2013-03-02T22:53:25.028Z,1362264805.028 [Supervisor](DEBUG): Initializing supervisor.
2013-03-02T22:53:25.030Z,1362264805.030 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-02T22:53:25.031Z,1362264805.031 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-02T22:53:25.032Z,1362264805.032 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-02T22:53:25.036Z,1362264805.036 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-02T22:53:25.047Z,1362264805.047 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-02T22:53:25.048Z,1362264805.048 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-02T22:53:25.049Z,1362264805.049 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-02T22:53:25.049Z,1362264805.049 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-02T22:53:25.050Z,1362264805.050 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-02T22:53:25.052Z,1362264805.052 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-02T22:53:25.402Z,1362264805.402 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-02T22:53:25.402Z,1362264805.402 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-02T22:53:25.585Z,1362264805.585 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-02T22:53:25.585Z,1362264805.585 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-02T22:53:25.667Z,1362264805.667 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-02T22:53:25.667Z,1362264805.667 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-02T22:53:25.864Z,1362264805.864 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-02T22:53:25.864Z,1362264805.865 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-02T22:53:25.992Z,1362264805.992 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-02T22:53:25.993Z,1362264805.993 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-02T22:53:26.218Z,1362264806.218 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-02T22:53:26.219Z,1362264806.219 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-02T22:53:26.384Z,1362264806.384 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-02T22:53:26.385Z,1362264806.385 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-02T22:53:26.629Z,1362264806.629 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-02T22:53:26.630Z,1362264806.630 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-02T22:53:26.723Z,1362264806.723 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-02T22:53:26.724Z,1362264806.724 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-02T22:53:27.129Z,1362264807.129 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-02T22:53:27.129Z,1362264807.129 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-02T22:53:27.240Z,1362264807.240 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-02T22:53:27.241Z,1362264807.240 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-02T22:53:27.320Z,1362264807.320 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-02T22:53:27.321Z,1362264807.321 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-02T22:53:27.417Z,1362264807.417 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-02T22:53:27.540Z,1362264807.540 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-02T22:53:27.620Z,1362264807.620 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-02T22:53:27.716Z,1362264807.716 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-02T22:53:27.812Z,1362264807.812 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-02T22:53:27.926Z,1362264807.926 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-02T22:53:28.014Z,1362264808.014 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-02T22:53:28.096Z,1362264808.096 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-02T22:53:28.129Z,1362264808.129 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-02T22:53:28.315Z,1362264808.315 [InternalSim] Loaded
2013-03-02T22:53:28.315Z,1362264808.315 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-02T22:53:28.316Z,1362264808.316 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-02T22:53:28.317Z,1362264808.317 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-02T22:53:28.396Z,1362264808.396 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-02T22:53:28.425Z,1362264808.425 [SBIT] Loaded
2013-03-02T22:53:28.425Z,1362264808.425 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-02T22:53:28.426Z,1362264808.426 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-02T22:53:28.457Z,1362264808.457 [IBIT] Loaded
2013-03-02T22:53:28.457Z,1362264808.457 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-02T22:53:28.461Z,1362264808.461 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-02T22:53:28.581Z,1362264808.581 [CBIT] Loaded
2013-03-02T22:53:28.581Z,1362264808.581 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-02T22:53:28.581Z,1362264808.581 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-02T22:53:28.582Z,1362264808.582 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-02T22:53:28.756Z,1362264808.756 [BuoyancyServo] Loaded
2013-03-02T22:53:28.757Z,1362264808.757 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-02T22:53:28.769Z,1362264808.769 [ElevatorServo] Loaded
2013-03-02T22:53:28.769Z,1362264808.769 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-02T22:53:28.781Z,1362264808.781 [MassServo] Loaded
2013-03-02T22:53:28.781Z,1362264808.782 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-02T22:53:28.794Z,1362264808.794 [RudderServo] Loaded
2013-03-02T22:53:28.794Z,1362264808.794 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-02T22:53:28.806Z,1362264808.806 [ThrusterServo] Loaded
2013-03-02T22:53:28.806Z,1362264808.806 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-02T22:53:28.807Z,1362264808.807 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-02T22:53:28.807Z,1362264808.807 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-02T22:53:28.840Z,1362264808.840 [DepthRateCalculator] Loaded
2013-03-02T22:53:28.841Z,1362264808.841 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-02T22:53:32.878Z,1362264812.878 [HFRadarModelCalc] Loaded
