2013-03-02T23:26:54.920Z,1362266814.920 [Supervisor](DEBUG): Initializing supervisor.
2013-03-02T23:26:54.927Z,1362266814.927 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-02T23:26:54.927Z,1362266814.927 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-02T23:26:54.930Z,1362266814.931 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-02T23:26:54.934Z,1362266814.934 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-02T23:26:54.945Z,1362266814.945 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-02T23:26:54.951Z,1362266814.951 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-02T23:26:54.951Z,1362266814.951 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-02T23:26:54.955Z,1362266814.954 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-02T23:26:54.955Z,1362266814.955 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-02T23:26:54.959Z,1362266814.959 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-02T23:26:55.274Z,1362266815.274 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-02T23:26:55.275Z,1362266815.275 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-02T23:26:55.482Z,1362266815.482 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-02T23:26:55.483Z,1362266815.483 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-02T23:26:55.578Z,1362266815.578 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-02T23:26:55.580Z,1362266815.580 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-02T23:26:55.808Z,1362266815.807 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-02T23:26:55.808Z,1362266815.808 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-02T23:26:55.951Z,1362266815.951 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-02T23:26:55.954Z,1362266815.954 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-02T23:26:56.214Z,1362266816.214 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-02T23:26:56.215Z,1362266816.215 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-02T23:26:56.403Z,1362266816.403 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-02T23:26:56.405Z,1362266816.405 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-02T23:26:56.682Z,1362266816.682 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-02T23:26:56.684Z,1362266816.684 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-02T23:26:56.795Z,1362266816.795 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-02T23:26:56.796Z,1362266816.796 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-02T23:26:57.403Z,1362266817.403 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-02T23:26:57.404Z,1362266817.404 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-02T23:26:57.682Z,1362266817.682 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-02T23:26:57.683Z,1362266817.683 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-02T23:26:57.780Z,1362266817.780 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-02T23:26:57.784Z,1362266817.783 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-02T23:26:57.896Z,1362266817.896 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-02T23:26:58.040Z,1362266818.040 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-02T23:26:58.138Z,1362266818.138 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-02T23:26:58.250Z,1362266818.250 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-02T23:26:58.362Z,1362266818.362 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-02T23:26:58.496Z,1362266818.496 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-02T23:26:58.600Z,1362266818.600 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-02T23:26:58.698Z,1362266818.698 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-03-02T23:26:58.733Z,1362266818.733 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-02T23:26:58.946Z,1362266818.946 [InternalSim] Loaded
2013-03-02T23:26:58.947Z,1362266818.947 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-02T23:26:58.947Z,1362266818.947 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-02T23:26:58.948Z,1362266818.948 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-02T23:26:59.033Z,1362266819.033 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-02T23:26:59.067Z,1362266819.067 [SBIT] Loaded
2013-03-02T23:26:59.067Z,1362266819.067 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-02T23:26:59.068Z,1362266819.068 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-02T23:26:59.102Z,1362266819.102 [IBIT] Loaded
2013-03-02T23:26:59.102Z,1362266819.102 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-02T23:26:59.106Z,1362266819.106 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-02T23:26:59.246Z,1362266819.246 [CBIT] Loaded
2013-03-02T23:26:59.247Z,1362266819.247 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-02T23:26:59.247Z,1362266819.247 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-02T23:26:59.248Z,1362266819.248 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-02T23:26:59.433Z,1362266819.432 [BuoyancyServo] Loaded
