2013-03-02T23:17:50.055Z,1362266270.055 [Supervisor](DEBUG): Initializing supervisor.
2013-03-02T23:17:50.058Z,1362266270.059 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-02T23:17:50.059Z,1362266270.059 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-02T23:17:50.062Z,1362266270.062 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-02T23:17:50.066Z,1362266270.066 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-02T23:17:50.077Z,1362266270.077 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-02T23:17:50.079Z,1362266270.079 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-02T23:17:50.079Z,1362266270.079 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-02T23:17:50.083Z,1362266270.082 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-02T23:17:50.083Z,1362266270.083 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-02T23:17:50.087Z,1362266270.087 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-02T23:17:50.398Z,1362266270.398 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-02T23:17:50.399Z,1362266270.399 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-02T23:17:50.599Z,1362266270.599 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-02T23:17:50.600Z,1362266270.600 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-02T23:17:50.694Z,1362266270.694 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-02T23:17:50.696Z,1362266270.696 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-02T23:17:50.923Z,1362266270.923 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-02T23:17:50.924Z,1362266270.924 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-02T23:17:51.071Z,1362266271.071 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-02T23:17:51.073Z,1362266271.073 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-02T23:17:51.323Z,1362266271.323 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-02T23:17:51.324Z,1362266271.324 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-02T23:17:51.511Z,1362266271.511 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-02T23:17:51.513Z,1362266271.513 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-02T23:17:51.796Z,1362266271.796 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-02T23:17:51.798Z,1362266271.798 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-02T23:17:51.911Z,1362266271.911 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-02T23:17:51.912Z,1362266271.912 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-02T23:17:52.360Z,1362266272.360 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-02T23:17:52.360Z,1362266272.360 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-02T23:17:52.483Z,1362266272.483 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-02T23:17:52.484Z,1362266272.484 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-02T23:17:52.580Z,1362266272.580 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-02T23:17:52.584Z,1362266272.583 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-02T23:17:52.696Z,1362266272.696 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-02T23:17:52.840Z,1362266272.840 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-02T23:17:52.934Z,1362266272.934 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-02T23:17:53.046Z,1362266273.046 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-02T23:17:53.160Z,1362266273.160 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-02T23:17:53.296Z,1362266273.296 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-02T23:17:53.402Z,1362266273.402 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-02T23:17:53.576Z,1362266273.576 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-02T23:17:53.611Z,1362266273.611 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-02T23:17:53.812Z,1362266273.812 [InternalSim] Loaded
2013-03-02T23:17:53.812Z,1362266273.812 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-02T23:17:53.813Z,1362266273.813 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-02T23:17:53.813Z,1362266273.813 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-02T23:17:53.896Z,1362266273.896 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-02T23:17:53.928Z,1362266273.928 [SBIT] Loaded
2013-03-02T23:17:53.929Z,1362266273.929 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-02T23:17:53.930Z,1362266273.930 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-02T23:17:53.962Z,1362266273.963 [IBIT] Loaded
2013-03-02T23:17:53.963Z,1362266273.963 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-02T23:17:53.966Z,1362266273.966 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-02T23:17:54.098Z,1362266274.098 [CBIT] Loaded
2013-03-02T23:17:54.098Z,1362266274.098 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-02T23:17:54.099Z,1362266274.099 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-02T23:17:54.099Z,1362266274.099 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-02T23:17:54.280Z,1362266274.280 [BuoyancyServo] Loaded