2013-03-02T22:53:32.878Z,1362264812.878 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-02T22:53:32.894Z,1362264812.894 [NavChart] Loaded
2013-03-02T22:53:32.895Z,1362264812.895 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-02T22:53:32.901Z,1362264812.901 [PitchRateCalculator] Loaded
2013-03-02T22:53:32.901Z,1362264812.901 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-02T22:53:32.907Z,1362264812.907 [SpeedCalculator] Loaded
2013-03-02T22:53:32.908Z,1362264812.908 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-02T22:53:32.923Z,1362264812.923 [TempGradientCalculator] Loaded
2013-03-02T22:53:32.923Z,1362264812.923 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-02T22:53:32.929Z,1362264812.929 [YawRateCalculator] Loaded
2013-03-02T22:53:32.929Z,1362264812.930 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-02T22:53:32.971Z,1362264812.971 [Navigation] Loaded
2013-03-02T22:53:32.971Z,1362264812.971 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-02T22:53:32.971Z,1362264812.971 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-02T22:53:32.972Z,1362264812.972 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-02T22:53:33.244Z,1362264813.244 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-02T22:53:33.245Z,1362264813.245 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-02T22:53:33.890Z,1362264813.890 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-02T22:53:33.891Z,1362264813.891 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-02T22:53:33.951Z,1362264813.951 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-02T22:53:34.048Z,1362264814.048 [VerticalControl] Loaded
2013-03-02T22:53:34.048Z,1362264814.048 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-02T22:53:34.049Z,1362264814.049 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-02T22:53:34.107Z,1362264814.107 [HorizontalControl] Loaded
2013-03-02T22:53:34.107Z,1362264814.107 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-02T22:53:34.108Z,1362264814.108 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-02T22:53:34.110Z,1362264814.110 [SpeedControl] Loaded
2013-03-02T22:53:34.110Z,1362264814.110 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-02T22:53:34.111Z,1362264814.111 [LoopControl](DEBUG): Construct LoopControl.
2013-03-02T22:53:34.112Z,1362264814.112 [LoopControl] Loaded
2013-03-02T22:53:34.112Z,1362264814.112 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-02T22:53:34.112Z,1362264814.112 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-02T22:53:34.113Z,1362264814.113 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-02T22:53:34.121Z,1362264814.121 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-02T22:53:34.126Z,1362264814.126 [AsyncPiEstimator] Loaded
2013-03-02T22:53:34.126Z,1362264814.126 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-02T22:53:34.127Z,1362264814.127 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-02T22:53:34.128Z,1362264814.128 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-02T22:53:34.129Z,1362264814.129 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-02T22:53:34.300Z,1362264814.300 [AHRS_sp3003D] Loaded
2013-03-02T22:53:34.300Z,1362264814.300 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-02T22:53:34.564Z,1362264814.564 [Batt_Ocean_Server] Loaded
2013-03-02T22:53:34.565Z,1362264814.565 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-02T22:53:34.579Z,1362264814.579 [Depth_Keller] Loaded
2013-03-02T22:53:34.579Z,1362264814.579 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-02T22:53:34.585Z,1362264814.585 [DropWeight] Loaded
2013-03-02T22:53:34.585Z,1362264814.585 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-02T22:53:34.762Z,1362264814.762 [DVL_micro] Loaded
2013-03-02T22:53:34.762Z,1362264814.763 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-02T22:53:34.764Z,1362264814.764 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-02T22:53:34.848Z,1362264814.848 [NAL9602] Loaded
2013-03-02T22:53:34.848Z,1362264814.848 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-02T22:53:34.899Z,1362264814.899 [Onboard] Loaded
2013-03-02T22:53:34.899Z,1362264814.899 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-02T22:53:34.906Z,1362264814.906 [Radio_Freewave] Loaded
2013-03-02T22:53:34.907Z,1362264814.907 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-02T22:53:34.908Z,1362264814.908 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-02T22:53:34.908Z,1362264814.908 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-02T22:53:34.989Z,1362264814.989 [Aanderaa_O2] Loaded
2013-03-02T22:53:34.989Z,1362264814.989 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-02T22:53:35.023Z,1362264815.023 [CTD_NeilBrown] Loaded
2013-03-02T22:53:35.023Z,1362264815.023 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-02T22:53:35.024Z,1362264815.024 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-02T22:53:35.039Z,1362264815.039 [ISUS] Loaded
2013-03-02T22:53:35.039Z,1362264815.039 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-02T22:53:35.055Z,1362264815.055 [PAR_Licor] Loaded
2013-03-02T22:53:35.055Z,1362264815.055 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-02T22:53:35.086Z,1362264815.086 [WetLabsBB2FL] Loaded
2013-03-02T22:53:35.086Z,1362264815.086 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-02T22:53:35.087Z,1362264815.087 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-02T22:53:35.088Z,1362264815.088 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-02T22:53:35.093Z,1362264815.092 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-02T22:53:35.096Z,1362264815.096 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-02T22:53:35.107Z,1362264815.107 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-02T22:53:35.108Z,1362264815.108 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-02T22:53:35.112Z,1362264815.112 [Supervisor](DEBUG): Running supervisor.
2013-03-02T22:53:35.113Z,1362264815.113 [CommandLine](INFO): Thread ID is 1638
2013-03-02T22:53:35.117Z,1362264815.117 [controlThread](INFO): Thread ID is 1637
2013-03-02T22:53:35.117Z,1362264815.117 [controlThread](DEBUG): Initializing ControlThread
2013-03-02T22:53:35.118Z,1362264815.118 [CycleStarter](INFO): Thread ID is 1636
2013-03-02T22:53:35.118Z,1362264815.118 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-02T22:53:35.151Z,1362264815.151 [logger](INFO): Thread ID is 1639
2013-03-02T22:53:35.262Z,1362264815.262 [AsyncPiEstimator](INFO): Thread ID is 1700
2013-03-02T22:53:35.262Z,1362264815.262 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-02T22:53:35.284Z,1362264815.284 [DVL_micro](INFO): Thread ID is 1701
2013-03-02T22:53:35.336Z,1362264815.336 [CTD_NeilBrown](INFO): Thread ID is 1702
2013-03-02T22:53:35.336Z,1362264815.336 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-02T22:53:35.343Z,1362264815.343 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-02T22:53:35.501Z,1362264815.501 [WetLabsBB2FL](INFO): Thread ID is 1703
2013-03-02T22:53:35.502Z,1362264815.502 [WetLabsBB2FL](INFO): Powering down
2013-03-02T22:53:35.551Z,1362264815.551 [NavChartDb](INFO): Thread ID is 1704
2013-03-02T22:53:35.556Z,1362264815.556 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2013-03-02T22:53:35.560Z,1362264815.560 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-02T22:53:35.562Z,1362264815.562 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2013-03-02T22:53:35.563Z,1362264815.563 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2013-03-02T22:53:35.565Z,1362264815.565 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2013-03-02T22:53:35.567Z,1362264815.566 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2013-03-02T22:53:35.568Z,1362264815.568 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2013-03-02T22:53:35.570Z,1362264815.570 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2013-03-02T22:53:35.580Z,1362264815.580 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2013-03-02T22:53:35.581Z,1362264815.582 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2013-03-02T22:53:35.593Z,1362264815.593 [SBIT](INFO): Initialize SBIT Component.
2013-03-02T22:53:35.594Z,1362264815.594 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10204
2013-03-02T22:53:35.594Z,1362264815.594 [IBIT](INFO): Initialize IBIT Component.
2013-03-02T22:53:35.600Z,1362264815.600 [DVL_micro](INFO): Initializing
2013-03-02T22:53:35.600Z,1362264815.600 [DVL_micro](INFO): start:Powering up
2013-03-02T22:53:35.601Z,1362264815.601 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-02T22:53:35.602Z,1362264815.602 [DVL_micro](INFO): Cycling power to configure device.
2013-03-02T22:53:35.605Z,1362264815.605 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-02T22:53:35.606Z,1362264815.606 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-02T22:53:35.606Z,1362264815.606 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2013-03-02T22:53:35.606Z,1362264815.606 [CBIT] Hardware Fault, FailCount= 1
2013-03-02T22:53:35.606Z,1362264815.606 [CBIT](ERROR): Hardware Fault
2013-03-02T22:53:35.632Z,1362264815.632 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-02T22:53:35.632Z,1362264815.632 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-02T22:53:35.633Z,1362264815.633 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-02T22:53:35.633Z,1362264815.633 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-02T22:53:35.633Z,1362264815.634 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-02T22:53:35.635Z,1362264815.635 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-02T22:53:35.635Z,1362264815.635 [Navigation](DEBUG): Initializing Navigation.
