2013-03-04T01:57:10.457Z,1362362230.457 [Supervisor](DEBUG): Initializing supervisor.
2013-03-04T01:57:10.462Z,1362362230.462 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-04T01:57:10.463Z,1362362230.463 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-04T01:57:10.466Z,1362362230.466 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-04T01:57:10.470Z,1362362230.470 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-04T01:57:10.481Z,1362362230.480 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-04T01:57:10.482Z,1362362230.482 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-04T01:57:10.483Z,1362362230.483 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-04T01:57:10.486Z,1362362230.486 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-04T01:57:10.487Z,1362362230.487 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-04T01:57:10.491Z,1362362230.491 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-04T01:57:10.803Z,1362362230.803 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-04T01:57:10.804Z,1362362230.804 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-04T01:57:11.010Z,1362362231.010 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-04T01:57:11.010Z,1362362231.010 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-04T01:57:11.110Z,1362362231.110 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-04T01:57:11.112Z,1362362231.112 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-04T01:57:11.331Z,1362362231.331 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-04T01:57:11.332Z,1362362231.332 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-04T01:57:11.479Z,1362362231.479 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-04T01:57:11.481Z,1362362231.481 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-04T01:57:11.734Z,1362362231.734 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-04T01:57:11.734Z,1362362231.734 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-04T01:57:11.923Z,1362362231.923 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-04T01:57:11.925Z,1362362231.925 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-04T01:57:12.202Z,1362362232.202 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-04T01:57:12.204Z,1362362232.204 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-04T01:57:12.315Z,1362362232.315 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-04T01:57:12.315Z,1362362232.315 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-04T01:57:12.755Z,1362362232.755 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-04T01:57:12.756Z,1362362232.756 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-04T01:57:12.883Z,1362362232.883 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-04T01:57:12.884Z,1362362232.884 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-04T01:57:12.982Z,1362362232.982 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-04T01:57:13.043Z,1362362233.043 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-04T01:57:13.161Z,1362362233.161 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-04T01:57:13.302Z,1362362233.302 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-04T01:57:13.398Z,1362362233.398 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-04T01:57:13.511Z,1362362233.511 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-04T01:57:13.622Z,1362362233.622 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-04T01:57:13.755Z,1362362233.755 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-04T01:57:13.859Z,1362362233.859 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-04T01:57:13.958Z,1362362233.958 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-04T01:57:13.989Z,1362362233.989 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-04T01:57:14.193Z,1362362234.193 [InternalSim] Loaded
2013-03-04T01:57:14.193Z,1362362234.194 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-04T01:57:14.194Z,1362362234.194 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-04T01:57:14.195Z,1362362234.195 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-04T01:57:14.277Z,1362362234.277 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-04T01:57:14.310Z,1362362234.309 [SBIT] Loaded
2013-03-04T01:57:14.310Z,1362362234.310 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-04T01:57:14.311Z,1362362234.311 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-04T01:57:14.344Z,1362362234.344 [IBIT] Loaded
2013-03-04T01:57:14.344Z,1362362234.344 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-04T01:57:14.347Z,1362362234.347 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-04T01:57:14.479Z,1362362234.480 [CBIT] Loaded
2013-03-04T01:57:14.480Z,1362362234.480 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-04T01:57:14.480Z,1362362234.480 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-04T01:57:14.481Z,1362362234.481 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-04T01:57:14.660Z,1362362234.660 [BuoyancyServo] Loaded
2013-03-04T01:57:14.660Z,1362362234.661 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-04T01:57:14.673Z,1362362234.673 [ElevatorServo] Loaded
2013-03-04T01:57:14.673Z,1362362234.673 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-04T01:57:14.689Z,1362362234.689 [MassServo] Loaded
2013-03-04T01:57:14.689Z,1362362234.689 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-04T01:57:14.702Z,1362362234.702 [RudderServo] Loaded
2013-03-04T01:57:14.702Z,1362362234.702 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-04T01:57:14.714Z,1362362234.714 [ThrusterServo] Loaded
2013-03-04T01:57:14.714Z,1362362234.714 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-04T01:57:14.715Z,1362362234.715 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-04T01:57:14.715Z,1362362234.715 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-04T01:57:14.747Z,1362362234.747 [DepthRateCalculator] Loaded
2013-03-04T01:57:14.748Z,1362362234.748 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-04T01:57:18.479Z,1362362238.479 [HFRadarModelCalc] Loaded
