2013-02-26T17:16:45.419Z,1361899005.420 [Supervisor](DEBUG): Initializing supervisor.
2013-02-26T17:16:45.422Z,1361899005.422 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-02-26T17:16:45.423Z,1361899005.423 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-02-26T17:16:45.424Z,1361899005.424 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-02-26T17:16:45.427Z,1361899005.427 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-02-26T17:16:45.438Z,1361899005.438 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-02-26T17:16:45.439Z,1361899005.439 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-02-26T17:16:45.440Z,1361899005.440 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-02-26T17:16:45.441Z,1361899005.441 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-02-26T17:16:45.441Z,1361899005.441 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-02-26T17:16:45.442Z,1361899005.442 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-02-26T17:16:45.720Z,1361899005.720 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-02-26T17:16:45.720Z,1361899005.720 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-02-26T17:16:45.909Z,1361899005.909 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-02-26T17:16:45.909Z,1361899005.909 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-02-26T17:16:45.996Z,1361899005.996 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-02-26T17:16:45.996Z,1361899005.996 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-02-26T17:16:46.193Z,1361899006.193 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-02-26T17:16:46.193Z,1361899006.194 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-02-26T17:16:46.325Z,1361899006.325 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-02-26T17:16:46.326Z,1361899006.326 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-02-26T17:16:46.554Z,1361899006.554 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-02-26T17:16:46.554Z,1361899006.554 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-02-26T17:16:46.723Z,1361899006.723 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-02-26T17:16:46.723Z,1361899006.723 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-02-26T17:16:46.971Z,1361899006.971 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-02-26T17:16:46.971Z,1361899006.971 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-02-26T17:16:47.072Z,1361899007.072 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-02-26T17:16:47.072Z,1361899007.072 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-02-26T17:16:47.468Z,1361899007.468 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-02-26T17:16:47.469Z,1361899007.469 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-02-26T17:16:47.583Z,1361899007.583 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-02-26T17:16:47.583Z,1361899007.583 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-02-26T17:16:47.668Z,1361899007.668 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-02-26T17:16:47.669Z,1361899007.669 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-02-26T17:16:47.770Z,1361899007.770 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-02-26T17:16:47.897Z,1361899007.897 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-02-26T17:16:47.982Z,1361899007.982 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-02-26T17:16:48.082Z,1361899008.082 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-02-26T17:16:48.181Z,1361899008.181 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-02-26T17:16:48.298Z,1361899008.298 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-02-26T17:16:48.390Z,1361899008.390 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-02-26T17:16:48.476Z,1361899008.476 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-02-26T17:16:48.504Z,1361899008.504 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-02-26T17:16:48.653Z,1361899008.653 [InternalSim] Loaded
2013-02-26T17:16:48.653Z,1361899008.653 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-02-26T17:16:48.654Z,1361899008.654 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-02-26T17:16:48.655Z,1361899008.655 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-02-26T17:16:48.710Z,1361899008.710 [SBIT](DEBUG): Construct Startup Built In Test.
2013-02-26T17:16:48.738Z,1361899008.739 [SBIT] Loaded
2013-02-26T17:16:48.739Z,1361899008.739 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-02-26T17:16:48.740Z,1361899008.740 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-02-26T17:16:48.769Z,1361899008.769 [IBIT] Loaded
2013-02-26T17:16:48.769Z,1361899008.769 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-02-26T17:16:48.772Z,1361899008.772 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-02-26T17:16:48.890Z,1361899008.890 [CBIT] Loaded
2013-02-26T17:16:48.890Z,1361899008.890 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-02-26T17:16:48.891Z,1361899008.891 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-02-26T17:16:48.891Z,1361899008.891 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-02-26T17:16:49.040Z,1361899009.040 [BuoyancyServo] Loaded
2013-02-26T17:16:49.040Z,1361899009.040 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-02-26T17:16:49.052Z,1361899009.052 [ElevatorServo] Loaded
2013-02-26T17:16:49.052Z,1361899009.052 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-02-26T17:16:49.064Z,1361899009.064 [MassServo] Loaded
2013-02-26T17:16:49.064Z,1361899009.064 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-02-26T17:16:49.076Z,1361899009.076 [RudderServo] Loaded
2013-02-26T17:16:49.077Z,1361899009.077 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-02-26T17:16:49.088Z,1361899009.088 [ThrusterServo] Loaded
2013-02-26T17:16:49.089Z,1361899009.089 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-02-26T17:16:49.089Z,1361899009.089 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-02-26T17:16:49.090Z,1361899009.090 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-02-26T17:16:49.106Z,1361899009.106 [DepthRateCalculator] Loaded
2013-02-26T17:16:49.106Z,1361899009.106 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-02-26T17:16:52.474Z,1361899012.474 [HFRadarModelCalc] Loaded
2013-02-26T17:16:52.474Z,1361899012.474 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-02-26T17:16:52.490Z,1361899012.490 [NavChart] Loaded
2013-02-26T17:16:52.490Z,1361899012.490 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-02-26T17:16:52.496Z,1361899012.496 [PitchRateCalculator] Loaded
2013-02-26T17:16:52.496Z,1361899012.496 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-02-26T17:16:52.502Z,1361899012.502 [SpeedCalculator] Loaded
2013-02-26T17:16:52.503Z,1361899012.503 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-02-26T17:16:52.517Z,1361899012.517 [TempGradientCalculator] Loaded
2013-02-26T17:16:52.517Z,1361899012.517 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-02-26T17:16:52.523Z,1361899012.523 [YawRateCalculator] Loaded
2013-02-26T17:16:52.523Z,1361899012.523 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-02-26T17:16:52.565Z,1361899012.565 [Navigation] Loaded
2013-02-26T17:16:52.565Z,1361899012.565 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-02-26T17:16:52.566Z,1361899012.566 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-02-26T17:16:52.566Z,1361899012.566 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-02-26T17:16:52.788Z,1361899012.788 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-02-26T17:16:52.789Z,1361899012.789 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-02-26T17:16:52.814Z,1361899012.814 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-02-26T17:16:52.815Z,1361899012.815 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-02-26T17:16:52.869Z,1361899012.869 [VerticalControl](DEBUG): Construct VerticalControl.
2013-02-26T17:16:52.963Z,1361899012.963 [VerticalControl] Loaded
2013-02-26T17:16:52.963Z,1361899012.963 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-02-26T17:16:52.964Z,1361899012.964 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-02-26T17:16:53.020Z,1361899013.020 [HorizontalControl] Loaded
2013-02-26T17:16:53.021Z,1361899013.021 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-02-26T17:16:53.022Z,1361899013.022 [SpeedControl](DEBUG): Construct SpeedControl.
2013-02-26T17:16:53.023Z,1361899013.023 [SpeedControl] Loaded
2013-02-26T17:16:53.024Z,1361899013.024 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-02-26T17:16:53.024Z,1361899013.024 [LoopControl](DEBUG): Construct LoopControl.
2013-02-26T17:16:53.025Z,1361899013.025 [LoopControl] Loaded
2013-02-26T17:16:53.025Z,1361899013.025 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-02-26T17:16:53.026Z,1361899013.026 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-02-26T17:16:53.026Z,1361899013.026 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-02-26T17:16:53.038Z,1361899013.038 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-02-26T17:16:53.043Z,1361899013.043 [AsyncPiEstimator] Loaded
2013-02-26T17:16:53.044Z,1361899013.044 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-02-26T17:16:53.045Z,1361899013.045 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-02-26T17:16:53.046Z,1361899013.046 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-02-26T17:16:53.046Z,1361899013.046 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-02-26T17:16:53.207Z,1361899013.207 [AHRS_sp3003D] Loaded
2013-02-26T17:16:53.207Z,1361899013.207 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-02-26T17:16:53.468Z,1361899013.467 [Batt_Ocean_Server] Loaded
2013-02-26T17:16:53.468Z,1361899013.468 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-02-26T17:16:53.481Z,1361899013.481 [Depth_Keller] Loaded
2013-02-26T17:16:53.481Z,1361899013.481 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-02-26T17:16:53.487Z,1361899013.487 [DropWeight] Loaded
2013-02-26T17:16:53.487Z,1361899013.487 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-02-26T17:16:53.646Z,1361899013.646 [DVL_micro] Loaded
2013-02-26T17:16:53.646Z,1361899013.646 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-02-26T17:16:53.647Z,1361899013.647 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-02-26T17:16:53.729Z,1361899013.729 [NAL9602] Loaded
2013-02-26T17:16:53.729Z,1361899013.729 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-02-26T17:16:53.779Z,1361899013.779 [Onboard] Loaded
2013-02-26T17:16:53.779Z,1361899013.779 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-02-26T17:16:53.786Z,1361899013.786 [Radio_Freewave] Loaded
2013-02-26T17:16:53.786Z,1361899013.786 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-02-26T17:16:53.787Z,1361899013.787 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-02-26T17:16:53.787Z,1361899013.787 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-02-26T17:16:53.863Z,1361899013.863 [Aanderaa_O2] Loaded
2013-02-26T17:16:53.863Z,1361899013.863 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-02-26T17:16:53.877Z,1361899013.877 [ISUS] Loaded
2013-02-26T17:16:53.877Z,1361899013.877 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-02-26T17:16:53.894Z,1361899013.894 [PAR_Licor] Loaded
2013-02-26T17:16:53.895Z,1361899013.895 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-02-26T17:16:53.926Z,1361899013.926 [WetLabsBB2FL] Loaded
2013-02-26T17:16:53.926Z,1361899013.926 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-02-26T17:16:53.927Z,1361899013.927 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-02-26T17:16:53.928Z,1361899013.928 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-02-26T17:16:53.930Z,1361899013.930 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-02-26T17:16:53.931Z,1361899013.931 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-02-26T17:16:53.937Z,1361899013.937 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-02-26T17:16:53.938Z,1361899013.938 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-02-26T17:16:53.943Z,1361899013.943 [Supervisor](DEBUG): Running supervisor.
2013-02-26T17:16:53.944Z,1361899013.944 [CommandLine](INFO): Thread ID is 4566
2013-02-26T17:16:53.946Z,1361899013.946 [controlThread](INFO): Thread ID is 4565
2013-02-26T17:16:53.947Z,1361899013.947 [controlThread](DEBUG): Initializing ControlThread
2013-02-26T17:16:53.947Z,1361899013.947 [CycleStarter](INFO): Thread ID is 4564
2013-02-26T17:16:53.948Z,1361899013.948 [InternalSim](DEBUG):  InternalSim initializing...
2013-02-26T17:16:53.983Z,1361899013.983 [logger](INFO): Thread ID is 4567
2013-02-26T17:16:54.009Z,1361899014.009 [SBIT](INFO): Initialize SBIT Component.
2013-02-26T17:16:54.009Z,1361899014.009 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10150
2013-02-26T17:16:54.010Z,1361899014.010 [IBIT](INFO): Initialize IBIT Component.
2013-02-26T17:16:54.011Z,1361899014.011 [CBIT](DEBUG): Initialize CBIT Component.
2013-02-26T17:16:54.011Z,1361899014.011 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-02-26T17:16:54.011Z,1361899014.011 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2013-02-26T17:16:54.011Z,1361899014.011 [CBIT] Hardware Fault, FailCount= 1
2013-02-26T17:16:54.011Z,1361899014.011 [CBIT](ERROR): Hardware Fault
2013-02-26T17:16:54.012Z,1361899014.012 [AsyncPiEstimator](INFO): Thread ID is 4628
2013-02-26T17:16:54.013Z,1361899014.013 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-02-26T17:16:54.035Z,1361899014.035 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-02-26T17:16:54.036Z,1361899014.036 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-02-26T17:16:54.036Z,1361899014.036 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-02-26T17:16:54.037Z,1361899014.037 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-02-26T17:16:54.037Z,1361899014.037 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-02-26T17:16:54.039Z,1361899014.039 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-02-26T17:16:54.039Z,1361899014.039 [Navigation](DEBUG): Initializing Navigation.
2013-02-26T17:16:54.039Z,1361899014.039 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-02-26T17:16:54.041Z,1361899014.041 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-02-26T17:16:54.042Z,1361899014.042 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-02-26T17:16:54.043Z,1361899014.043 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-02-26T17:16:54.045Z,1361899014.045 [DVL_micro](INFO): Thread ID is 4629
2013-02-26T17:16:54.054Z,1361899014.055 [DVL_micro](INFO): Initializing
2013-02-26T17:16:54.055Z,1361899014.055 [DVL_micro](INFO): start:Powering up
2013-02-26T17:16:54.056Z,1361899014.056 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-26T17:16:54.056Z,1361899014.056 [DVL_micro](INFO): Cycling power to configure device.
2013-02-26T17:16:54.075Z,1361899014.075 [WetLabsBB2FL](INFO): Thread ID is 4630
2013-02-26T17:16:54.076Z,1361899014.076 [WetLabsBB2FL](INFO): Powering down
2013-02-26T17:16:54.114Z,1361899014.114 [NavChartDb](INFO): Thread ID is 4631
2013-02-26T17:16:54.120Z,1361899014.120 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2013-02-26T17:16:54.123Z,1361899014.123 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-02-26T17:16:54.125Z,1361899014.125 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2013-02-26T17:16:54.127Z,1361899014.127 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2013-02-26T17:16:54.129Z,1361899014.129 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2013-02-26T17:16:54.130Z,1361899014.130 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2013-02-26T17:16:54.132Z,1361899014.132 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2013-02-26T17:16:54.134Z,1361899014.134 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2013-02-26T17:16:54.135Z,1361899014.135 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2013-02-26T17:16:54.137Z,1361899014.137 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2013-02-26T17:16:54.326Z,1361899014.326 [NavChartDb](INFO): Setup scan of Resources/US5CA62M.000
2013-02-26T17:16:55.923Z,1361899015.923 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-02-26T17:16:55.951Z,1361899015.951 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-02-26T17:16:55.961Z,1361899015.961 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-26T17:16:55.972Z,1361899015.972 [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>


2013-02-26T17:16:55.973Z,1361899015.973 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-02-26T17:16:56.030Z,1361899016.030 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-02-26T17:16:56.036Z,1361899016.036 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-02-26T17:16:56.041Z,1361899016.041 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-26T17:16:56.049Z,1361899016.049 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-02-26T17:16:56.052Z,1361899016.052 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-26T17:16:56.059Z,1361899016.059 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-02-26T17:16:56.068Z,1361899016.068 [Default:D.SetSpeed](DEBUG): Construct.
2013-02-26T17:16:56.071Z,1361899016.071 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-02-26T17:16:56.075Z,1361899016.075 [Default:F.Wait](DEBUG): Construct Wait.
2013-02-26T17:16:56.079Z,1361899016.079 [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>


2013-02-26T17:16:56.084Z,1361899016.084 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,Aanderaa_O2,ISUS,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,
2013-02-26T17:16:56.110Z,1361899016.110 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-26T17:16:56.111Z,1361899016.111 [DVL_micro](INFO): Querying output modes
2013-02-26T17:16:56.111Z,1361899016.111 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-26T17:16:56.145Z,1361899016.145 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-02-26T17:16:56.268Z,1361899016.268 [Radio_Freewave](INFO): Powering up
2013-02-26T17:16:56.456Z,1361899016.457 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-02-26T17:16:56.458Z,1361899016.457 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-02-26T17:16:56.464Z,1361899016.464 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-26T17:16:56.465Z,1361899016.465 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-26T17:16:56.471Z,1361899016.471 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-26T17:16:56.472Z,1361899016.472 [MassServo](DEBUG): Initializing MassServo.
2013-02-26T17:16:56.478Z,1361899016.478 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-26T17:16:56.479Z,1361899016.479 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-26T17:16:56.485Z,1361899016.485 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-02-26T17:16:56.510Z,1361899016.510 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-02-26T17:16:56.535Z,1361899016.535 [CBIT](DEBUG): Uninitialize CBIT Component.
2013-02-26T17:16:57.330Z,1361899017.330 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-02-26T17:16:57.330Z,1361899017.330 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-02-26T17:16:57.331Z,1361899017.330 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-02-26T17:16:57.331Z,1361899017.330 [AHRS_sp3003D](ERROR): Hardware Fault
2013-02-26T17:16:57.894Z,1361899017.894 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-02-26T17:16:57.895Z,1361899017.895 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-02-26T17:16:57.895Z,1361899017.895 [BuoyancyServo] Communications Fault, FailCount= 1
2013-02-26T17:16:57.895Z,1361899017.895 [BuoyancyServo](ERROR): Communications Fault
2013-02-26T17:16:58.114Z,1361899018.114 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:16:58.114Z,1361899018.114 [DVL_micro](INFO): Output Modes: No Response
2013-02-26T17:16:58.115Z,1361899018.115 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-26T17:16:58.406Z,1361899018.406 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2013-02-26T17:16:58.406Z,1361899018.406 [ElevatorServo](FAULT): Elevator failed to initialize
2013-02-26T17:16:58.406Z,1361899018.406 [ElevatorServo] Communications Fault, FailCount= 1
2013-02-26T17:16:58.406Z,1361899018.406 [ElevatorServo](ERROR): Communications Fault
2013-02-26T17:16:58.918Z,1361899018.918 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2013-02-26T17:16:58.918Z,1361899018.918 [RudderServo](FAULT): Rudder failed to initialize
2013-02-26T17:16:58.918Z,1361899018.918 [RudderServo] Communications Fault, FailCount= 1
2013-02-26T17:16:58.918Z,1361899018.918 [RudderServo](ERROR): Communications Fault
2013-02-26T17:16:59.438Z,1361899019.438 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2013-02-26T17:16:59.958Z,1361899019.958 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2013-02-26T17:16:59.958Z,1361899019.958 [ThrusterServo](FAULT): Thruster failed to initialize
2013-02-26T17:16:59.958Z,1361899019.958 [ThrusterServo] Communications Fault, FailCount= 1
2013-02-26T17:16:59.958Z,1361899019.958 [ThrusterServo](ERROR): Communications Fault
2013-02-26T17:17:00.022Z,1361899020.022 [AHRS_sp3003D](INFO): Powering down
2013-02-26T17:17:00.118Z,1361899020.118 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:00.123Z,1361899020.123 [DVL_micro](INFO): pause:Powering down
2013-02-26T17:17:00.124Z,1361899020.124 [DVL_micro](INFO): NQ1 requested
2013-02-26T17:17:00.125Z,1361899020.125 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-26T17:17:00.125Z,1361899020.125 [DVL_micro](INFO): resume:Powering up
2013-02-26T17:17:00.125Z,1361899020.125 [DVL_micro](INFO): Cycling power to configure device.
2013-02-26T17:17:00.183Z,1361899020.183 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-02-26T17:17:00.184Z,1361899020.184 [BuoyancyServo](INFO): Powering down
2013-02-26T17:17:00.259Z,1361899020.259 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-02-26T17:17:00.259Z,1361899020.259 [ElevatorServo](INFO): Powering down
2013-02-26T17:17:00.787Z,1361899020.787 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2013-02-26T17:17:00.787Z,1361899020.787 [MassServo] Communications Fault, FailCount= 1
2013-02-26T17:17:00.787Z,1361899020.787 [MassServo](ERROR): Communications Fault
2013-02-26T17:17:00.788Z,1361899020.788 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-02-26T17:17:00.788Z,1361899020.788 [RudderServo](INFO): Powering down
2013-02-26T17:17:00.807Z,1361899020.807 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-02-26T17:17:00.807Z,1361899020.807 [ThrusterServo](INFO): Powering down
2013-02-26T17:17:00.927Z,1361899020.927 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-02-26T17:17:00.927Z,1361899020.927 [MassServo](INFO): Powering down
2013-02-26T17:17:01.332Z,1361899021.332 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-02-26T17:17:01.447Z,1361899021.447 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-02-26T17:17:01.449Z,1361899021.449 [RudderServo](DEBUG): Initializing EZServoServo.
2013-02-26T17:17:01.567Z,1361899021.567 [RudderServo](DEBUG): Initializing RudderServo.
2013-02-26T17:17:01.727Z,1361899021.727 [MassServo](DEBUG): Initializing EZServoServo.
2013-02-26T17:17:01.847Z,1361899021.847 [MassServo](DEBUG): Initializing MassServo.
