2013-03-05T08:26:00.069Z,1362471960.069 [Supervisor](DEBUG): Initializing supervisor.
2013-03-05T08:26:00.074Z,1362471960.074 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-05T08:26:00.075Z,1362471960.075 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-05T08:26:00.078Z,1362471960.078 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-05T08:26:00.082Z,1362471960.082 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-05T08:26:00.093Z,1362471960.093 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-05T08:26:00.094Z,1362471960.094 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-05T08:26:00.095Z,1362471960.095 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-05T08:26:00.098Z,1362471960.098 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-05T08:26:00.099Z,1362471960.099 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-05T08:26:00.103Z,1362471960.103 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-05T08:26:00.414Z,1362471960.414 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-05T08:26:00.414Z,1362471960.414 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-05T08:26:00.622Z,1362471960.622 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-05T08:26:00.622Z,1362471960.622 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-05T08:26:00.718Z,1362471960.718 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-05T08:26:00.720Z,1362471960.720 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-05T08:26:00.930Z,1362471960.930 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-05T08:26:00.930Z,1362471960.930 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-05T08:26:01.079Z,1362471961.079 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-05T08:26:01.081Z,1362471961.081 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-05T08:26:01.331Z,1362471961.332 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-05T08:26:01.332Z,1362471961.332 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-05T08:26:01.522Z,1362471961.523 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-05T08:26:01.525Z,1362471961.525 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-05T08:26:01.800Z,1362471961.800 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-05T08:26:01.802Z,1362471961.802 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-05T08:26:01.915Z,1362471961.915 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-05T08:26:01.916Z,1362471961.916 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-05T08:26:02.356Z,1362471962.356 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-05T08:26:02.357Z,1362471962.357 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-05T08:26:02.484Z,1362471962.484 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-05T08:26:02.485Z,1362471962.485 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-05T08:26:02.580Z,1362471962.580 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-05T08:26:02.583Z,1362471962.583 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-05T08:26:02.696Z,1362471962.696 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-05T08:26:02.840Z,1362471962.840 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-05T08:26:02.934Z,1362471962.934 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-05T08:26:03.043Z,1362471963.043 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-05T08:26:03.154Z,1362471963.154 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-05T08:26:03.287Z,1362471963.287 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-05T08:26:03.394Z,1362471963.394 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-05T08:26:03.499Z,1362471963.499 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-05T08:26:03.599Z,1362471963.599 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-05T08:26:03.804Z,1362471963.804 [InternalSim] Loaded
2013-03-05T08:26:03.804Z,1362471963.804 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-05T08:26:03.805Z,1362471963.805 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-05T08:26:03.806Z,1362471963.806 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-05T08:26:03.891Z,1362471963.891 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-05T08:26:03.923Z,1362471963.923 [SBIT] Loaded
2013-03-05T08:26:03.923Z,1362471963.923 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-05T08:26:03.924Z,1362471963.924 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-05T08:26:03.957Z,1362471963.957 [IBIT] Loaded
2013-03-05T08:26:03.957Z,1362471963.957 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-05T08:26:03.960Z,1362471963.960 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-05T08:26:04.094Z,1362471964.094 [CBIT] Loaded
2013-03-05T08:26:04.094Z,1362471964.094 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-05T08:26:04.094Z,1362471964.094 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-05T08:26:04.095Z,1362471964.095 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-05T08:26:04.276Z,1362471964.276 [BuoyancyServo] Loaded