2013-03-02T23:17:54.280Z,1362266274.280 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-02T23:17:54.293Z,1362266274.293 [ElevatorServo] Loaded
2013-03-02T23:17:54.293Z,1362266274.293 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-02T23:17:54.309Z,1362266274.309 [MassServo] Loaded
2013-03-02T23:17:54.309Z,1362266274.309 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-02T23:17:54.321Z,1362266274.321 [RudderServo] Loaded
2013-03-02T23:17:54.321Z,1362266274.321 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-02T23:17:54.333Z,1362266274.333 [ThrusterServo] Loaded
2013-03-02T23:17:54.333Z,1362266274.333 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-02T23:17:54.334Z,1362266274.334 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-02T23:17:54.334Z,1362266274.334 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-02T23:17:54.367Z,1362266274.367 [DepthRateCalculator] Loaded
2013-03-02T23:17:54.368Z,1362266274.368 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-02T23:17:58.271Z,1362266278.271 [HFRadarModelCalc] Loaded
2013-03-02T23:17:58.271Z,1362266278.271 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-02T23:17:58.291Z,1362266278.291 [NavChart] Loaded
2013-03-02T23:17:58.291Z,1362266278.291 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-02T23:17:58.297Z,1362266278.297 [PitchRateCalculator] Loaded
2013-03-02T23:17:58.298Z,1362266278.297 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-02T23:17:58.304Z,1362266278.304 [SpeedCalculator] Loaded
2013-03-02T23:17:58.304Z,1362266278.304 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-02T23:17:58.323Z,1362266278.323 [TempGradientCalculator] Loaded
2013-03-02T23:17:58.323Z,1362266278.323 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-02T23:17:58.329Z,1362266278.329 [YawRateCalculator] Loaded
2013-03-02T23:17:58.330Z,1362266278.330 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-02T23:17:58.374Z,1362266278.374 [Navigation] Loaded
2013-03-02T23:17:58.375Z,1362266278.375 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-02T23:17:58.375Z,1362266278.375 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-02T23:17:58.376Z,1362266278.376 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-02T23:17:58.669Z,1362266278.669 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-02T23:17:58.670Z,1362266278.670 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-02T23:17:58.711Z,1362266278.711 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-02T23:17:58.712Z,1362266278.712 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-02T23:17:58.775Z,1362266278.775 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-02T23:17:58.876Z,1362266278.876 [VerticalControl] Loaded
2013-03-02T23:17:58.877Z,1362266278.877 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-02T23:17:58.878Z,1362266278.878 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-02T23:17:58.943Z,1362266278.943 [HorizontalControl] Loaded
2013-03-02T23:17:58.943Z,1362266278.943 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-02T23:17:58.944Z,1362266278.944 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-02T23:17:58.946Z,1362266278.945 [SpeedControl] Loaded
2013-03-02T23:17:58.946Z,1362266278.946 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-02T23:17:58.947Z,1362266278.947 [LoopControl](DEBUG): Construct LoopControl.
2013-03-02T23:17:58.947Z,1362266278.947 [LoopControl] Loaded
2013-03-02T23:17:58.947Z,1362266278.947 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-02T23:17:58.948Z,1362266278.948 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-02T23:17:58.949Z,1362266278.949 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-02T23:17:58.957Z,1362266278.957 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-02T23:17:58.961Z,1362266278.961 [AsyncPiEstimator] Loaded
2013-03-02T23:17:58.962Z,1362266278.962 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-02T23:17:58.966Z,1362266278.967 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-02T23:17:58.967Z,1362266278.967 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-02T23:17:58.968Z,1362266278.968 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-02T23:17:59.154Z,1362266279.154 [AHRS_sp3003D] Loaded
2013-03-02T23:17:59.155Z,1362266279.155 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-02T23:17:59.444Z,1362266279.444 [Batt_Ocean_Server] Loaded
2013-03-02T23:17:59.444Z,1362266279.444 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-02T23:17:59.458Z,1362266279.458 [Depth_Keller] Loaded
2013-03-02T23:17:59.458Z,1362266279.458 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-02T23:17:59.468Z,1362266279.468 [DropWeight] Loaded