2013-03-02T23:26:59.433Z,1362266819.433 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-02T23:26:59.445Z,1362266819.445 [ElevatorServo] Loaded
2013-03-02T23:26:59.446Z,1362266819.446 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-02T23:26:59.462Z,1362266819.462 [MassServo] Loaded
2013-03-02T23:26:59.462Z,1362266819.462 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-02T23:26:59.475Z,1362266819.475 [RudderServo] Loaded
2013-03-02T23:26:59.475Z,1362266819.475 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-02T23:26:59.487Z,1362266819.487 [ThrusterServo] Loaded
2013-03-02T23:26:59.487Z,1362266819.487 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-02T23:26:59.488Z,1362266819.488 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-02T23:26:59.489Z,1362266819.489 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-02T23:26:59.525Z,1362266819.525 [DepthRateCalculator] Loaded
2013-03-02T23:26:59.525Z,1362266819.525 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-02T23:27:03.914Z,1362266823.914 [HFRadarModelCalc] Loaded
2013-03-02T23:27:03.914Z,1362266823.914 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-02T23:27:03.931Z,1362266823.931 [NavChart] Loaded
2013-03-02T23:27:03.931Z,1362266823.931 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-02T23:27:03.937Z,1362266823.937 [PitchRateCalculator] Loaded
2013-03-02T23:27:03.937Z,1362266823.937 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-02T23:27:03.948Z,1362266823.948 [SpeedCalculator] Loaded
2013-03-02T23:27:03.948Z,1362266823.948 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-02T23:27:03.964Z,1362266823.964 [TempGradientCalculator] Loaded
2013-03-02T23:27:03.964Z,1362266823.964 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-02T23:27:03.970Z,1362266823.970 [YawRateCalculator] Loaded
2013-03-02T23:27:03.971Z,1362266823.971 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-02T23:27:04.017Z,1362266824.017 [Navigation] Loaded
2013-03-02T23:27:04.017Z,1362266824.017 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-02T23:27:04.018Z,1362266824.018 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-02T23:27:04.019Z,1362266824.019 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-02T23:27:04.322Z,1362266824.322 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-02T23:27:04.322Z,1362266824.322 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-02T23:27:04.368Z,1362266824.368 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-02T23:27:04.368Z,1362266824.368 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-02T23:27:04.435Z,1362266824.435 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-02T23:27:04.540Z,1362266824.540 [VerticalControl] Loaded
2013-03-02T23:27:04.540Z,1362266824.540 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-02T23:27:04.541Z,1362266824.541 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-02T23:27:04.608Z,1362266824.608 [HorizontalControl] Loaded
2013-03-02T23:27:04.609Z,1362266824.609 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-02T23:27:04.610Z,1362266824.610 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-02T23:27:04.611Z,1362266824.611 [SpeedControl] Loaded
2013-03-02T23:27:04.612Z,1362266824.612 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-02T23:27:04.613Z,1362266824.613 [LoopControl](DEBUG): Construct LoopControl.
2013-03-02T23:27:04.613Z,1362266824.613 [LoopControl] Loaded
2013-03-02T23:27:04.613Z,1362266824.613 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-02T23:27:04.614Z,1362266824.614 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-02T23:27:04.614Z,1362266824.615 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-02T23:27:04.623Z,1362266824.623 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-02T23:27:04.628Z,1362266824.628 [AsyncPiEstimator] Loaded
2013-03-02T23:27:04.628Z,1362266824.628 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-02T23:27:04.631Z,1362266824.631 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-02T23:27:04.631Z,1362266824.631 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-02T23:27:04.632Z,1362266824.632 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-02T23:27:04.823Z,1362266824.823 [AHRS_sp3003D] Loaded
2013-03-02T23:27:04.823Z,1362266824.823 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-02T23:27:05.119Z,1362266825.119 [Batt_Ocean_Server] Loaded
2013-03-02T23:27:05.120Z,1362266825.120 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-02T23:27:05.134Z,1362266825.134 [Depth_Keller] Loaded
2013-03-02T23:27:05.134Z,1362266825.135 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-02T23:27:05.145Z,1362266825.145 [DropWeight] Loaded
