2013-03-04T02:10:40.226Z,1362363040.226 [Supervisor](DEBUG): Initializing supervisor.
2013-03-04T02:10:40.230Z,1362363040.230 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-04T02:10:40.231Z,1362363040.231 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-04T02:10:40.235Z,1362363040.234 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-04T02:10:40.238Z,1362363040.238 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-04T02:10:40.249Z,1362363040.249 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-04T02:10:40.250Z,1362363040.250 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-04T02:10:40.251Z,1362363040.251 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-04T02:10:40.255Z,1362363040.254 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-04T02:10:40.255Z,1362363040.255 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-04T02:10:40.259Z,1362363040.259 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-04T02:10:40.575Z,1362363040.575 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-04T02:10:40.576Z,1362363040.576 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-04T02:10:40.786Z,1362363040.786 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-04T02:10:40.787Z,1362363040.787 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-04T02:10:40.882Z,1362363040.882 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-04T02:10:40.884Z,1362363040.884 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-04T02:10:41.103Z,1362363041.103 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-04T02:10:41.104Z,1362363041.104 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-04T02:10:41.251Z,1362363041.251 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-04T02:10:41.253Z,1362363041.253 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-04T02:10:41.503Z,1362363041.503 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-04T02:10:41.504Z,1362363041.504 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-04T02:10:41.691Z,1362363041.691 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-04T02:10:41.693Z,1362363041.694 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-04T02:10:41.970Z,1362363041.970 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-04T02:10:41.972Z,1362363041.972 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-04T02:10:42.083Z,1362363042.083 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-04T02:10:42.084Z,1362363042.084 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-04T02:10:42.528Z,1362363042.528 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-04T02:10:42.528Z,1362363042.528 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-04T02:10:42.656Z,1362363042.656 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-04T02:10:42.657Z,1362363042.657 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-04T02:10:42.752Z,1362363042.752 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-04T02:10:42.756Z,1362363042.756 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-04T02:10:42.868Z,1362363042.868 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-04T02:10:43.012Z,1362363043.012 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-04T02:10:43.106Z,1362363043.106 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-04T02:10:43.218Z,1362363043.218 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-04T02:10:43.328Z,1362363043.328 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-04T02:10:43.460Z,1362363043.460 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-04T02:10:43.565Z,1362363043.565 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-04T02:10:43.668Z,1362363043.668 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-04T02:10:43.746Z,1362363043.746 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-04T02:10:43.951Z,1362363043.951 [InternalSim] Loaded
2013-03-04T02:10:43.951Z,1362363043.951 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-04T02:10:43.952Z,1362363043.952 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-04T02:10:43.952Z,1362363043.952 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-04T02:10:44.035Z,1362363044.035 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-04T02:10:44.068Z,1362363044.068 [SBIT] Loaded
2013-03-04T02:10:44.068Z,1362363044.068 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-04T02:10:44.069Z,1362363044.069 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-04T02:10:44.101Z,1362363044.102 [IBIT] Loaded
2013-03-04T02:10:44.102Z,1362363044.102 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-04T02:10:44.105Z,1362363044.105 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-04T02:10:44.237Z,1362363044.237 [CBIT] Loaded
2013-03-04T02:10:44.238Z,1362363044.238 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-04T02:10:44.238Z,1362363044.238 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-04T02:10:44.239Z,1362363044.239 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-04T02:10:44.424Z,1362363044.424 [BuoyancyServo] Loaded
2013-03-04T02:10:44.425Z,1362363044.425 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-04T02:10:44.437Z,1362363044.437 [ElevatorServo] Loaded
2013-03-04T02:10:44.437Z,1362363044.437 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-04T02:10:44.453Z,1362363044.453 [MassServo] Loaded
2013-03-04T02:10:44.454Z,1362363044.454 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-04T02:10:44.466Z,1362363044.466 [RudderServo] Loaded
2013-03-04T02:10:44.466Z,1362363044.466 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-04T02:10:44.478Z,1362363044.478 [ThrusterServo] Loaded
2013-03-04T02:10:44.478Z,1362363044.478 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-04T02:10:44.479Z,1362363044.479 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-04T02:10:44.479Z,1362363044.479 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-04T02:10:44.515Z,1362363044.515 [DepthRateCalculator] Loaded
2013-03-04T02:10:44.515Z,1362363044.515 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-04T02:10:48.206Z,1362363048.206 [HFRadarModelCalc] Loaded
