360782073.589 [AHRS_sp3003D] No Fault, FailCount= 1
2013-02-13T19:01:13.845Z,1360782073.845 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T19:01:14.963Z,1360782074.963 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:01:14.963Z,1360782074.963 [DVL_micro](INFO): Querying output modes
2013-02-13T19:01:14.963Z,1360782074.963 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-13T19:01:14.990Z,1360782074.990 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T19:01:14.991Z,1360782074.991 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T19:01:14.991Z,1360782074.991 [AHRS_sp3003D] Hardware Fault, FailCount= 2
2013-02-13T19:01:14.991Z,1360782074.991 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T19:01:15.289Z,1360782075.289 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T19:01:15.304Z,1360782075.304 [AHRS_sp3003D](INFO): Powering down
2013-02-13T19:01:16.710Z,1360782076.710 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-02-13T19:01:16.710Z,1360782076.710 [AHRS_sp3003D] No Fault, FailCount= 2
2013-02-13T19:01:16.905Z,1360782076.905 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T19:01:16.974Z,1360782076.974 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:16.975Z,1360782076.974 [DVL_micro](INFO): Output Modes: No Response
2013-02-13T19:01:16.975Z,1360782076.975 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-13T19:01:17.037Z,1360782077.037 [CBIT](CRITICAL): Environmental Failure. Press:14.451184 PSI. Humidity:26%. Temp:22 C. ABORTING MISSION
2013-02-13T19:01:18.050Z,1360782078.050 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T19:01:18.051Z,1360782078.050 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T19:01:18.051Z,1360782078.051 [AHRS_sp3003D] Hardware Fault, FailCount= 3
2013-02-13T19:01:18.051Z,1360782078.051 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T19:01:18.249Z,1360782078.249 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T19:01:18.261Z,1360782078.261 [AHRS_sp3003D](INFO): Powering down
2013-02-13T19:01:18.986Z,1360782078.986 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:18.988Z,1360782078.988 [DVL_micro](INFO): NQ1 requested
2013-02-13T19:01:18.988Z,1360782078.988 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T19:01:19.577Z,1360782079.578 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-02-13T19:01:19.577Z,1360782079.578 [AHRS_sp3003D] No Fault, FailCount= 3
2013-02-13T19:01:19.865Z,1360782079.865 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T19:01:20.995Z,1360782080.995 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:01:20.995Z,1360782080.995 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-02-13T19:01:21.006Z,1360782081.006 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T19:01:21.007Z,1360782081.007 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T19:01:21.007Z,1360782081.007 [AHRS_sp3003D] Hardware Fault, FailCount= 4
2013-02-13T19:01:21.007Z,1360782081.007 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T19:01:21.206Z,1360782081.206 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T19:01:21.229Z,1360782081.229 [AHRS_sp3003D](INFO): Powering down
2013-02-13T19:01:22.529Z,1360782082.529 [SBIT](IMPORTANT): Beginning Startup BIT
2013-02-13T19:01:22.531Z,1360782082.531 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-02-13T19:01:22.531Z,1360782082.531 [AHRS_sp3003D] No Fault, FailCount= 4
2013-02-13T19:01:22.532Z,1360782082.532 [CBIT](IMPORTANT): Beginning GF scan
2013-02-13T19:01:22.823Z,1360782082.823 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-13T19:01:23.002Z,1360782083.003 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:23.003Z,1360782083.003 [DVL_micro](INFO): Enabling NQ1 output
2013-02-13T19:01:23.003Z,1360782083.003 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-02-13T19:01:23.994Z,1360782083.994 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-13T19:01:23.995Z,1360782083.995 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-13T19:01:23.995Z,1360782083.995 [AHRS_sp3003D] Hardware Fault, FailCount= 5