2013-03-04T01:57:18.479Z,1362362238.479 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-04T01:57:18.495Z,1362362238.495 [NavChart] Loaded
2013-03-04T01:57:18.495Z,1362362238.496 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-04T01:57:18.501Z,1362362238.501 [PitchRateCalculator] Loaded
2013-03-04T01:57:18.502Z,1362362238.502 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-04T01:57:18.508Z,1362362238.508 [SpeedCalculator] Loaded
2013-03-04T01:57:18.508Z,1362362238.509 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-04T01:57:18.523Z,1362362238.523 [TempGradientCalculator] Loaded
2013-03-04T01:57:18.524Z,1362362238.524 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-04T01:57:18.530Z,1362362238.530 [YawRateCalculator] Loaded
2013-03-04T01:57:18.530Z,1362362238.530 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-04T01:57:18.571Z,1362362238.571 [Navigation] Loaded
2013-03-04T01:57:18.572Z,1362362238.572 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-04T01:57:18.572Z,1362362238.572 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-04T01:57:18.573Z,1362362238.573 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-04T01:57:18.859Z,1362362238.859 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-04T01:57:18.860Z,1362362238.860 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-04T01:57:18.903Z,1362362238.903 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-04T01:57:18.903Z,1362362238.903 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-04T01:57:18.966Z,1362362238.966 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-04T01:57:19.072Z,1362362239.072 [VerticalControl] Loaded
2013-03-04T01:57:19.073Z,1362362239.073 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-04T01:57:19.074Z,1362362239.074 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-04T01:57:19.135Z,1362362239.135 [HorizontalControl] Loaded
2013-03-04T01:57:19.135Z,1362362239.135 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-04T01:57:19.136Z,1362362239.136 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-04T01:57:19.138Z,1362362239.138 [SpeedControl] Loaded
2013-03-04T01:57:19.138Z,1362362239.138 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-04T01:57:19.139Z,1362362239.139 [LoopControl](DEBUG): Construct LoopControl.
2013-03-04T01:57:19.140Z,1362362239.140 [LoopControl] Loaded
2013-03-04T01:57:19.140Z,1362362239.140 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-04T01:57:19.140Z,1362362239.140 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-04T01:57:19.141Z,1362362239.141 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-04T01:57:19.149Z,1362362239.149 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-04T01:57:19.154Z,1362362239.154 [AsyncPiEstimator] Loaded
2013-03-04T01:57:19.154Z,1362362239.154 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-04T01:57:19.158Z,1362362239.158 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-04T01:57:19.159Z,1362362239.159 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-04T01:57:19.160Z,1362362239.160 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-04T01:57:19.347Z,1362362239.347 [AHRS_sp3003D] Loaded
2013-03-04T01:57:19.347Z,1362362239.348 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-04T01:57:19.639Z,1362362239.639 [Batt_Ocean_Server] Loaded
2013-03-04T01:57:19.639Z,1362362239.639 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-04T01:57:19.657Z,1362362239.657 [Depth_Keller] Loaded
2013-03-04T01:57:19.657Z,1362362239.657 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-04T01:57:19.663Z,1362362239.663 [DropWeight] Loaded
2013-03-04T01:57:19.663Z,1362362239.663 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-04T01:57:19.857Z,1362362239.857 [DVL_micro] Loaded
2013-03-04T01:57:19.858Z,1362362239.858 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-04T01:57:19.862Z,1362362239.862 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-04T01:57:19.955Z,1362362239.954 [NAL9602] Loaded
2013-03-04T01:57:19.955Z,1362362239.955 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-04T01:57:20.009Z,1362362240.009 [Onboard] Loaded
2013-03-04T01:57:20.010Z,1362362240.010 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-04T01:57:20.021Z,1362362240.021 [Radio_Freewave] Loaded
2013-03-04T01:57:20.021Z,1362362240.021 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-04T01:57:20.022Z,1362362240.022 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-04T01:57:20.023Z,1362362240.023 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-04T01:57:20.109Z,1362362240.109 [Aanderaa_O2] Loaded
2013-03-04T01:57:20.110Z,1362362240.110 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-04T01:57:20.147Z,1362362240.147 [CTD_NeilBrown] Loaded
2013-03-04T01:57:20.147Z,1362362240.147 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-04T01:57:20.150Z,1362362240.150 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-04T01:57:20.164Z,1362362240.164 [ISUS] Loaded
2013-03-04T01:57:20.164Z,1362362240.164 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-04T01:57:20.184Z,1362362240.184 [PAR_Licor] Loaded
2013-03-04T01:57:20.184Z,1362362240.184 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-04T01:57:20.219Z,1362362240.219 [WetLabsBB2FL] Loaded
2013-03-04T01:57:20.219Z,1362362240.219 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-04T01:57:20.222Z,1362362240.222 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-04T01:57:20.223Z,1362362240.223 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-04T01:57:20.225Z,1362362240.225 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-04T01:57:20.226Z,1362362240.226 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-04T01:57:20.236Z,1362362240.237 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-04T01:57:20.238Z,1362362240.238 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-04T01:57:20.243Z,1362362240.243 [Supervisor](DEBUG): Running supervisor.