2013-03-02T23:27:05.145Z,1362266825.145 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-02T23:27:05.362Z,1362266825.362 [DVL_micro] Loaded
2013-03-02T23:27:05.363Z,1362266825.363 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-02T23:27:05.366Z,1362266825.366 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-02T23:27:05.461Z,1362266825.461 [NAL9602] Loaded
2013-03-02T23:27:05.461Z,1362266825.461 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-02T23:27:05.518Z,1362266825.518 [Onboard] Loaded
2013-03-02T23:27:05.518Z,1362266825.518 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-02T23:27:05.529Z,1362266825.529 [Radio_Freewave] Loaded
2013-03-02T23:27:05.530Z,1362266825.530 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-02T23:27:05.530Z,1362266825.530 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-02T23:27:05.531Z,1362266825.531 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-02T23:27:05.622Z,1362266825.622 [Aanderaa_O2] Loaded
2013-03-02T23:27:05.622Z,1362266825.622 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-02T23:27:05.661Z,1362266825.661 [CTD_NeilBrown] Loaded
2013-03-02T23:27:05.661Z,1362266825.661 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-02T23:27:05.663Z,1362266825.662 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-02T23:27:05.676Z,1362266825.676 [ISUS] Loaded
2013-03-02T23:27:05.677Z,1362266825.677 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-02T23:27:05.697Z,1362266825.697 [PAR_Licor] Loaded
2013-03-02T23:27:05.697Z,1362266825.697 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-02T23:27:05.732Z,1362266825.732 [WetLabsBB2FL] Loaded
2013-03-02T23:27:05.733Z,1362266825.733 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-02T23:27:05.734Z,1362266825.734 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-02T23:27:05.735Z,1362266825.735 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-02T23:27:05.738Z,1362266825.738 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-02T23:27:05.739Z,1362266825.739 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-02T23:27:05.749Z,1362266825.749 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-02T23:27:05.751Z,1362266825.750 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-02T23:27:05.755Z,1362266825.755 [Supervisor](DEBUG): Running supervisor.
2013-03-02T23:27:05.756Z,1362266825.756 [CommandLine](INFO): Thread ID is 752
2013-03-02T23:27:05.759Z,1362266825.759 [controlThread](INFO): Thread ID is 751
2013-03-02T23:27:05.760Z,1362266825.760 [controlThread](DEBUG): Initializing ControlThread
2013-03-02T23:27:05.760Z,1362266825.760 [CycleStarter](INFO): Thread ID is 750
2013-03-02T23:27:05.760Z,1362266825.760 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-02T23:27:05.876Z,1362266825.876 [logger](INFO): Thread ID is 753
2013-03-02T23:27:05.976Z,1362266825.976 [AsyncPiEstimator](INFO): Thread ID is 816
2013-03-02T23:27:05.976Z,1362266825.976 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-02T23:27:06.095Z,1362266826.095 [DVL_micro](INFO): Thread ID is 818
2013-03-02T23:27:06.142Z,1362266826.142 [CTD_NeilBrown](INFO): Thread ID is 819
2013-03-02T23:27:06.142Z,1362266826.142 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-02T23:27:06.147Z,1362266826.147 [WetLabsBB2FL](INFO): Thread ID is 820
2013-03-02T23:27:06.148Z,1362266826.148 [WetLabsBB2FL](INFO): Powering down
2013-03-02T23:27:06.167Z,1362266826.167 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-02T23:27:06.197Z,1362266826.197 [DVL_micro](INFO): Initializing
2013-03-02T23:27:06.197Z,1362266826.197 [DVL_micro](INFO): start:Powering up
2013-03-02T23:27:06.198Z,1362266826.198 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-02T23:27:06.203Z,1362266826.203 [NavChartDb](INFO): Thread ID is 821
2013-03-02T23:27:06.207Z,1362266826.207 [SBIT](INFO): Initialize SBIT Component.
2013-03-02T23:27:06.208Z,1362266826.208 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10204
2013-03-02T23:27:06.209Z,1362266826.209 [IBIT](INFO): Initialize IBIT Component.
2013-03-02T23:27:06.211Z,1362266826.211 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-02T23:27:06.211Z,1362266826.211 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-02T23:27:06.213Z,1362266826.214 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2013-03-02T23:27:06.217Z,1362266826.217 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-02T23:27:06.219Z,1362266826.219 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2013-03-02T23:27:06.221Z,1362266826.221 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2013-03-02T23:27:06.223Z,1362266826.223 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2013-03-02T23:27:06.224Z,1362266826.224 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2013-03-02T23:27:06.226Z,1362266826.226 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2013-03-02T23:27:06.227Z,1362266826.227 [DVL_micro](INFO): Cycling power to configure device.