2013-02-13T19:01:23.995Z,1360782083.995 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-13T19:01:24.158Z,1360782084.158 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-02-13T19:01:24.159Z,1360782084.159 [CBIT](CRITICAL): Hardware Fault in component: AHRS_sp3003D
2013-02-13T19:01:24.171Z,1360782084.171 [AHRS_sp3003D](INFO): Powering down
2013-02-13T19:01:25.010Z,1360782085.010 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:25.010Z,1360782085.010 [DVL_micro](INFO): Querying output modes
2013-02-13T19:01:25.011Z,1360782085.011 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-13T19:01:27.026Z,1360782087.026 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:27.026Z,1360782087.026 [DVL_micro](INFO): Output Modes: No Response
2013-02-13T19:01:27.027Z,1360782087.027 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-13T19:01:28.705Z,1360782088.705 [DAT](INFO): Powering down
2013-02-13T19:01:29.038Z,1360782089.038 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:29.191Z,1360782089.191 [RudderServo](FAULT): Invalid EZ Servo response:"ÿ"
2013-02-13T19:01:29.191Z,1360782089.191 [RudderServo] Communications Fault, FailCount= 1
2013-02-13T19:01:29.191Z,1360782089.191 [RudderServo](ERROR): Communications Fault
2013-02-13T19:01:29.191Z,1360782089.191 [RudderServo](ERROR): Rudder reporting null position
2013-02-13T19:01:29.198Z,1360782089.197 [CBIT](ERROR): Communications Fault in component: RudderServo
2013-02-13T19:01:29.604Z,1360782089.604 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-02-13T19:01:29.604Z,1360782089.604 [RudderServo](INFO): Powering down
2013-02-13T19:01:30.378Z,1360782090.378 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-13T19:01:30.503Z,1360782090.503 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-13T19:01:30.507Z,1360782090.507 [CBIT](INFO): Clearing failed state for component RudderServo
2013-02-13T19:01:30.507Z,1360782090.507 [RudderServo] No Fault, FailCount= 1
2013-02-13T19:01:31.047Z,1360782091.047 [DVL_micro](INFO): NQ1 requested
2013-02-13T19:01:31.047Z,1360782091.047 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T19:01:33.055Z,1360782093.055 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:01:33.055Z,1360782093.055 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-02-13T19:01:35.069Z,1360782095.069 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:35.069Z,1360782095.069 [DVL_micro](INFO): Enabling NQ1 output
2013-02-13T19:01:35.069Z,1360782095.069 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-02-13T19:01:37.081Z,1360782097.081 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:37.081Z,1360782097.081 [DVL_micro](INFO): Querying output modes
2013-02-13T19:01:37.081Z,1360782097.081 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-13T19:01:39.086Z,1360782099.086 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:39.086Z,1360782099.086 [DVL_micro](INFO): Output Modes: No Response
2013-02-13T19:01:39.087Z,1360782099.087 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-13T19:01:41.094Z,1360782101.094 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:43.107Z,1360782103.107 [DVL_micro](INFO): NQ1 requested
2013-02-13T19:01:43.107Z,1360782103.107 [DVL_micro](INFO): Cycling power to configure device.
2013-02-13T19:01:45.115Z,1360782105.115 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-13T19:01:45.115Z,1360782105.115 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-02-13T19:01:47.122Z,1360782107.122 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:47.123Z,1360782107.122 [DVL_micro](INFO): Enabling NQ1 output
2013-02-13T19:01:47.123Z,1360782107.123 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-02-13T19:01:48.747Z,1360782108.747 [CBIT](IMPORTANT): No ground fault detected
2013-02-13T19:01:49.126Z,1360782109.126 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:49.126Z,1360782109.126 [DVL_micro](INFO): Querying output modes
2013-02-13T19:01:49.127Z,1360782109.127 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-13T19:01:51.132Z,1360782111.132 [DVL_micro](DEBUG): cmdResponse: 
2013-02-13T19:01:51.132Z,1360782111.132 [DVL_micro](INFO): Output Modes: No Response
2013-02-13T19:01:51.133Z,1360782111.133 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-13T19:01:53.146Z,1360782113.146 [DVL_micro](DEBUG): cmdResponse: