2013-03-05T10:10:41.889Z,1362478241.889 [Supervisor](DEBUG): Initializing supervisor.
2013-03-05T10:10:41.894Z,1362478241.894 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-05T10:10:41.895Z,1362478241.895 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-05T10:10:41.898Z,1362478241.898 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-05T10:10:41.902Z,1362478241.902 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-05T10:10:41.913Z,1362478241.913 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-05T10:10:41.914Z,1362478241.914 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-05T10:10:41.915Z,1362478241.915 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-05T10:10:41.918Z,1362478241.918 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-05T10:10:41.919Z,1362478241.919 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-05T10:10:41.923Z,1362478241.923 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-05T10:10:42.242Z,1362478242.242 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-05T10:10:42.242Z,1362478242.242 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-05T10:10:42.450Z,1362478242.450 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-05T10:10:42.450Z,1362478242.450 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-05T10:10:42.546Z,1362478242.546 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-05T10:10:42.548Z,1362478242.548 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-05T10:10:42.763Z,1362478242.763 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-05T10:10:42.764Z,1362478242.764 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-05T10:10:42.911Z,1362478242.911 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-05T10:10:42.913Z,1362478242.913 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-05T10:10:43.175Z,1362478243.175 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-05T10:10:43.176Z,1362478243.176 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-05T10:10:43.371Z,1362478243.371 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-05T10:10:43.373Z,1362478243.373 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-05T10:10:43.652Z,1362478243.652 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-05T10:10:43.654Z,1362478243.654 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-05T10:10:43.767Z,1362478243.767 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-05T10:10:43.767Z,1362478243.767 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-05T10:10:44.214Z,1362478244.214 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-05T10:10:44.214Z,1362478244.214 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-05T10:10:44.345Z,1362478244.345 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-05T10:10:44.346Z,1362478244.346 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-05T10:10:44.446Z,1362478244.446 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-05T10:10:44.481Z,1362478244.480 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-05T10:10:44.596Z,1362478244.596 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-05T10:10:44.740Z,1362478244.740 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-05T10:10:44.834Z,1362478244.834 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-05T10:10:44.944Z,1362478244.944 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-05T10:10:45.050Z,1362478245.050 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-05T10:10:45.184Z,1362478245.184 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-05T10:10:45.287Z,1362478245.287 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-05T10:10:45.386Z,1362478245.386 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-05T10:10:45.416Z,1362478245.416 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-05T10:10:45.620Z,1362478245.620 [InternalSim] Loaded
2013-03-05T10:10:45.621Z,1362478245.621 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-05T10:10:45.621Z,1362478245.621 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-05T10:10:45.622Z,1362478245.622 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-05T10:10:45.708Z,1362478245.708 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-05T10:10:45.736Z,1362478245.736 [SBIT] Loaded
2013-03-05T10:10:45.737Z,1362478245.737 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-05T10:10:45.737Z,1362478245.737 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-05T10:10:45.770Z,1362478245.770 [IBIT] Loaded
2013-03-05T10:10:45.771Z,1362478245.771 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-05T10:10:45.774Z,1362478245.774 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-05T10:10:45.911Z,1362478245.911 [CBIT] Loaded