2013-03-02T22:53:35.636Z,1362264815.636 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-02T22:53:35.637Z,1362264815.638 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-02T22:53:35.638Z,1362264815.638 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-02T22:53:35.639Z,1362264815.639 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-02T22:53:35.764Z,1362264815.764 [NavChartDb](INFO): Setup scan of Resources/US5CA62M.000
2013-03-02T22:53:37.041Z,1362264817.041 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-02T22:53:37.084Z,1362264817.084 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-02T22:53:37.100Z,1362264817.100 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-02T22:53:37.122Z,1362264817.122 [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>


2013-03-02T22:53:37.123Z,1362264817.123 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-02T22:53:37.155Z,1362264817.155 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-02T22:53:37.157Z,1362264817.157 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-02T22:53:37.160Z,1362264817.160 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-02T22:53:37.169Z,1362264817.169 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-02T22:53:37.192Z,1362264817.193 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-02T22:53:37.199Z,1362264817.199 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-02T22:53:37.220Z,1362264817.220 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-02T22:53:37.223Z,1362264817.223 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-02T22:53:37.230Z,1362264817.230 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-02T22:53:37.233Z,1362264817.233 [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>


2013-03-02T22:53:37.238Z,1362264817.238 [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,
2013-03-02T22:53:37.258Z,1362264817.258 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-02T22:53:37.447Z,1362264817.447 [Radio_Freewave](INFO): Powering up
2013-03-02T22:53:37.651Z,1362264817.651 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-02T22:53:37.651Z,1362264817.651 [DVL_micro](INFO): Querying output modes
2013-03-02T22:53:37.652Z,1362264817.652 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-02T22:53:37.663Z,1362264817.663 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-02T22:53:37.663Z,1362264817.663 [DVL_micro](INFO): NQ1 output enabled
2013-03-02T22:53:37.663Z,1362264817.663 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-02T22:53:37.675Z,1362264817.675 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-02T22:53:37.680Z,1362264817.681 [DVL_micro](INFO): pause:Powering down
2013-03-02T22:53:37.807Z,1362264817.807 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-02T22:53:37.815Z,1362264817.815 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-02T22:53:37.821Z,1362264817.821 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-02T22:53:37.823Z,1362264817.823 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-02T22:53:37.829Z,1362264817.829 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-02T22:53:37.831Z,1362264817.831 [MassServo](DEBUG): Initializing MassServo.
2013-03-02T22:53:37.836Z,1362264817.836 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-02T22:53:37.837Z,1362264817.837 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-02T22:53:37.844Z,1362264817.844 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-02T22:53:37.845Z,1362264817.845 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-02T22:53:37.861Z,1362264817.861 [CBIT](DEBUG): Uninitialize CBIT Component.
2013-03-02T22:53:38.083Z,1362264818.083 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-03-02T22:53:38.083Z,1362264818.083 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xA609A0
2013-03-02T22:53:38.084Z,1362264818.084 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-03-02T22:53:38.084Z,1362264818.084 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-03-02T22:53:38.084Z,1362264818.084 [AHRS_sp3003D](ERROR): Hardware Fault
2013-03-02T22:53:38.321Z,1362264818.321 [AHRS_sp3003D](INFO): Powering down
2013-03-02T22:53:38.492Z,1362264818.492 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-02T22:53:38.493Z,1362264818.493 [DVL_micro](INFO): resume:Powering up
2013-03-02T22:53:38.493Z,1362264818.493 [DVL_micro](INFO): Cycling power to configure device.
2013-03-02T22:53:38.967Z,1362264818.967 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-03-02T22:53:38.967Z,1362264818.967 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-03-02T22:53:38.967Z,1362264818.967 [BuoyancyServo] Communications Fault, FailCount= 1
2013-03-02T22:53:38.967Z,1362264818.967 [BuoyancyServo](ERROR): Communications Fault
2013-03-02T22:53:39.477Z,1362264819.477 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2013-03-02T22:53:39.477Z,1362264819.477 [ElevatorServo](FAULT): Elevator failed to initialize
2013-03-02T22:53:39.477Z,1362264819.477 [ElevatorServo] Communications Fault, FailCount= 1
2013-03-02T22:53:39.477Z,1362264819.477 [ElevatorServo](ERROR): Communications Fault
2013-03-02T22:53:39.991Z,1362264819.991 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2013-03-02T22:53:39.991Z,1362264819.991 [RudderServo](FAULT): Rudder failed to initialize
2013-03-02T22:53:39.991Z,1362264819.991 [RudderServo] Communications Fault, FailCount= 1
2013-03-02T22:53:39.991Z,1362264819.991 [RudderServo](ERROR): Communications Fault
2013-03-02T22:53:40.503Z,1362264820.503 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-02T22:53:40.503Z,1362264820.503 [DVL_micro](INFO): Querying output modes
2013-03-02T22:53:40.503Z,1362264820.503 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-02T22:53:40.511Z,1362264820.510 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2013-03-02T22:53:41.026Z,1362264821.026 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2013-03-02T22:53:41.027Z,1362264821.027 [ThrusterServo](FAULT): Thruster failed to initialize
2013-03-02T22:53:41.027Z,1362264821.027 [ThrusterServo] Communications Fault, FailCount= 1
2013-03-02T22:53:41.027Z,1362264821.027 [ThrusterServo](ERROR): Communications Fault
2013-03-02T22:53:41.141Z,1362264821.141 [NAL9602](INFO): Powering up NAL9602
2013-03-02T22:53:41.169Z,1362264821.169 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-02T22:53:41.170Z,1362264821.170 [BuoyancyServo](INFO): Powering down
2013-03-02T22:53:41.239Z,1362264821.239 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-03-02T22:53:41.239Z,1362264821.239 [ElevatorServo](INFO): Powering down
2013-03-02T22:53:41.763Z,1362264821.763 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2013-03-02T22:53:41.763Z,1362264821.763 [MassServo] Communications Fault, FailCount= 1
2013-03-02T22:53:41.763Z,1362264821.763 [MassServo](ERROR): Communications Fault
2013-03-02T22:53:41.764Z,1362264821.764 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-03-02T22:53:41.764Z,1362264821.764 [RudderServo](INFO): Powering down
2013-03-02T22:53:41.809Z,1362264821.809 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-02T22:53:41.809Z,1362264821.809 [ThrusterServo](INFO): Powering down
2013-03-02T22:53:41.947Z,1362264821.947 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-03-02T22:53:41.947Z,1362264821.947 [MassServo](INFO): Powering down
2013-03-02T22:53:42.267Z,1362264822.267 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-02T22:53:42.388Z,1362264822.388 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-02T22:53:42.389Z,1362264822.389 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-02T22:53:42.507Z,1362264822.507 [DVL_micro](DEBUG): cmdResponse: 
2013-03-02T22:53:42.507Z,1362264822.507 [DVL_micro](INFO): Output Modes: No Response
2013-03-02T22:53:42.507Z,1362264822.507 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-02T22:53:42.508Z,1362264822.508 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-02T22:53:42.688Z,1362264822.688 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-02T22:53:42.808Z,1362264822.808 [MassServo](DEBUG): Initializing MassServo.
2013-03-02T22:53:44.511Z,1362264824.510 [DVL_micro](DEBUG): cmdResponse: 
2013-03-02T22:53:46.524Z,1362264826.523 [DVL_micro](FAULT): LCB fault:  Current Limiter Activated.
2013-03-02T22:53:46.524Z,1362264826.524 [DVL_micro] Hardware Fault, FailCount= 1
2013-03-02T22:53:46.524Z,1362264826.524 [DVL_micro](ERROR): Hardware Fault
2013-03-02T22:53:46.525Z,1362264826.526 [DVL_micro](INFO): uninitialize:Powering down
2013-03-02T22:53:46.927Z,1362264826.927 [DVL_micro](FAULT): LCB fault:  Current Limiter Activated.