2013-03-02T23:27:06.232Z,1362266826.232 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2013-03-02T23:27:06.234Z,1362266826.234 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2013-03-02T23:27:06.236Z,1362266826.236 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-02T23:27:06.237Z,1362266826.237 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-02T23:27:06.237Z,1362266826.237 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-02T23:27:06.237Z,1362266826.237 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-02T23:27:06.238Z,1362266826.238 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-02T23:27:06.240Z,1362266826.240 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-02T23:27:06.240Z,1362266826.240 [Navigation](DEBUG): Initializing Navigation.
2013-03-02T23:27:06.241Z,1362266826.240 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-02T23:27:06.242Z,1362266826.242 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-02T23:27:06.243Z,1362266826.243 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-02T23:27:06.244Z,1362266826.244 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-02T23:27:06.248Z,1362266826.248 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2013-03-02T23:27:06.419Z,1362266826.419 [NavChartDb](INFO): Setup scan of Resources/US5CA62M.000
2013-03-02T23:27:07.657Z,1362266827.657 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-02T23:27:07.732Z,1362266827.732 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-02T23:27:07.747Z,1362266827.747 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-02T23:27:07.761Z,1362266827.761 [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>


2013-03-02T23:27:07.761Z,1362266827.761 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-02T23:27:07.837Z,1362266827.837 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-02T23:27:07.839Z,1362266827.839 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-02T23:27:07.842Z,1362266827.842 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-02T23:27:07.850Z,1362266827.850 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-02T23:27:07.853Z,1362266827.853 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-02T23:27:07.860Z,1362266827.860 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-02T23:27:07.873Z,1362266827.874 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-02T23:27:07.877Z,1362266827.877 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-02T23:27:07.882Z,1362266827.882 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-02T23:27:07.913Z,1362266827.913 [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>


2013-03-02T23:27:07.918Z,1362266827.918 [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,
2013-03-02T23:27:07.945Z,1362266827.944 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-02T23:27:08.127Z,1362266828.127 [Radio_Freewave](INFO): Powering up
2013-03-02T23:27:08.275Z,1362266828.275 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-02T23:27:08.275Z,1362266828.275 [DVL_micro](INFO): Querying output modes
2013-03-02T23:27:08.276Z,1362266828.276 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-02T23:27:08.287Z,1362266828.287 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-02T23:27:08.287Z,1362266828.287 [DVL_micro](INFO): NQ1 output enabled
2013-03-02T23:27:08.287Z,1362266828.287 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-02T23:27:08.299Z,1362266828.299 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-02T23:27:08.304Z,1362266828.304 [DVL_micro](INFO): pause:Powering down
2013-03-02T23:27:08.354Z,1362266828.354 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-02T23:27:08.355Z,1362266828.355 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-02T23:27:08.366Z,1362266828.366 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-02T23:27:08.371Z,1362266828.371 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-02T23:27:08.377Z,1362266828.377 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-02T23:27:08.378Z,1362266828.378 [MassServo](DEBUG): Initializing MassServo.
2013-03-02T23:27:08.421Z,1362266828.421 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-02T23:27:08.427Z,1362266828.427 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-02T23:27:08.438Z,1362266828.438 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-02T23:27:08.439Z,1362266828.439 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-02T23:27:10.465Z,1362266830.465 [NAL9602](INFO): Powering up NAL9602
2013-03-02T23:27:10.643Z,1362266830.643 [Aanderaa_O2](INFO): Powering down
2013-03-02T23:27:21.071Z,1362266841.071 [NAL9602](INFO): NAL9602 initialized
2013-03-02T23:27:21.929Z,1362266841.929 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-02T23:27:21.931Z,1362266841.931 [CBIT](IMPORTANT): Beginning GF scan