2013-03-02T23:17:59.468Z,1362266279.468 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-02T23:17:59.660Z,1362266279.660 [DVL_micro] Loaded
2013-03-02T23:17:59.660Z,1362266279.660 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-02T23:17:59.663Z,1362266279.662 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-02T23:17:59.755Z,1362266279.755 [NAL9602] Loaded
2013-03-02T23:17:59.756Z,1362266279.756 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-02T23:17:59.810Z,1362266279.810 [Onboard] Loaded
2013-03-02T23:17:59.810Z,1362266279.810 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-02T23:17:59.821Z,1362266279.821 [Radio_Freewave] Loaded
2013-03-02T23:17:59.821Z,1362266279.821 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-02T23:17:59.822Z,1362266279.822 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-02T23:17:59.823Z,1362266279.823 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-02T23:17:59.909Z,1362266279.909 [Aanderaa_O2] Loaded
2013-03-02T23:17:59.909Z,1362266279.909 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-02T23:17:59.946Z,1362266279.946 [CTD_NeilBrown] Loaded
2013-03-02T23:17:59.946Z,1362266279.946 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-02T23:17:59.951Z,1362266279.951 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-02T23:17:59.964Z,1362266279.964 [ISUS] Loaded
2013-03-02T23:17:59.964Z,1362266279.964 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-02T23:17:59.984Z,1362266279.984 [PAR_Licor] Loaded
2013-03-02T23:17:59.984Z,1362266279.984 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-02T23:18:00.014Z,1362266280.014 [WetLabsBB2FL] Loaded
2013-03-02T23:18:00.018Z,1362266280.018 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-02T23:18:00.023Z,1362266280.023 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-02T23:18:00.023Z,1362266280.023 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-02T23:18:00.025Z,1362266280.026 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-02T23:18:00.027Z,1362266280.027 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-02T23:18:00.037Z,1362266280.037 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-02T23:18:00.038Z,1362266280.039 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-02T23:18:00.043Z,1362266280.043 [Supervisor](DEBUG): Running supervisor.
2013-03-02T23:18:00.044Z,1362266280.044 [CommandLine](INFO): Thread ID is 749
2013-03-02T23:18:00.047Z,1362266280.047 [controlThread](INFO): Thread ID is 748
2013-03-02T23:18:00.047Z,1362266280.047 [controlThread](DEBUG): Initializing ControlThread
2013-03-02T23:18:00.048Z,1362266280.048 [CycleStarter](INFO): Thread ID is 747
2013-03-02T23:18:00.048Z,1362266280.048 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-02T23:18:00.159Z,1362266280.159 [logger](INFO): Thread ID is 750
2013-03-02T23:18:00.267Z,1362266280.267 [AsyncPiEstimator](INFO): Thread ID is 811
2013-03-02T23:18:00.267Z,1362266280.267 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-02T23:18:00.283Z,1362266280.283 [DVL_micro](INFO): Thread ID is 812
2013-03-02T23:18:00.391Z,1362266280.391 [CTD_NeilBrown](INFO): Thread ID is 813
2013-03-02T23:18:00.392Z,1362266280.392 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-02T23:18:00.403Z,1362266280.403 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-02T23:18:00.448Z,1362266280.448 [DVL_micro](INFO): Initializing
2013-03-02T23:18:00.449Z,1362266280.449 [DVL_micro](INFO): start:Powering up
2013-03-02T23:18:00.449Z,1362266280.449 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-02T23:18:00.450Z,1362266280.450 [DVL_micro](INFO): Cycling power to configure device.
2013-03-02T23:18:00.468Z,1362266280.467 [WetLabsBB2FL](INFO): Thread ID is 814
2013-03-02T23:18:00.468Z,1362266280.468 [WetLabsBB2FL](INFO): Powering down
2013-03-02T23:18:00.499Z,1362266280.499 [NavChartDb](INFO): Thread ID is 815
2013-03-02T23:18:00.508Z,1362266280.508 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2013-03-02T23:18:00.511Z,1362266280.511 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-02T23:18:00.513Z,1362266280.513 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2013-03-02T23:18:00.515Z,1362266280.515 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2013-03-02T23:18:00.516Z,1362266280.516 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2013-03-02T23:18:00.518Z,1362266280.518 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2013-03-02T23:18:00.520Z,1362266280.520 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2013-03-02T23:18:00.521Z,1362266280.522 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2013-03-02T23:18:00.544Z,1362266280.544 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2013-03-02T23:18:00.545Z,1362266280.546 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2013-03-02T23:18:00.548Z,1362266280.548 [SBIT](INFO): Initialize SBIT Component.