2013-02-26T17:17:02.134Z,1361899022.134 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-26T17:17:02.135Z,1361899022.135 [DVL_micro](INFO): Querying output modes
2013-02-26T17:17:02.135Z,1361899022.135 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-26T17:17:04.142Z,1361899024.142 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:04.142Z,1361899024.142 [DVL_micro](INFO): Output Modes: No Response
2013-02-26T17:17:04.142Z,1361899024.142 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-26T17:17:06.146Z,1361899026.146 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:06.148Z,1361899026.148 [DVL_micro](INFO): NQ1 requested
2013-02-26T17:17:06.148Z,1361899026.148 [DVL_micro](INFO): Cycling power to configure device.
2013-02-26T17:17:06.513Z,1361899026.513 [Aanderaa_O2](FAULT): Timed out starting
2013-02-26T17:17:06.513Z,1361899026.513 [Aanderaa_O2] Communications Fault, FailCount= 1
2013-02-26T17:17:06.513Z,1361899026.513 [Aanderaa_O2](ERROR): Communications Fault
2013-02-26T17:17:06.914Z,1361899026.914 [Aanderaa_O2](INFO): Powering down
2013-02-26T17:17:08.154Z,1361899028.155 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-26T17:17:08.155Z,1361899028.155 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-02-26T17:17:09.727Z,1361899029.727 [SBIT](IMPORTANT): Beginning Startup BIT
2013-02-26T17:17:10.162Z,1361899030.162 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:10.162Z,1361899030.162 [DVL_micro](INFO): Enabling NQ1 output
2013-02-26T17:17:10.162Z,1361899030.162 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-02-26T17:17:12.166Z,1361899032.166 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:12.166Z,1361899032.166 [DVL_micro](INFO): Querying output modes
2013-02-26T17:17:12.166Z,1361899032.166 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-26T17:17:14.174Z,1361899034.174 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:14.174Z,1361899034.174 [DVL_micro](INFO): Output Modes: No Response
2013-02-26T17:17:14.174Z,1361899034.174 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-26T17:17:16.182Z,1361899036.182 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:18.201Z,1361899038.201 [DVL_micro](INFO): NQ1 requested
2013-02-26T17:17:18.201Z,1361899038.201 [DVL_micro](INFO): Cycling power to configure device.
2013-02-26T17:17:20.210Z,1361899040.210 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-26T17:17:20.211Z,1361899040.211 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-02-26T17:17:22.214Z,1361899042.214 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:22.214Z,1361899042.214 [DVL_micro](INFO): Enabling NQ1 output
2013-02-26T17:17:22.214Z,1361899042.214 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-02-26T17:17:24.226Z,1361899044.226 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:24.226Z,1361899044.226 [DVL_micro](INFO): Querying output modes
2013-02-26T17:17:24.226Z,1361899044.226 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-26T17:17:26.238Z,1361899046.238 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:26.238Z,1361899046.238 [DVL_micro](INFO): Output Modes: No Response
2013-02-26T17:17:26.238Z,1361899046.238 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-26T17:17:28.250Z,1361899048.250 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:30.259Z,1361899050.259 [DVL_micro](INFO): NQ1 requested
2013-02-26T17:17:30.259Z,1361899050.259 [DVL_micro](INFO): Cycling power to configure device.
2013-02-26T17:17:32.266Z,1361899052.266 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-26T17:17:32.267Z,1361899052.267 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-02-26T17:17:34.274Z,1361899054.274 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:34.274Z,1361899054.274 [DVL_micro](INFO): Enabling NQ1 output
2013-02-26T17:17:34.274Z,1361899054.274 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-02-26T17:17:36.287Z,1361899056.287 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:36.287Z,1361899056.287 [DVL_micro](INFO): Querying output modes
2013-02-26T17:17:36.287Z,1361899056.287 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-02-26T17:17:38.298Z,1361899058.298 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:38.298Z,1361899058.298 [DVL_micro](INFO): Output Modes: No Response
2013-02-26T17:17:38.298Z,1361899058.298 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-02-26T17:17:40.310Z,1361899060.310 [DVL_micro](DEBUG): cmdResponse: 
2013-02-26T17:17:42.318Z,1361899062.318 [DVL_micro](INFO): NQ1 requested
2013-02-26T17:17:42.319Z,1361899062.319 [DVL_micro](INFO): Cycling power to configure device.
2013-02-26T17:17:44.326Z,1361899064.326 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-02-26T17:17:44.327Z,1361899064.327 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0