2013-03-04T01:57:20.244Z,1362362240.244 [CommandLine](INFO): Thread ID is 749
2013-03-04T01:57:20.247Z,1362362240.247 [controlThread](INFO): Thread ID is 748
2013-03-04T01:57:20.247Z,1362362240.247 [controlThread](DEBUG): Initializing ControlThread
2013-03-04T01:57:20.248Z,1362362240.248 [CycleStarter](INFO): Thread ID is 747
2013-03-04T01:57:20.248Z,1362362240.248 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-04T01:57:20.354Z,1362362240.354 [logger](INFO): Thread ID is 750
2013-03-04T01:57:20.471Z,1362362240.471 [AsyncPiEstimator](INFO): Thread ID is 811
2013-03-04T01:57:20.471Z,1362362240.471 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-04T01:57:20.488Z,1362362240.488 [DVL_micro](INFO): Thread ID is 812
2013-03-04T01:57:20.627Z,1362362240.627 [CTD_NeilBrown](INFO): Thread ID is 813
2013-03-04T01:57:20.627Z,1362362240.627 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-04T01:57:20.633Z,1362362240.634 [SBIT](INFO): Initialize SBIT Component.
2013-03-04T01:57:20.635Z,1362362240.635 [WetLabsBB2FL](INFO): Thread ID is 814
2013-03-04T01:57:20.636Z,1362362240.636 [WetLabsBB2FL](INFO): Powering down
2013-03-04T01:57:20.655Z,1362362240.655 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-04T01:57:20.662Z,1362362240.662 [DVL_micro](INFO): Initializing
2013-03-04T01:57:20.663Z,1362362240.663 [DVL_micro](INFO): start:Powering up
2013-03-04T01:57:20.663Z,1362362240.663 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-04T01:57:20.664Z,1362362240.664 [DVL_micro](INFO): Cycling power to configure device.
2013-03-04T01:57:20.634Z,1362362240.634 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10214
2013-03-04T01:57:20.683Z,1362362240.683 [IBIT](INFO): Initialize IBIT Component.
2013-03-04T01:57:20.684Z,1362362240.684 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-04T01:57:20.684Z,1362362240.684 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-04T01:57:20.684Z,1362362240.684 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-04T01:57:20.691Z,1362362240.691 [NavChartDb](INFO): Thread ID is 815
2013-03-04T01:57:20.704Z,1362362240.704 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2013-03-04T01:57:20.713Z,1362362240.713 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-04T01:57:20.713Z,1362362240.713 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-04T01:57:20.714Z,1362362240.714 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-04T01:57:20.714Z,1362362240.714 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-04T01:57:20.715Z,1362362240.715 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-04T01:57:20.716Z,1362362240.716 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-04T01:57:20.717Z,1362362240.717 [Navigation](DEBUG): Initializing Navigation.
2013-03-04T01:57:20.717Z,1362362240.717 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-04T01:57:20.719Z,1362362240.719 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-04T01:57:20.721Z,1362362240.721 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-04T01:57:20.722Z,1362362240.722 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-04T01:57:20.735Z,1362362240.735 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-04T01:57:20.737Z,1362362240.737 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2013-03-04T01:57:20.739Z,1362362240.739 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2013-03-04T01:57:20.740Z,1362362240.740 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2013-03-04T01:57:20.743Z,1362362240.743 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2013-03-04T01:57:20.744Z,1362362240.744 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2013-03-04T01:57:20.751Z,1362362240.751 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2013-03-04T01:57:20.759Z,1362362240.759 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2013-03-04T01:57:20.761Z,1362362240.761 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2013-03-04T01:57:20.934Z,1362362240.934 [NavChartDb](INFO): Setup scan of Resources/US5CA62M.000
2013-03-04T01:57:21.903Z,1362362241.903 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-03-04T01:57:21.903Z,1362362241.903 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-03-04T01:57:21.903Z,1362362241.903 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2013-03-04T01:57:21.903Z,1362362241.903 [Batt_Ocean_Server](ERROR): Communications Fault
2013-03-04T01:57:21.920Z,1362362241.920 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-04T01:57:21.937Z,1362362241.937 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-04T01:57:21.951Z,1362362241.951 [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>


2013-03-04T01:57:21.952Z,1362362241.952 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-04T01:57:22.026Z,1362362242.026 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-04T01:57:22.028Z,1362362242.028 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-04T01:57:22.032Z,1362362242.032 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-04T01:57:22.043Z,1362362242.043 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-04T01:57:22.046Z,1362362242.046 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-04T01:57:22.052Z,1362362242.052 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-04T01:57:22.065Z,1362362242.065 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-04T01:57:22.076Z,1362362242.076 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-04T01:57:22.081Z,1362362242.081 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-04T01:57:22.097Z,1362362242.097 [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>


2013-03-04T01:57:22.101Z,1362362242.101 [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,
2013-03-04T01:57:22.134Z,1362362242.134 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-04T01:57:22.310Z,1362362242.310 [Radio_Freewave](INFO): Powering up
2013-03-04T01:57:22.523Z,1362362242.523 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-04T01:57:22.527Z,1362362242.527 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-04T01:57:22.533Z,1362362242.533 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-04T01:57:22.535Z,1362362242.535 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-04T01:57:22.541Z,1362362242.542 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-04T01:57:22.547Z,1362362242.547 [MassServo](DEBUG): Initializing MassServo.
2013-03-04T01:57:22.552Z,1362362242.552 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-04T01:57:22.553Z,1362362242.553 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-04T01:57:22.559Z,1362362242.559 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-04T01:57:22.563Z,1362362242.563 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-04T01:57:22.615Z,1362362242.615 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-03-04T01:57:22.615Z,1362362242.615 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-03-04T01:57:22.615Z,1362362242.615 [Batt_Ocean_Server] No Fault, FailCount= 1
2013-03-04T01:57:22.763Z,1362362242.763 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-04T01:57:22.763Z,1362362242.763 [DVL_micro](INFO): Querying output modes
2013-03-04T01:57:22.763Z,1362362242.763 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-04T01:57:22.775Z,1362362242.774 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-03-04T01:57:22.775Z,1362362242.775 [DVL_micro](INFO): NQ1 output enabled
2013-03-04T01:57:22.775Z,1362362242.775 [DVL_micro](INFO): RSSI output enabled
2013-03-04T01:57:22.775Z,1362362242.775 [DVL_micro](INFO): ADCP output enabled
2013-03-04T01:57:22.775Z,1362362242.775 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-04T01:57:22.786Z,1362362242.786 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-04T01:57:22.792Z,1362362242.792 [DVL_micro](INFO): pause:Powering down
2013-03-04T01:57:24.205Z,1362362244.205 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-04T01:57:25.131Z,1362362245.131 [NAL9602](INFO): Powering up NAL9602
2013-03-04T01:57:26.123Z,1362362246.122 [Aanderaa_O2](INFO): Powering down
2013-03-04T01:57:35.711Z,1362362255.711 [NAL9602](INFO): NAL9602 initialized
2013-03-04T01:57:36.096Z,1362362256.096 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-04T01:57:36.099Z,1362362256.099 [CBIT](IMPORTANT): Beginning GF scan
2013-03-04T01:57:49.382Z,1362362269.382 [SBIT](FAULT): Mass: EXPECTED:0.006000 ACTUAL:0.005752