2013-03-05T10:10:45.911Z,1362478245.911 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-05T10:10:45.912Z,1362478245.912 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-05T10:10:45.912Z,1362478245.912 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-05T10:10:46.096Z,1362478246.096 [BuoyancyServo] Loaded
2013-03-05T10:10:46.096Z,1362478246.096 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-05T10:10:46.109Z,1362478246.109 [ElevatorServo] Loaded
2013-03-05T10:10:46.109Z,1362478246.109 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-05T10:10:46.125Z,1362478246.125 [MassServo] Loaded
2013-03-05T10:10:46.125Z,1362478246.125 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-05T10:10:46.137Z,1362478246.137 [RudderServo] Loaded
2013-03-05T10:10:46.138Z,1362478246.138 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-05T10:10:46.150Z,1362478246.150 [ThrusterServo] Loaded
2013-03-05T10:10:46.150Z,1362478246.150 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-05T10:10:46.150Z,1362478246.151 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-05T10:10:46.151Z,1362478246.151 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-05T10:10:46.184Z,1362478246.184 [DepthRateCalculator] Loaded
2013-03-05T10:10:46.184Z,1362478246.184 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-05T10:10:49.963Z,1362478249.963 [HFRadarModelCalc] Loaded
2013-03-05T10:10:49.963Z,1362478249.963 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-05T10:10:49.979Z,1362478249.979 [NavChart] Loaded
2013-03-05T10:10:49.980Z,1362478249.980 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-05T10:10:49.986Z,1362478249.986 [PitchRateCalculator] Loaded
2013-03-05T10:10:49.986Z,1362478249.986 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-05T10:10:49.992Z,1362478249.992 [SpeedCalculator] Loaded
2013-03-05T10:10:49.993Z,1362478249.993 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-05T10:10:50.012Z,1362478250.012 [TempGradientCalculator] Loaded
2013-03-05T10:10:50.012Z,1362478250.012 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-05T10:10:50.018Z,1362478250.018 [YawRateCalculator] Loaded
2013-03-05T10:10:50.018Z,1362478250.018 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-05T10:10:50.064Z,1362478250.064 [Navigation] Loaded
2013-03-05T10:10:50.064Z,1362478250.064 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-05T10:10:50.065Z,1362478250.065 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-05T10:10:50.065Z,1362478250.065 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-05T10:10:50.353Z,1362478250.353 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-05T10:10:50.354Z,1362478250.354 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-05T10:10:50.391Z,1362478250.391 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-05T10:10:50.392Z,1362478250.392 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-05T10:10:50.455Z,1362478250.455 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-05T10:10:50.557Z,1362478250.557 [VerticalControl] Loaded
2013-03-05T10:10:50.558Z,1362478250.558 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-05T10:10:50.559Z,1362478250.559 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-05T10:10:50.620Z,1362478250.620 [HorizontalControl] Loaded
2013-03-05T10:10:50.620Z,1362478250.620 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-05T10:10:50.621Z,1362478250.621 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-05T10:10:50.627Z,1362478250.627 [SpeedControl] Loaded
2013-03-05T10:10:50.627Z,1362478250.627 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-05T10:10:50.628Z,1362478250.628 [LoopControl](DEBUG): Construct LoopControl.
2013-03-05T10:10:50.628Z,1362478250.628 [LoopControl] Loaded
2013-03-05T10:10:50.629Z,1362478250.629 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-05T10:10:50.629Z,1362478250.629 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-05T10:10:50.630Z,1362478250.630 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-05T10:10:50.638Z,1362478250.638 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-05T10:10:50.643Z,1362478250.643 [AsyncPiEstimator] Loaded
2013-03-05T10:10:50.643Z,1362478250.643 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-05T10:10:50.646Z,1362478250.646 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-05T10:10:50.647Z,1362478250.647 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-05T10:10:50.648Z,1362478250.648 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-05T10:10:50.834Z,1362478250.833 [AHRS_sp3003D] Loaded