2013-03-02T23:18:00.548Z,1362266280.548 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10204
2013-03-02T23:18:00.549Z,1362266280.549 [IBIT](INFO): Initialize IBIT Component.
2013-03-02T23:18:00.549Z,1362266280.549 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-02T23:18:00.550Z,1362266280.550 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-02T23:18:00.550Z,1362266280.550 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2013-03-02T23:18:00.576Z,1362266280.576 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-02T23:18:00.576Z,1362266280.576 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-02T23:18:00.577Z,1362266280.577 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-02T23:18:00.577Z,1362266280.577 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-02T23:18:00.577Z,1362266280.577 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-02T23:18:00.579Z,1362266280.579 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-02T23:18:00.579Z,1362266280.579 [Navigation](DEBUG): Initializing Navigation.
2013-03-02T23:18:00.580Z,1362266280.580 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-02T23:18:00.581Z,1362266280.582 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-02T23:18:00.582Z,1362266280.582 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-02T23:18:00.605Z,1362266280.605 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-02T23:18:00.711Z,1362266280.711 [NavChartDb](INFO): Setup scan of Resources/US5CA62M.000
2013-03-02T23:18:02.499Z,1362266282.499 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-02T23:18:02.499Z,1362266282.499 [DVL_micro](INFO): Querying output modes
2013-03-02T23:18:02.500Z,1362266282.500 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-02T23:18:02.511Z,1362266282.511 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-02T23:18:02.512Z,1362266282.512 [DVL_micro](INFO): NQ1 output enabled
2013-03-02T23:18:02.512Z,1362266282.512 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-02T23:18:02.523Z,1362266282.523 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-02T23:18:02.528Z,1362266282.528 [DVL_micro](INFO): pause:Powering down
2013-03-02T23:18:02.540Z,1362266282.540 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-02T23:18:02.616Z,1362266282.616 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-02T23:18:02.636Z,1362266282.636 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-02T23:18:02.652Z,1362266282.652 [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>


2013-03-02T23:18:02.653Z,1362266282.653 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-02T23:18:02.717Z,1362266282.717 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-02T23:18:02.734Z,1362266282.734 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-02T23:18:02.737Z,1362266282.737 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-02T23:18:02.745Z,1362266282.745 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-02T23:18:02.748Z,1362266282.748 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-02T23:18:02.755Z,1362266282.755 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-02T23:18:02.767Z,1362266282.767 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-02T23:18:02.771Z,1362266282.771 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-02T23:18:02.775Z,1362266282.775 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-02T23:18:02.779Z,1362266282.779 [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>


2013-03-02T23:18:02.800Z,1362266282.800 [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,
2013-03-02T23:18:02.839Z,1362266282.839 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-02T23:18:03.139Z,1362266283.139 [Radio_Freewave](INFO): Powering up
2013-03-02T23:18:03.350Z,1362266283.350 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-02T23:18:03.352Z,1362266283.352 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-02T23:18:03.362Z,1362266283.362 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-02T23:18:03.363Z,1362266283.363 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-02T23:18:03.369Z,1362266283.369 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-02T23:18:03.371Z,1362266283.371 [MassServo](DEBUG): Initializing MassServo.
2013-03-02T23:18:03.376Z,1362266283.376 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-02T23:18:03.378Z,1362266283.378 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-02T23:18:03.407Z,1362266283.407 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-02T23:18:03.423Z,1362266283.423 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-02T23:18:03.555Z,1362266283.555 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xA409A04236
2013-03-02T23:18:03.555Z,1362266283.555 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-03-02T23:18:03.555Z,1362266283.555 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-03-02T23:18:03.555Z,1362266283.555 [AHRS_sp3003D](ERROR): Hardware Fault
2013-03-02T23:18:03.739Z,1362266283.739 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-02T23:18:03.740Z,1362266283.740 [DVL_micro](INFO): resume:Powering up
2013-03-02T23:18:03.740Z,1362266283.740 [DVL_micro](INFO): Cycling power to configure device.