2013-03-02T22:53:47.460Z,1362264827.460 [Aanderaa_O2](FAULT): Timed out starting
2013-03-02T22:53:47.460Z,1362264827.460 [Aanderaa_O2] Communications Fault, FailCount= 1
2013-03-02T22:53:47.460Z,1362264827.460 [Aanderaa_O2](ERROR): Communications Fault
2013-03-02T22:53:47.999Z,1362264827.999 [Aanderaa_O2](INFO): Powering down
2013-03-02T22:53:51.093Z,1362264831.093 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-02T22:53:53.863Z,1362264833.862 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2013-03-02T22:53:53.863Z,1362264833.863 [NAL9602] Communications Fault, FailCount= 1
2013-03-02T22:53:53.863Z,1362264833.863 [NAL9602](ERROR): Communications Fault
2013-03-02T22:53:54.156Z,1362264834.156 [NAL9602](INFO): Powering down
2013-03-02T22:54:40.180Z,1362264880.180 [CommandLine](IMPORTANT): got command restart application
2013-03-02T22:54:41.354Z,1362264881.354 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-03-02T22:54:41.355Z,1362264881.355 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-03-02T22:54:41.366Z,1362264881.366 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-03-02T22:54:41.427Z,1362264881.427 [WetLabsBB2FL](INFO): Powering down
2013-03-02T22:54:41.442Z,1362264881.443 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-03-02T22:54:41.839Z,1362264881.839 [CTD_NeilBrown](INFO): Powering down
2013-03-02T22:54:41.859Z,1362264881.859 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-03-02T22:54:41.859Z,1362264881.859 [DVL_micro](INFO): uninitialize:Powering down
2013-03-02T22:54:41.860Z,1362264881.860 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-03-02T22:54:41.935Z,1362264881.935 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-03-02T22:54:41.940Z,1362264881.940 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-03-02T22:54:41.987Z,1362264881.987 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-03-02T22:54:41.989Z,1362264881.989 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-03-02T22:54:42.323Z,1362264882.323 [controlThread](DEBUG): Uninitializing ControlThread
2013-03-02T22:54:42.323Z,1362264882.323 [AHRS_sp3003D](INFO): Powering down
2013-03-02T22:54:42.324Z,1362264882.324 [NAL9602](INFO): Powering down
2013-03-02T22:54:42.325Z,1362264882.325 [Aanderaa_O2](INFO): Powering down
2013-03-02T22:54:42.327Z,1362264882.327 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-02T22:54:42.327Z,1362264882.328 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-03-02T22:54:42.332Z,1362264882.332 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-03-02T22:54:42.332Z,1362264882.332 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-03-02T22:54:42.333Z,1362264882.332 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-03-02T22:54:42.333Z,1362264882.333 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-03-02T22:54:42.333Z,1362264882.333 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-02T22:54:42.334Z,1362264882.334 [BuoyancyServo](INFO): Powering down
2013-03-02T22:54:42.351Z,1362264882.351 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-03-02T22:54:42.351Z,1362264882.351 [ElevatorServo](INFO): Powering down
2013-03-02T22:54:42.352Z,1362264882.352 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-03-02T22:54:42.352Z,1362264882.352 [MassServo](INFO): Powering down
2013-03-02T22:54:42.352Z,1362264882.352 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-03-02T22:54:42.353Z,1362264882.353 [RudderServo](INFO): Powering down
2013-03-02T22:54:42.353Z,1362264882.353 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-02T22:54:42.354Z,1362264882.353 [ThrusterServo](INFO): Powering down
2013-03-02T22:54:42.354Z,1362264882.355 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-03-02T22:54:42.355Z,1362264882.355 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-03-02T22:54:42.355Z,1362264882.355 [CBIT](DEBUG): Uninitialize CBIT Component.
2013-03-02T22:54:42.397Z,1362264882.397 [CBIT](CRITICAL): run-time exception #7
2013-03-02T22:54:42.398Z,1362264882.398 [CBIT](CRITICAL): Bad address: 0x40309004
2013-03-02T22:54:42.398Z,1362264882.398 [CBIT](CRITICAL): Backtrace: 
./bin/LRAUV(_ZN7PCaller20DefaultSignalHandlerEiP7siginfoPv+0x20) [0x1460d0]
/lib/libc.so.6(__default_rt_sa_restorer+0) [0x40203510]

2013-03-02T22:54:42.398Z,1362264882.398 [CBIT] Software Fault, FailCount= 1
2013-03-02T22:54:42.398Z,1362264882.398 [CBIT](ERROR): Software Fault
2013-03-02T22:54:42.400Z,1362264882.400 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-02T22:54:42.400Z,1362264882.400 [CBIT](INFO): Thread ID is 1732