2013-03-05T10:10:50.834Z,1362478250.834 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-05T10:10:51.144Z,1362478251.144 [Batt_Ocean_Server] Loaded
2013-03-05T10:10:51.145Z,1362478251.145 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-05T10:10:51.158Z,1362478251.158 [Depth_Keller] Loaded
2013-03-05T10:10:51.159Z,1362478251.159 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-05T10:10:51.164Z,1362478251.164 [DropWeight] Loaded
2013-03-05T10:10:51.165Z,1362478251.165 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-05T10:10:51.370Z,1362478251.370 [DVL_micro] Loaded
2013-03-05T10:10:51.370Z,1362478251.370 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-05T10:10:51.374Z,1362478251.374 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-05T10:10:51.471Z,1362478251.471 [NAL9602] Loaded
2013-03-05T10:10:51.471Z,1362478251.471 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-05T10:10:51.532Z,1362478251.532 [Onboard] Loaded
2013-03-05T10:10:51.533Z,1362478251.533 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-05T10:10:51.539Z,1362478251.539 [Radio_Freewave] Loaded
2013-03-05T10:10:51.540Z,1362478251.540 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-05T10:10:51.541Z,1362478251.541 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-05T10:10:51.541Z,1362478251.541 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-05T10:10:51.626Z,1362478251.626 [Aanderaa_O2] Loaded
2013-03-05T10:10:51.627Z,1362478251.627 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-05T10:10:51.664Z,1362478251.664 [CTD_NeilBrown] Loaded
2013-03-05T10:10:51.664Z,1362478251.664 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-05T10:10:51.666Z,1362478251.666 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-05T10:10:51.680Z,1362478251.680 [ISUS] Loaded
2013-03-05T10:10:51.680Z,1362478251.680 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-05T10:10:51.700Z,1362478251.700 [PAR_Licor] Loaded
2013-03-05T10:10:51.701Z,1362478251.701 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-05T10:10:51.737Z,1362478251.737 [WetLabsBB2FL] Loaded
2013-03-05T10:10:51.737Z,1362478251.737 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-05T10:10:51.738Z,1362478251.738 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-05T10:10:51.739Z,1362478251.739 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-05T10:10:51.742Z,1362478251.741 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-05T10:10:51.743Z,1362478251.743 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-05T10:10:51.753Z,1362478251.753 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-05T10:10:51.754Z,1362478251.754 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-05T10:10:51.759Z,1362478251.759 [Supervisor](DEBUG): Running supervisor.
2013-03-05T10:10:51.760Z,1362478251.760 [CommandLine](INFO): Thread ID is 749
2013-03-05T10:10:51.763Z,1362478251.763 [controlThread](INFO): Thread ID is 748
2013-03-05T10:10:51.763Z,1362478251.763 [controlThread](DEBUG): Initializing ControlThread
2013-03-05T10:10:51.764Z,1362478251.764 [CycleStarter](INFO): Thread ID is 747
2013-03-05T10:10:51.764Z,1362478251.764 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-05T10:10:51.871Z,1362478251.871 [logger](INFO): Thread ID is 750
2013-03-05T10:10:51.979Z,1362478251.979 [AsyncPiEstimator](INFO): Thread ID is 811
2013-03-05T10:10:51.979Z,1362478251.979 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-05T10:10:51.995Z,1362478251.995 [DVL_micro](INFO): Thread ID is 812
2013-03-05T10:10:52.083Z,1362478252.083 [CTD_NeilBrown](INFO): Thread ID is 813
2013-03-05T10:10:52.083Z,1362478252.083 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-05T10:10:52.086Z,1362478252.086 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-05T10:10:52.107Z,1362478252.107 [WetLabsBB2FL](INFO): Thread ID is 814
2013-03-05T10:10:52.108Z,1362478252.108 [WetLabsBB2FL](INFO): Powering down
2013-03-05T10:10:52.144Z,1362478252.144 [DVL_micro](INFO): Initializing
2013-03-05T10:10:52.145Z,1362478252.145 [DVL_micro](INFO): start:Powering up
2013-03-05T10:10:52.145Z,1362478252.145 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-05T10:10:52.146Z,1362478252.146 [DVL_micro](INFO): Cycling power to configure device.
2013-03-05T10:10:52.182Z,1362478252.181 [SBIT](INFO): Initialize SBIT Component.
2013-03-05T10:10:52.182Z,1362478252.182 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10215
2013-03-05T10:10:52.183Z,1362478252.183 [IBIT](INFO): Initialize IBIT Component.
2013-03-05T10:10:52.183Z,1362478252.183 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-05T10:10:52.184Z,1362478252.184 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-05T10:10:52.184Z,1362478252.184 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-05T10:10:52.186Z,1362478252.186 [NavChartDb](INFO): Thread ID is 815
2013-03-05T10:10:52.195Z,1362478252.195 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-05T10:10:52.196Z,1362478252.196 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-05T10:10:52.196Z,1362478252.196 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-05T10:10:52.196Z,1362478252.196 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-05T10:10:52.196Z,1362478252.196 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-05T10:10:52.197Z,1362478252.197 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-05T10:10:52.197Z,1362478252.197 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-05T10:10:52.197Z,1362478252.197 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-05T10:10:52.197Z,1362478252.197 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-05T10:10:52.207Z,1362478252.207 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-05T10:10:52.208Z,1362478252.208 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-05T10:10:52.208Z,1362478252.208 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-05T10:10:52.208Z,1362478252.208 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-05T10:10:52.209Z,1362478252.209 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-05T10:10:52.210Z,1362478252.210 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-05T10:10:52.211Z,1362478252.211 [Navigation](DEBUG): Initializing Navigation.
2013-03-05T10:10:52.211Z,1362478252.211 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-05T10:10:52.213Z,1362478252.213 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-05T10:10:52.214Z,1362478252.214 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-05T10:10:52.214Z,1362478252.214 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-05T10:10:53.427Z,1362478253.427 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-03-05T10:10:53.427Z,1362478253.427 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-03-05T10:10:53.427Z,1362478253.427 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2013-03-05T10:10:53.427Z,1362478253.427 [Batt_Ocean_Server](ERROR): Communications Fault
2013-03-05T10:10:53.451Z,1362478253.451 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-05T10:10:53.494Z,1362478253.494 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T10:10:53.504Z,1362478253.504 [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>


2013-03-05T10:10:53.505Z,1362478253.505 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-05T10:10:53.591Z,1362478253.591 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-05T10:10:53.593Z,1362478253.593 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-05T10:10:53.608Z,1362478253.608 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T10:10:53.644Z,1362478253.644 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-05T10:10:53.660Z,1362478253.660 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T10:10:53.680Z,1362478253.680 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-05T10:10:53.693Z,1362478253.694 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-05T10:10:53.697Z,1362478253.697 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T10:10:53.701Z,1362478253.701 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-05T10:10:53.741Z,1362478253.741 [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>


2013-03-05T10:10:53.746Z,1362478253.746 [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,
2013-03-05T10:10:53.790Z,1362478253.790 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-05T10:10:54.026Z,1362478254.026 [Radio_Freewave](INFO): Powering up
2013-03-05T10:10:54.187Z,1362478254.187 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-05T10:10:54.187Z,1362478254.187 [DVL_micro](INFO): Querying output modes
2013-03-05T10:10:54.187Z,1362478254.187 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-05T10:10:54.198Z,1362478254.198 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-05T10:10:54.199Z,1362478254.199 [DVL_micro](INFO): NQ1 output enabled
2013-03-05T10:10:54.199Z,1362478254.199 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-05T10:10:54.211Z,1362478254.211 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-05T10:10:54.216Z,1362478254.216 [DVL_micro](INFO): pause:Powering down
2013-03-05T10:10:54.427Z,1362478254.427 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-05T10:10:54.435Z,1362478254.435 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-05T10:10:54.457Z,1362478254.457 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-05T10:10:54.464Z,1362478254.464 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-05T10:10:54.482Z,1362478254.482 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-05T10:10:54.483Z,1362478254.483 [MassServo](DEBUG): Initializing MassServo.
2013-03-05T10:10:54.501Z,1362478254.501 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-05T10:10:54.507Z,1362478254.507 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-05T10:10:54.524Z,1362478254.524 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-05T10:10:54.535Z,1362478254.535 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-05T10:10:54.578Z,1362478254.578 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-03-05T10:10:54.578Z,1362478254.578 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-03-05T10:10:54.578Z,1362478254.578 [Batt_Ocean_Server] No Fault, FailCount= 1
2013-03-05T10:10:56.302Z,1362478256.302 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-05T10:10:56.989Z,1362478256.990 [NAL9602](INFO): Powering up NAL9602
2013-03-05T10:10:58.207Z,1362478258.207 [Aanderaa_O2](INFO): Powering down