2013-03-02T23:18:03.831Z,1362266283.831 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-03-02T23:18:03.869Z,1362266283.869 [AHRS_sp3003D](INFO): Powering down
2013-03-02T23:18:04.829Z,1362266284.829 [NAL9602](INFO): Powering up NAL9602
2013-03-02T23:18:05.379Z,1362266285.379 [Aanderaa_O2](INFO): Powering down
2013-03-02T23:18:05.442Z,1362266285.442 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-03-02T23:18:05.442Z,1362266285.442 [AHRS_sp3003D] No Fault, FailCount= 1
2013-03-02T23:18:05.622Z,1362266285.622 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-02T23:18:05.767Z,1362266285.767 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-02T23:18:05.767Z,1362266285.767 [DVL_micro](INFO): Querying output modes
2013-03-02T23:18:05.767Z,1362266285.767 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-02T23:18:05.779Z,1362266285.779 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-02T23:18:05.779Z,1362266285.779 [DVL_micro](INFO): NQ1 output enabled
2013-03-02T23:18:05.779Z,1362266285.779 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-02T23:18:05.791Z,1362266285.791 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-02T23:18:05.793Z,1362266285.793 [DVL_micro](INFO): pause:Powering down
2013-03-02T23:18:15.379Z,1362266295.379 [NAL9602](INFO): NAL9602 initialized
2013-03-02T23:18:16.165Z,1362266296.165 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-02T23:18:16.167Z,1362266296.167 [CBIT](IMPORTANT): Beginning GF scan
2013-03-02T23:18:42.876Z,1362266322.876 [CBIT](IMPORTANT): No ground fault detected
2013-03-02T23:19:10.221Z,1362266350.221 [SBIT](IMPORTANT): SBIT PASSED
2013-03-02T23:19:10.623Z,1362266350.623 [MissionManager](IMPORTANT): Started mission Startup
2013-03-02T23:19:10.623Z,1362266350.623 [Startup] Running Loop=1
2013-03-02T23:19:10.623Z,1362266350.624 [Startup](INFO): Aggregate::initialize Startup
2013-03-02T23:19:10.624Z,1362266350.624 [Startup:A.GoToSurface] Running Loop=1
2013-03-02T23:19:10.624Z,1362266350.624 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-02T23:19:10.629Z,1362266350.629 [Startup:StartupSatComms] Running Loop=1
2013-03-02T23:19:10.630Z,1362266350.630 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-03-02T23:19:10.630Z,1362266350.630 [Startup:StartupSatComms:A] Running Loop=1
2013-03-02T23:19:11.055Z,1362266351.055 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-02T23:20:10.638Z,1362266410.638 [Startup:StartupSatComms:A](INFO): Timed out from 2013-03-02T23:19:10.6Z
2013-03-02T23:20:10.639Z,1362266410.639 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-03-02T23:20:10.639Z,1362266410.639 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-03-02T23:20:10.639Z,1362266410.639 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-03-02T23:20:10.639Z,1362266410.639 [Startup:StartupSatComms:A] Stopped
2013-03-02T23:20:10.639Z,1362266410.639 [Startup:StartupSatComms:B] Running Loop=1
2013-03-02T23:20:11.039Z,1362266411.039 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-02T23:21:10.000Z,1362266471.000 [Startup:StartupSatComms:B](INFO): Timed out from 2013-03-02T23:20:10.6Z
2013-03-02T23:21:10.000Z,1362266471.000 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-03-02T23:21:11.000Z,1362266471.000 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-03-02T23:21:11.000Z,1362266471.000 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-03-02T23:21:11.000Z,1362266471.000 [Startup:StartupSatComms:B] Stopped
2013-03-02T23:21:11.001Z,1362266471.000 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-03-02T23:21:11.001Z,1362266471.001 [Startup:StartupSatComms] Stopped