2013-03-05T08:26:04.276Z,1362471964.276 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-05T08:26:04.289Z,1362471964.289 [ElevatorServo] Loaded
2013-03-05T08:26:04.289Z,1362471964.289 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-05T08:26:04.305Z,1362471964.305 [MassServo] Loaded
2013-03-05T08:26:04.305Z,1362471964.305 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-05T08:26:04.317Z,1362471964.317 [RudderServo] Loaded
2013-03-05T08:26:04.317Z,1362471964.317 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-05T08:26:04.329Z,1362471964.329 [ThrusterServo] Loaded
2013-03-05T08:26:04.330Z,1362471964.330 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-05T08:26:04.330Z,1362471964.330 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-05T08:26:04.331Z,1362471964.331 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-05T08:26:04.367Z,1362471964.367 [DepthRateCalculator] Loaded
2013-03-05T08:26:04.367Z,1362471964.367 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-05T08:26:07.860Z,1362471967.860 [HFRadarModelCalc] Loaded
2013-03-05T08:26:07.860Z,1362471967.860 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-05T08:26:07.881Z,1362471967.881 [NavChart] Loaded
2013-03-05T08:26:07.881Z,1362471967.881 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-05T08:26:07.891Z,1362471967.891 [PitchRateCalculator] Loaded
2013-03-05T08:26:07.891Z,1362471967.891 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-05T08:26:07.898Z,1362471967.898 [SpeedCalculator] Loaded
2013-03-05T08:26:07.898Z,1362471967.898 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-05T08:26:07.913Z,1362471967.913 [TempGradientCalculator] Loaded
2013-03-05T08:26:07.913Z,1362471967.913 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-05T08:26:07.919Z,1362471967.919 [YawRateCalculator] Loaded
2013-03-05T08:26:07.919Z,1362471967.919 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-05T08:26:07.964Z,1362471967.964 [Navigation] Loaded
2013-03-05T08:26:07.965Z,1362471967.965 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-05T08:26:07.965Z,1362471967.965 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-05T08:26:07.966Z,1362471967.966 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-05T08:26:08.255Z,1362471968.255 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-05T08:26:08.256Z,1362471968.256 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-05T08:26:08.297Z,1362471968.297 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-05T08:26:08.298Z,1362471968.298 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-05T08:26:08.363Z,1362471968.363 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-05T08:26:08.466Z,1362471968.466 [VerticalControl] Loaded
2013-03-05T08:26:08.466Z,1362471968.466 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-05T08:26:08.467Z,1362471968.467 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-05T08:26:08.532Z,1362471968.532 [HorizontalControl] Loaded
2013-03-05T08:26:08.532Z,1362471968.532 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-05T08:26:08.533Z,1362471968.533 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-05T08:26:08.535Z,1362471968.535 [SpeedControl] Loaded
2013-03-05T08:26:08.535Z,1362471968.535 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-05T08:26:08.536Z,1362471968.536 [LoopControl](DEBUG): Construct LoopControl.
2013-03-05T08:26:08.536Z,1362471968.536 [LoopControl] Loaded
2013-03-05T08:26:08.537Z,1362471968.537 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-05T08:26:08.537Z,1362471968.537 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-05T08:26:08.538Z,1362471968.538 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-05T08:26:08.550Z,1362471968.550 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-05T08:26:08.555Z,1362471968.555 [AsyncPiEstimator] Loaded
2013-03-05T08:26:08.556Z,1362471968.556 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-05T08:26:08.558Z,1362471968.559 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-05T08:26:08.559Z,1362471968.559 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-05T08:26:08.560Z,1362471968.560 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-05T08:26:08.752Z,1362471968.752 [AHRS_sp3003D] Loaded
2013-03-05T08:26:08.752Z,1362471968.752 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-05T08:26:09.042Z,1362471969.042 [Batt_Ocean_Server] Loaded
2013-03-05T08:26:09.042Z,1362471969.042 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-05T08:26:09.056Z,1362471969.056 [Depth_Keller] Loaded
2013-03-05T08:26:09.056Z,1362471969.056 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-05T08:26:09.062Z,1362471969.062 [DropWeight] Loaded
2013-03-05T08:26:09.062Z,1362471969.062 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-05T08:26:09.259Z,1362471969.259 [DVL_micro] Loaded
2013-03-05T08:26:09.259Z,1362471969.259 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-05T08:26:09.262Z,1362471969.262 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-05T08:26:09.355Z,1362471969.355 [NAL9602] Loaded
2013-03-05T08:26:09.355Z,1362471969.355 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-05T08:26:09.410Z,1362471969.410 [Onboard] Loaded
2013-03-05T08:26:09.410Z,1362471969.410 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-05T08:26:09.421Z,1362471969.421 [Radio_Freewave] Loaded
2013-03-05T08:26:09.421Z,1362471969.421 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-05T08:26:09.422Z,1362471969.422 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-05T08:26:09.423Z,1362471969.423 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-05T08:26:09.509Z,1362471969.509 [Aanderaa_O2] Loaded
2013-03-05T08:26:09.509Z,1362471969.509 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-05T08:26:09.547Z,1362471969.547 [CTD_NeilBrown] Loaded
2013-03-05T08:26:09.547Z,1362471969.547 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-05T08:26:09.550Z,1362471969.550 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-05T08:26:09.564Z,1362471969.564 [ISUS] Loaded
2013-03-05T08:26:09.564Z,1362471969.564 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-05T08:26:09.584Z,1362471969.584 [PAR_Licor] Loaded
2013-03-05T08:26:09.584Z,1362471969.584 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-05T08:26:09.619Z,1362471969.619 [WetLabsBB2FL] Loaded
2013-03-05T08:26:09.620Z,1362471969.620 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-05T08:26:09.622Z,1362471969.622 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-05T08:26:09.623Z,1362471969.623 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-05T08:26:09.625Z,1362471969.625 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-05T08:26:09.627Z,1362471969.626 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-05T08:26:09.637Z,1362471969.637 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-05T08:26:09.638Z,1362471969.638 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-05T08:26:09.643Z,1362471969.643 [Supervisor](DEBUG): Running supervisor.
2013-03-05T08:26:09.644Z,1362471969.644 [CommandLine](INFO): Thread ID is 749
2013-03-05T08:26:09.647Z,1362471969.647 [controlThread](INFO): Thread ID is 748
2013-03-05T08:26:09.647Z,1362471969.647 [controlThread](DEBUG): Initializing ControlThread
2013-03-05T08:26:09.648Z,1362471969.648 [CycleStarter](INFO): Thread ID is 747
2013-03-05T08:26:09.648Z,1362471969.648 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-05T08:26:09.762Z,1362471969.762 [logger](INFO): Thread ID is 750
2013-03-05T08:26:09.871Z,1362471969.871 [AsyncPiEstimator](INFO): Thread ID is 811
2013-03-05T08:26:09.871Z,1362471969.871 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-05T08:26:09.887Z,1362471969.887 [DVL_micro](INFO): Thread ID is 812
2013-03-05T08:26:09.981Z,1362471969.981 [CTD_NeilBrown](INFO): Thread ID is 813
2013-03-05T08:26:09.982Z,1362471969.982 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-05T08:26:09.984Z,1362471969.984 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-05T08:26:10.031Z,1362471970.031 [WetLabsBB2FL](INFO): Thread ID is 814
2013-03-05T08:26:10.032Z,1362471970.032 [WetLabsBB2FL](INFO): Powering down
2013-03-05T08:26:10.051Z,1362471970.051 [NavChartDb](INFO): Thread ID is 815
2013-03-05T08:26:10.060Z,1362471970.060 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-05T08:26:10.061Z,1362471970.061 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-05T08:26:10.061Z,1362471970.061 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-05T08:26:10.062Z,1362471970.062 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-05T08:26:10.062Z,1362471970.062 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-05T08:26:10.062Z,1362471970.062 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-05T08:26:10.062Z,1362471970.062 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-05T08:26:10.063Z,1362471970.063 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-05T08:26:10.063Z,1362471970.063 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-05T08:26:10.109Z,1362471970.109 [SBIT](INFO): Initialize SBIT Component.
2013-03-05T08:26:10.109Z,1362471970.109 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10215
2013-03-05T08:26:10.110Z,1362471970.110 [IBIT](INFO): Initialize IBIT Component.
2013-03-05T08:26:10.112Z,1362471970.112 [DVL_micro](INFO): Initializing
2013-03-05T08:26:10.112Z,1362471970.112 [DVL_micro](INFO): start:Powering up
2013-03-05T08:26:10.113Z,1362471970.113 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-05T08:26:10.114Z,1362471970.114 [DVL_micro](INFO): Cycling power to configure device.
2013-03-05T08:26:10.134Z,1362471970.135 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-05T08:26:10.135Z,1362471970.135 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-05T08:26:10.135Z,1362471970.135 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-05T08:26:10.160Z,1362471970.160 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-05T08:26:10.160Z,1362471970.160 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-05T08:26:10.161Z,1362471970.161 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-05T08:26:10.161Z,1362471970.161 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-05T08:26:10.161Z,1362471970.161 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-05T08:26:10.163Z,1362471970.163 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-05T08:26:10.163Z,1362471970.163 [Navigation](DEBUG): Initializing Navigation.
2013-03-05T08:26:10.164Z,1362471970.164 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-05T08:26:10.166Z,1362471970.166 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-05T08:26:10.167Z,1362471970.167 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-05T08:26:10.167Z,1362471970.167 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-05T08:26:11.886Z,1362471971.885 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-05T08:26:11.962Z,1362471971.962 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-05T08:26:12.076Z,1362471972.076 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T08:26:12.086Z,1362471972.086 [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>


2013-03-05T08:26:12.099Z,1362471972.099 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-05T08:26:12.187Z,1362471972.187 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-05T08:26:12.189Z,1362471972.189 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-05T08:26:12.199Z,1362471972.199 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-05T08:26:12.199Z,1362471972.199 [DVL_micro](INFO): Querying output modes
2013-03-05T08:26:12.199Z,1362471972.199 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-05T08:26:12.205Z,1362471972.204 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T08:26:12.211Z,1362471972.211 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-05T08:26:12.211Z,1362471972.211 [DVL_micro](INFO): NQ1 output enabled
2013-03-05T08:26:12.211Z,1362471972.211 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-05T08:26:12.222Z,1362471972.223 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-05T08:26:12.227Z,1362471972.227 [DVL_micro](INFO): pause:Powering down
2013-03-05T08:26:12.253Z,1362471972.253 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-05T08:26:12.256Z,1362471972.256 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T08:26:12.272Z,1362471972.272 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-05T08:26:12.289Z,1362471972.289 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-05T08:26:12.292Z,1362471972.292 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T08:26:12.297Z,1362471972.297 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-05T08:26:12.341Z,1362471972.341 [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>


2013-03-05T08:26:12.345Z,1362471972.345 [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,
2013-03-05T08:26:12.386Z,1362471972.386 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-05T08:26:12.436Z,1362471972.436 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-03-05T08:26:12.567Z,1362471972.567 [Radio_Freewave](INFO): Powering up
2013-03-05T08:26:12.951Z,1362471972.951 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-05T08:26:12.959Z,1362471972.959 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-05T08:26:12.977Z,1362471972.977 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-05T08:26:12.983Z,1362471972.983 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-05T08:26:12.989Z,1362471972.989 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-05T08:26:12.995Z,1362471972.995 [MassServo](DEBUG): Initializing MassServo.
2013-03-05T08:26:13.000Z,1362471973.000 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-05T08:26:13.007Z,1362471973.007 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-05T08:26:13.037Z,1362471973.037 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-05T08:26:13.043Z,1362471973.043 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-05T08:26:14.082Z,1362471974.082 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-03-05T08:26:14.083Z,1362471974.083 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-03-05T08:26:14.083Z,1362471974.083 [BuoyancyServo] Communications Fault, FailCount= 1
2013-03-05T08:26:14.083Z,1362471974.083 [BuoyancyServo](ERROR): Communications Fault
2013-03-05T08:26:14.341Z,1362471974.341 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-03-05T08:26:14.555Z,1362471974.555 [NAL9602](INFO): Powering up NAL9602
2013-03-05T08:26:14.600Z,1362471974.600 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-05T08:26:14.601Z,1362471974.601 [BuoyancyServo](INFO): Powering down
2013-03-05T08:26:15.906Z,1362471975.907 [Aanderaa_O2](INFO): Powering down
2013-03-05T08:26:16.909Z,1362471976.909 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-03-05T08:26:16.909Z,1362471976.909 [BuoyancyServo] No Fault, FailCount= 1
2013-03-05T08:26:17.292Z,1362471977.292 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-05T08:26:17.423Z,1362471977.423 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.