2013-03-04T02:10:48.206Z,1362363048.206 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-04T02:10:48.226Z,1362363048.226 [NavChart] Loaded
2013-03-04T02:10:48.227Z,1362363048.227 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-04T02:10:48.237Z,1362363048.237 [PitchRateCalculator] Loaded
2013-03-04T02:10:48.237Z,1362363048.237 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-04T02:10:48.243Z,1362363048.243 [SpeedCalculator] Loaded
2013-03-04T02:10:48.244Z,1362363048.244 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-04T02:10:48.259Z,1362363048.259 [TempGradientCalculator] Loaded
2013-03-04T02:10:48.259Z,1362363048.259 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-04T02:10:48.265Z,1362363048.265 [YawRateCalculator] Loaded
2013-03-04T02:10:48.265Z,1362363048.265 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-04T02:10:48.311Z,1362363048.311 [Navigation] Loaded
2013-03-04T02:10:48.311Z,1362363048.311 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-04T02:10:48.311Z,1362363048.311 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-04T02:10:48.312Z,1362363048.312 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-04T02:10:48.604Z,1362363048.604 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-04T02:10:48.605Z,1362363048.605 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-04T02:10:48.647Z,1362363048.648 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-04T02:10:48.648Z,1362363048.648 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-04T02:10:48.715Z,1362363048.715 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-04T02:10:48.822Z,1362363048.822 [VerticalControl] Loaded
2013-03-04T02:10:48.822Z,1362363048.822 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-04T02:10:48.823Z,1362363048.823 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-04T02:10:48.884Z,1362363048.884 [HorizontalControl] Loaded
2013-03-04T02:10:48.885Z,1362363048.885 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-04T02:10:48.886Z,1362363048.885 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-04T02:10:48.887Z,1362363048.887 [SpeedControl] Loaded
2013-03-04T02:10:48.888Z,1362363048.888 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-04T02:10:48.888Z,1362363048.888 [LoopControl](DEBUG): Construct LoopControl.
2013-03-04T02:10:48.889Z,1362363048.889 [LoopControl] Loaded
2013-03-04T02:10:48.889Z,1362363048.889 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-04T02:10:48.890Z,1362363048.890 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-04T02:10:48.890Z,1362363048.890 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-04T02:10:48.899Z,1362363048.899 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-04T02:10:48.904Z,1362363048.904 [AsyncPiEstimator] Loaded
2013-03-04T02:10:48.904Z,1362363048.904 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-04T02:10:48.907Z,1362363048.907 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-04T02:10:48.907Z,1362363048.907 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-04T02:10:48.908Z,1362363048.908 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-04T02:10:49.096Z,1362363049.096 [AHRS_sp3003D] Loaded
2013-03-04T02:10:49.097Z,1362363049.097 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-04T02:10:49.389Z,1362363049.389 [Batt_Ocean_Server] Loaded
2013-03-04T02:10:49.389Z,1362363049.389 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-04T02:10:49.407Z,1362363049.407 [Depth_Keller] Loaded
2013-03-04T02:10:49.407Z,1362363049.407 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-04T02:10:49.413Z,1362363049.413 [DropWeight] Loaded
2013-03-04T02:10:49.413Z,1362363049.413 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-04T02:10:49.612Z,1362363049.612 [DVL_micro] Loaded
2013-03-04T02:10:49.612Z,1362363049.612 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-04T02:10:49.614Z,1362363049.615 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-04T02:10:49.707Z,1362363049.707 [NAL9602] Loaded
2013-03-04T02:10:49.707Z,1362363049.707 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-04T02:10:49.762Z,1362363049.762 [Onboard] Loaded
2013-03-04T02:10:49.762Z,1362363049.762 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-04T02:10:49.773Z,1362363049.773 [Radio_Freewave] Loaded
2013-03-04T02:10:49.774Z,1362363049.774 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-04T02:10:49.775Z,1362363049.775 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-04T02:10:49.775Z,1362363049.775 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-04T02:10:49.862Z,1362363049.862 [Aanderaa_O2] Loaded
2013-03-04T02:10:49.862Z,1362363049.862 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-04T02:10:49.899Z,1362363049.899 [CTD_NeilBrown] Loaded
2013-03-04T02:10:49.900Z,1362363049.900 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-04T02:10:49.902Z,1362363049.902 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-04T02:10:49.916Z,1362363049.916 [ISUS] Loaded
2013-03-04T02:10:49.916Z,1362363049.916 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-04T02:10:49.936Z,1362363049.936 [PAR_Licor] Loaded
2013-03-04T02:10:49.937Z,1362363049.937 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-04T02:10:49.971Z,1362363049.971 [WetLabsBB2FL] Loaded
2013-03-04T02:10:49.972Z,1362363049.972 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-04T02:10:49.975Z,1362363049.974 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-04T02:10:49.975Z,1362363049.975 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-04T02:10:49.978Z,1362363049.978 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-04T02:10:49.979Z,1362363049.979 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-04T02:10:49.989Z,1362363049.989 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-04T02:10:49.990Z,1362363049.990 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-04T02:10:49.995Z,1362363049.995 [Supervisor](DEBUG): Running supervisor.
2013-03-04T02:10:49.996Z,1362363049.996 [CommandLine](INFO): Thread ID is 750
2013-03-04T02:10:49.999Z,1362363049.999 [controlThread](INFO): Thread ID is 749
2013-03-04T02:10:49.999Z,1362363049.999 [controlThread](DEBUG): Initializing ControlThread
2013-03-04T02:10:49.000Z,1362363050.000 [CycleStarter](INFO): Thread ID is 748
2013-03-04T02:10:50.000Z,1362363050.000 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-04T02:10:50.116Z,1362363050.116 [logger](INFO): Thread ID is 751
2013-03-04T02:10:50.216Z,1362363050.216 [AsyncPiEstimator](INFO): Thread ID is 812
2013-03-04T02:10:50.216Z,1362363050.216 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-04T02:10:50.323Z,1362363050.323 [DVL_micro](INFO): Thread ID is 813
2013-03-04T02:10:50.342Z,1362363050.342 [DVL_micro](INFO): Initializing
2013-03-04T02:10:50.343Z,1362363050.342 [DVL_micro](INFO): start:Powering up
2013-03-04T02:10:50.343Z,1362363050.343 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-04T02:10:50.344Z,1362363050.344 [DVL_micro](INFO): Cycling power to configure device.
2013-03-04T02:10:50.351Z,1362363050.351 [CTD_NeilBrown](INFO): Thread ID is 814
2013-03-04T02:10:50.352Z,1362363050.352 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-04T02:10:50.367Z,1362363050.367 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-04T02:10:50.400Z,1362363050.399 [WetLabsBB2FL](INFO): Thread ID is 815
2013-03-04T02:10:50.400Z,1362363050.400 [WetLabsBB2FL](INFO): Powering down
2013-03-04T02:10:50.427Z,1362363050.427 [NavChartDb](INFO): Thread ID is 816
2013-03-04T02:10:50.436Z,1362363050.436 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2013-03-04T02:10:50.440Z,1362363050.440 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-04T02:10:50.442Z,1362363050.442 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA50M.000
2013-03-04T02:10:50.443Z,1362363050.443 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US2WC11M.000
2013-03-04T02:10:50.445Z,1362363050.445 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US1WC07M.000
2013-03-04T02:10:50.447Z,1362363050.447 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US3CA52M.000
2013-03-04T02:10:50.448Z,1362363050.448 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA61M.000
2013-03-04T02:10:50.450Z,1362363050.450 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA83M.000
2013-03-04T02:10:50.452Z,1362363050.452 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2013-03-04T02:10:50.454Z,1362363050.454 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US4CA60M.000
2013-03-04T02:10:50.457Z,1362363050.457 [SBIT](INFO): Initialize SBIT Component.
2013-03-04T02:10:50.458Z,1362363050.458 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10215
2013-03-04T02:10:50.459Z,1362363050.459 [IBIT](INFO): Initialize IBIT Component.
2013-03-04T02:10:50.460Z,1362363050.460 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-04T02:10:50.460Z,1362363050.460 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-04T02:10:50.460Z,1362363050.460 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-04T02:10:50.488Z,1362363050.488 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-04T02:10:50.488Z,1362363050.489 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-04T02:10:50.489Z,1362363050.489 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-04T02:10:50.489Z,1362363050.489 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-04T02:10:50.489Z,1362363050.490 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-04T02:10:50.491Z,1362363050.491 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-04T02:10:50.491Z,1362363050.491 [Navigation](DEBUG): Initializing Navigation.
2013-03-04T02:10:50.492Z,1362363050.492 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-04T02:10:50.494Z,1362363050.494 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-04T02:10:50.495Z,1362363050.495 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-04T02:10:50.495Z,1362363050.495 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-04T02:10:50.643Z,1362363050.643 [NavChartDb](INFO): Setup scan of Resources/US5CA62M.000
2013-03-04T02:10:52.389Z,1362363052.389 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-04T02:10:52.456Z,1362363052.456 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-04T02:10:52.475Z,1362363052.475 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-04T02:10:52.475Z,1362363052.475 [DVL_micro](INFO): Querying output modes
2013-03-04T02:10:52.476Z,1362363052.476 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-04T02:10:52.478Z,1362363052.478 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-04T02:10:52.487Z,1362363052.487 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-03-04T02:10:52.487Z,1362363052.487 [DVL_micro](INFO): NQ1 output enabled
2013-03-04T02:10:52.487Z,1362363052.487 [DVL_micro](INFO): RSSI output enabled
2013-03-04T02:10:52.487Z,1362363052.487 [DVL_micro](INFO): ADCP output enabled
2013-03-04T02:10:52.488Z,1362363052.487 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-04T02:10:52.495Z,1362363052.495 [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>


2013-03-04T02:10:52.496Z,1362363052.496 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-04T02:10:52.499Z,1362363052.499 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-04T02:10:52.512Z,1362363052.512 [DVL_micro](INFO): pause:Powering down
2013-03-04T02:10:52.562Z,1362363052.562 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-04T02:10:52.564Z,1362363052.564 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-04T02:10:52.571Z,1362363052.571 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-04T02:10:52.579Z,1362363052.579 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-04T02:10:52.582Z,1362363052.582 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-04T02:10:52.589Z,1362363052.589 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-04T02:10:52.597Z,1362363052.597 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-04T02:10:52.601Z,1362363052.601 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-04T02:10:52.605Z,1362363052.605 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-04T02:10:52.609Z,1362363052.609 [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>


2013-03-04T02:10:52.614Z,1362363052.615 [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,
2013-03-04T02:10:52.659Z,1362363052.659 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-04T02:10:52.974Z,1362363052.974 [Radio_Freewave](INFO): Powering up
2013-03-04T02:10:53.187Z,1362363053.187 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-04T02:10:53.191Z,1362363053.191 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-04T02:10:53.198Z,1362363053.197 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-04T02:10:53.199Z,1362363053.199 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-04T02:10:53.205Z,1362363053.205 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-04T02:10:53.207Z,1362363053.207 [MassServo](DEBUG): Initializing MassServo.
2013-03-04T02:10:53.213Z,1362363053.213 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-04T02:10:53.214Z,1362363053.214 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-04T02:10:53.243Z,1362363053.243 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-04T02:10:53.259Z,1362363053.259 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-04T02:10:53.395Z,1362363053.395 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0x42360D0AA4
2013-03-04T02:10:53.395Z,1362363053.395 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-03-04T02:10:53.395Z,1362363053.395 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-03-04T02:10:53.395Z,1362363053.395 [AHRS_sp3003D](ERROR): Hardware Fault
2013-03-04T02:10:53.497Z,1362363053.497 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-03-04T02:10:53.707Z,1362363053.707 [AHRS_sp3003D](INFO): Powering down
2013-03-04T02:10:53.747Z,1362363053.747 [DVL_micro](INFO): RSSI unrequested
2013-03-04T02:10:53.747Z,1362363053.747 [DVL_micro](INFO): ADCP unrequested
2013-03-04T02:10:53.748Z,1362363053.748 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-04T02:10:53.748Z,1362363053.748 [DVL_micro](INFO): resume:Powering up
2013-03-04T02:10:53.748Z,1362363053.748 [DVL_micro](INFO): Cycling power to configure device.
2013-03-04T02:10:54.741Z,1362363054.741 [NAL9602](INFO): Powering up NAL9602
2013-03-04T02:10:55.187Z,1362363055.187 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-03-04T02:10:55.187Z,1362363055.187 [AHRS_sp3003D] No Fault, FailCount= 1
2013-03-04T02:10:55.513Z,1362363055.513 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-04T02:10:55.691Z,1362363055.691 [Aanderaa_O2](INFO): Powering down
2013-03-04T02:10:55.758Z,1362363055.758 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-04T02:10:55.758Z,1362363055.758 [DVL_micro](INFO): Querying output modes
2013-03-04T02:10:55.758Z,1362363055.758 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-04T02:10:55.771Z,1362363055.771 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-03-04T02:10:55.771Z,1362363055.771 [DVL_micro](INFO): NQ1 output enabled
2013-03-04T02:10:55.771Z,1362363055.771 [DVL_micro](INFO): RSSI output enabled
2013-03-04T02:10:55.771Z,1362363055.771 [DVL_micro](INFO): ADCP output enabled
2013-03-04T02:10:55.772Z,1362363055.772 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-04T02:10:55.783Z,1362363055.783 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-04T02:10:55.785Z,1362363055.786 [DVL_micro](INFO): pause:Powering down