2013-03-02T23:21:11.001Z,1362266471.001 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-03-02T23:21:11.002Z,1362266471.002 [Startup](INFO): Completed Startup
2013-03-02T23:21:11.002Z,1362266471.002 [Startup] Stopped
2013-03-02T23:21:11.002Z,1362266471.002 [Startup](INFO): Aggregate::uninitialize Startup
2013-03-02T23:21:11.002Z,1362266471.002 [Startup:A.GoToSurface] Stopped
2013-03-02T23:21:11.002Z,1362266471.002 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-02T23:21:11.442Z,1362266471.442 [MissionManager](IMPORTANT): Started mission Default
2013-03-02T23:21:11.442Z,1362266471.442 [Default] Running Loop=1
2013-03-02T23:21:11.442Z,1362266471.442 [Default](INFO): Aggregate::initialize Default
2013-03-02T23:21:11.442Z,1362266471.442 [Default:D.SetSpeed] Running Loop=1
2013-03-02T23:21:11.442Z,1362266471.443 [Default:D.SetSpeed](DEBUG): Initialize.
2013-03-02T23:21:11.443Z,1362266471.443 [Default:E.GoToSurface] Running Loop=1
2013-03-02T23:21:11.443Z,1362266471.443 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-02T23:21:11.443Z,1362266471.443 [Default:Iridium] Running Loop=1
2013-03-02T23:21:11.443Z,1362266471.443 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-03-02T23:21:11.443Z,1362266471.443 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-02T23:21:11.443Z,1362266471.443 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-03-02T23:21:11.444Z,1362266471.444 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-03-02T23:21:11.444Z,1362266471.444 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-02T23:21:11.444Z,1362266471.444 [Default:E.GoToSurface] Running Loop=1
2013-03-02T23:21:11.449Z,1362266471.449 [Default:D.SetSpeed] Running Loop=1
2013-03-02T23:21:11.454Z,1362266471.454 [Default:CallIridium] Running Loop=1
2013-03-02T23:21:11.455Z,1362266471.455 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-03-02T23:21:11.455Z,1362266471.455 [Default:CallIridium:A] Running Loop=1
2013-03-02T23:21:11.457Z,1362266471.457 [Default:CallIridium:A] Stopped
2013-03-02T23:21:11.457Z,1362266471.457 [Default:CallIridium:B] Running Loop=1
2013-03-02T23:21:11.457Z,1362266471.457 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-03-02T23:21:11.462Z,1362266471.462 [Default:Iridium:B.GoToSurface] Stopped
2013-03-02T23:21:11.462Z,1362266471.462 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-02T23:21:11.463Z,1362266471.463 [Default:Iridium:Read_Iridium] Running Loop=1
2013-03-02T23:21:11.463Z,1362266471.463 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-03-02T23:21:11.467Z,1362266471.467 [Default:GPS] Running Loop=1
2013-03-02T23:21:11.468Z,1362266471.467 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-03-02T23:21:11.468Z,1362266471.468 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-02T23:21:11.468Z,1362266471.468 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-03-02T23:21:11.468Z,1362266471.468 [Default:GPS:B.GoToSurface] Running Loop=1
2013-03-02T23:21:11.468Z,1362266471.468 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-02T23:21:11.473Z,1362266471.473 [Default:GPS:B.GoToSurface] Stopped
2013-03-02T23:21:11.473Z,1362266471.473 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-03-02T23:21:11.474Z,1362266471.474 [Default:GPS:Read_GPS] Running Loop=1
2013-03-02T23:21:11.474Z,1362266471.474 [Default:GPS:A.SetSpeed] Running Loop=1
2013-03-02T23:21:11.799Z,1362266471.799 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-02T23:21:11.802Z,1362266471.802 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix