2013-03-05T09:57:38.490Z,1362477458.490 [Supervisor](DEBUG): Initializing supervisor.
2013-03-05T09:57:38.494Z,1362477458.494 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-05T09:57:38.495Z,1362477458.495 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-05T09:57:38.498Z,1362477458.498 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-05T09:57:38.502Z,1362477458.502 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-05T09:57:38.513Z,1362477458.513 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-05T09:57:38.514Z,1362477458.514 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-05T09:57:38.515Z,1362477458.515 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-05T09:57:38.518Z,1362477458.518 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-05T09:57:38.519Z,1362477458.519 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-05T09:57:38.523Z,1362477458.523 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-05T09:57:38.834Z,1362477458.834 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-05T09:57:38.835Z,1362477458.835 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-05T09:57:39.042Z,1362477459.042 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-05T09:57:39.043Z,1362477459.043 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-05T09:57:39.138Z,1362477459.138 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-05T09:57:39.140Z,1362477459.140 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-05T09:57:39.350Z,1362477459.350 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-05T09:57:39.350Z,1362477459.350 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-05T09:57:39.499Z,1362477459.499 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-05T09:57:39.501Z,1362477459.501 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-05T09:57:39.760Z,1362477459.760 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-05T09:57:39.761Z,1362477459.760 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-05T09:57:39.947Z,1362477459.947 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-05T09:57:39.949Z,1362477459.949 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-05T09:57:40.226Z,1362477460.226 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-05T09:57:40.228Z,1362477460.228 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-05T09:57:40.339Z,1362477460.339 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-05T09:57:40.340Z,1362477460.340 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-05T09:57:40.780Z,1362477460.780 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-05T09:57:40.780Z,1362477460.780 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-05T09:57:40.908Z,1362477460.908 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-05T09:57:40.908Z,1362477460.908 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-05T09:57:41.013Z,1362477461.013 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-05T09:57:42.975Z,1362477462.975 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-05T09:57:43.094Z,1362477463.094 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-05T09:57:43.238Z,1362477463.238 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-05T09:57:43.334Z,1362477463.334 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-05T09:57:43.448Z,1362477463.448 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-05T09:57:43.558Z,1362477463.558 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-05T09:57:43.692Z,1362477463.692 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-05T09:57:43.796Z,1362477463.796 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-05T09:57:43.894Z,1362477463.894 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-05T09:57:43.925Z,1362477463.925 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-05T09:57:44.127Z,1362477464.127 [InternalSim] Loaded
2013-03-05T09:57:44.128Z,1362477464.128 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-05T09:57:44.128Z,1362477464.128 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-05T09:57:44.129Z,1362477464.129 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-05T09:57:44.212Z,1362477464.212 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-05T09:57:44.245Z,1362477464.245 [SBIT] Loaded
2013-03-05T09:57:44.245Z,1362477464.245 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-05T09:57:44.246Z,1362477464.246 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-05T09:57:44.278Z,1362477464.279 [IBIT] Loaded
2013-03-05T09:57:44.279Z,1362477464.279 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-05T09:57:44.282Z,1362477464.282 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-05T09:57:44.415Z,1362477464.415 [CBIT] Loaded
2013-03-05T09:57:44.415Z,1362477464.415 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-05T09:57:44.415Z,1362477464.415 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-05T09:57:44.416Z,1362477464.416 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-05T09:57:44.597Z,1362477464.597 [BuoyancyServo] Loaded
2013-03-05T09:57:44.597Z,1362477464.597 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-05T09:57:44.613Z,1362477464.613 [ElevatorServo] Loaded
2013-03-05T09:57:44.614Z,1362477464.614 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-05T09:57:44.625Z,1362477464.625 [MassServo] Loaded
2013-03-05T09:57:44.626Z,1362477464.626 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-05T09:57:44.638Z,1362477464.638 [RudderServo] Loaded
2013-03-05T09:57:44.638Z,1362477464.638 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-05T09:57:44.650Z,1362477464.650 [ThrusterServo] Loaded
2013-03-05T09:57:44.654Z,1362477464.654 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-05T09:57:44.655Z,1362477464.655 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-05T09:57:44.655Z,1362477464.655 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-05T09:57:44.688Z,1362477464.688 [DepthRateCalculator] Loaded
2013-03-05T09:57:44.688Z,1362477464.688 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-05T09:57:48.199Z,1362477468.199 [HFRadarModelCalc] Loaded
2013-03-05T09:57:48.199Z,1362477468.199 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-05T09:57:48.215Z,1362477468.216 [NavChart] Loaded
2013-03-05T09:57:48.216Z,1362477468.216 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-05T09:57:48.222Z,1362477468.222 [PitchRateCalculator] Loaded
2013-03-05T09:57:48.222Z,1362477468.222 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-05T09:57:48.228Z,1362477468.228 [SpeedCalculator] Loaded
2013-03-05T09:57:48.229Z,1362477468.229 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-05T09:57:48.243Z,1362477468.243 [TempGradientCalculator] Loaded
2013-03-05T09:57:48.244Z,1362477468.244 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-05T09:57:48.250Z,1362477468.250 [YawRateCalculator] Loaded
2013-03-05T09:57:48.250Z,1362477468.250 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-05T09:57:48.291Z,1362477468.291 [Navigation] Loaded
2013-03-05T09:57:48.291Z,1362477468.291 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-05T09:57:48.291Z,1362477468.291 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-05T09:57:48.292Z,1362477468.292 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-05T09:57:48.582Z,1362477468.582 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-05T09:57:48.583Z,1362477468.583 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-05T09:57:48.624Z,1362477468.624 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-05T09:57:48.625Z,1362477468.625 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-05T09:57:48.689Z,1362477468.689 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-05T09:57:48.792Z,1362477468.792 [VerticalControl] Loaded
2013-03-05T09:57:48.792Z,1362477468.792 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-05T09:57:48.793Z,1362477468.793 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-05T09:57:48.858Z,1362477468.858 [HorizontalControl] Loaded
2013-03-05T09:57:48.858Z,1362477468.858 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-05T09:57:48.859Z,1362477468.859 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-05T09:57:48.861Z,1362477468.861 [SpeedControl] Loaded
2013-03-05T09:57:48.861Z,1362477468.861 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-05T09:57:48.862Z,1362477468.862 [LoopControl](DEBUG): Construct LoopControl.
2013-03-05T09:57:48.863Z,1362477468.862 [LoopControl] Loaded
2013-03-05T09:57:48.863Z,1362477468.863 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-05T09:57:48.863Z,1362477468.863 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-05T09:57:48.864Z,1362477468.864 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-05T09:57:48.872Z,1362477468.872 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-05T09:57:48.877Z,1362477468.877 [AsyncPiEstimator] Loaded
2013-03-05T09:57:48.877Z,1362477468.877 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-05T09:57:48.878Z,1362477468.878 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-05T09:57:48.879Z,1362477468.879 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-05T09:57:48.880Z,1362477468.880 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-05T09:57:49.065Z,1362477469.065 [AHRS_sp3003D] Loaded
2013-03-05T09:57:49.065Z,1362477469.065 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-05T09:57:49.355Z,1362477469.355 [Batt_Ocean_Server] Loaded
2013-03-05T09:57:49.355Z,1362477469.355 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-05T09:57:49.369Z,1362477469.369 [Depth_Keller] Loaded
2013-03-05T09:57:49.369Z,1362477469.369 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-05T09:57:49.375Z,1362477469.375 [DropWeight] Loaded
2013-03-05T09:57:49.375Z,1362477469.375 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-05T09:57:49.572Z,1362477469.572 [DVL_micro] Loaded
2013-03-05T09:57:49.572Z,1362477469.572 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-05T09:57:49.575Z,1362477469.575 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-05T09:57:49.666Z,1362477469.666 [NAL9602] Loaded
2013-03-05T09:57:49.667Z,1362477469.667 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-05T09:57:49.722Z,1362477469.722 [Onboard] Loaded
2013-03-05T09:57:49.722Z,1362477469.722 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-05T09:57:49.729Z,1362477469.729 [Radio_Freewave] Loaded
2013-03-05T09:57:49.729Z,1362477469.729 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-05T09:57:49.730Z,1362477469.730 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-05T09:57:49.731Z,1362477469.731 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-05T09:57:49.817Z,1362477469.817 [Aanderaa_O2] Loaded
2013-03-05T09:57:49.817Z,1362477469.818 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-05T09:57:49.855Z,1362477469.855 [CTD_NeilBrown] Loaded
2013-03-05T09:57:49.855Z,1362477469.855 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-05T09:57:49.858Z,1362477469.858 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-05T09:57:49.872Z,1362477469.872 [ISUS] Loaded
2013-03-05T09:57:49.873Z,1362477469.872 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-05T09:57:49.892Z,1362477469.892 [PAR_Licor] Loaded
2013-03-05T09:57:49.893Z,1362477469.893 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-05T09:57:49.927Z,1362477469.927 [WetLabsBB2FL] Loaded
2013-03-05T09:57:49.927Z,1362477469.927 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-05T09:57:49.930Z,1362477469.930 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-05T09:57:49.931Z,1362477469.931 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-05T09:57:49.933Z,1362477469.933 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-05T09:57:49.934Z,1362477469.934 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-05T09:57:49.945Z,1362477469.945 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-05T09:57:49.946Z,1362477469.946 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-05T09:57:49.951Z,1362477469.951 [Supervisor](DEBUG): Running supervisor.
2013-03-05T09:57:49.952Z,1362477469.952 [CommandLine](INFO): Thread ID is 749
2013-03-05T09:57:49.955Z,1362477469.955 [controlThread](INFO): Thread ID is 748
2013-03-05T09:57:49.955Z,1362477469.955 [controlThread](DEBUG): Initializing ControlThread
2013-03-05T09:57:49.956Z,1362477469.956 [CycleStarter](INFO): Thread ID is 747
2013-03-05T09:57:49.956Z,1362477469.956 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-05T09:57:50.062Z,1362477470.062 [logger](INFO): Thread ID is 750
2013-03-05T09:57:50.196Z,1362477470.196 [AsyncPiEstimator](INFO): Thread ID is 811
2013-03-05T09:57:50.196Z,1362477470.196 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-05T09:57:50.295Z,1362477470.295 [DVL_micro](INFO): Thread ID is 812
2013-03-05T09:57:50.314Z,1362477470.314 [DVL_micro](INFO): Initializing
2013-03-05T09:57:50.316Z,1362477470.316 [DVL_micro](INFO): start:Powering up
2013-03-05T09:57:50.317Z,1362477470.317 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-05T09:57:50.318Z,1362477470.318 [DVL_micro](INFO): Cycling power to configure device.
2013-03-05T09:57:50.367Z,1362477470.367 [CTD_NeilBrown](INFO): Thread ID is 813
2013-03-05T09:57:50.368Z,1362477470.368 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-05T09:57:50.372Z,1362477470.372 [WetLabsBB2FL](INFO): Thread ID is 814
2013-03-05T09:57:50.372Z,1362477470.372 [WetLabsBB2FL](INFO): Powering down
2013-03-05T09:57:50.391Z,1362477470.391 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-05T09:57:50.428Z,1362477470.428 [SBIT](INFO): Initialize SBIT Component.
2013-03-05T09:57:50.428Z,1362477470.428 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10215
2013-03-05T09:57:50.429Z,1362477470.429 [IBIT](INFO): Initialize IBIT Component.
2013-03-05T09:57:50.430Z,1362477470.430 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-05T09:57:50.430Z,1362477470.430 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-05T09:57:50.435Z,1362477470.435 [NavChartDb](INFO): Thread ID is 815
2013-03-05T09:57:50.439Z,1362477470.439 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-05T09:57:50.445Z,1362477470.445 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-05T09:57:50.445Z,1362477470.445 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-05T09:57:50.446Z,1362477470.446 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-05T09:57:50.446Z,1362477470.446 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-05T09:57:50.447Z,1362477470.447 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-05T09:57:50.447Z,1362477470.447 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-05T09:57:50.447Z,1362477470.447 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-05T09:57:50.447Z,1362477470.447 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-05T09:57:50.448Z,1362477470.448 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-05T09:57:50.464Z,1362477470.464 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-05T09:57:50.464Z,1362477470.464 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-05T09:57:50.465Z,1362477470.465 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-05T09:57:50.465Z,1362477470.465 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-05T09:57:50.465Z,1362477470.465 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-05T09:57:50.467Z,1362477470.467 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-05T09:57:50.467Z,1362477470.467 [Navigation](DEBUG): Initializing Navigation.
2013-03-05T09:57:50.468Z,1362477470.468 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-05T09:57:50.469Z,1362477470.469 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-05T09:57:50.470Z,1362477470.470 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-05T09:57:50.471Z,1362477470.471 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-05T09:57:51.819Z,1362477471.819 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-03-05T09:57:51.819Z,1362477471.819 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-03-05T09:57:51.819Z,1362477471.819 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2013-03-05T09:57:51.819Z,1362477471.819 [Batt_Ocean_Server](ERROR): Communications Fault
2013-03-05T09:57:51.827Z,1362477471.828 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-05T09:57:51.905Z,1362477471.905 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T09:57:51.932Z,1362477471.932 [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>


2013-03-05T09:57:51.933Z,1362477471.933 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-05T09:57:52.014Z,1362477472.014 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-05T09:57:52.016Z,1362477472.016 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-05T09:57:52.039Z,1362477472.039 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T09:57:52.053Z,1362477472.053 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-05T09:57:52.056Z,1362477472.056 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T09:57:52.075Z,1362477472.075 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-05T09:57:52.116Z,1362477472.116 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-05T09:57:52.119Z,1362477472.119 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T09:57:52.132Z,1362477472.132 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-05T09:57:52.136Z,1362477472.136 [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>


2013-03-05T09:57:52.150Z,1362477472.150 [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,
2013-03-05T09:57:52.211Z,1362477472.211 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-05T09:57:52.417Z,1362477472.417 [Radio_Freewave](INFO): Powering up
2013-03-05T09:57:52.427Z,1362477472.427 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-05T09:57:52.427Z,1362477472.427 [DVL_micro](INFO): Querying output modes
2013-03-05T09:57:52.428Z,1362477472.428 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-05T09:57:52.438Z,1362477472.438 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-05T09:57:52.439Z,1362477472.439 [DVL_micro](INFO): NQ1 output enabled
2013-03-05T09:57:52.439Z,1362477472.439 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-05T09:57:52.451Z,1362477472.451 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-05T09:57:52.456Z,1362477472.456 [DVL_micro](INFO): pause:Powering down
2013-03-05T09:57:52.869Z,1362477472.869 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-05T09:57:52.875Z,1362477472.875 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-05T09:57:52.882Z,1362477472.882 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-05T09:57:52.907Z,1362477472.907 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-05T09:57:52.913Z,1362477472.913 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-05T09:57:52.923Z,1362477472.923 [MassServo](DEBUG): Initializing MassServo.
2013-03-05T09:57:52.941Z,1362477472.941 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-05T09:57:52.947Z,1362477472.947 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-05T09:57:52.952Z,1362477472.952 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-05T09:57:52.959Z,1362477472.959 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-05T09:57:53.009Z,1362477473.009 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-03-05T09:57:53.010Z,1362477473.010 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-03-05T09:57:53.010Z,1362477473.010 [Batt_Ocean_Server] No Fault, FailCount= 1
2013-03-05T09:57:54.698Z,1362477474.698 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-03-05T09:57:54.698Z,1362477474.698 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-03-05T09:57:54.699Z,1362477474.699 [Batt_Ocean_Server] Communications Fault, FailCount= 2
2013-03-05T09:57:54.699Z,1362477474.699 [Batt_Ocean_Server](ERROR): Communications Fault
2013-03-05T09:57:54.703Z,1362477474.703 [NAL9602](INFO): Powering up NAL9602
2013-03-05T09:57:55.029Z,1362477475.029 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-03-05T09:57:55.364Z,1362477475.364 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-03-05T09:57:55.364Z,1362477475.364 [Batt_Ocean_Server] No Fault, FailCount= 2
2013-03-05T09:57:57.232Z,1362477477.232 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-05T09:57:58.143Z,1362477478.143 [Aanderaa_O2](INFO): Powering down