2013-03-05T10:16:39.995Z,1362478599.995 [Supervisor](DEBUG): Initializing supervisor.
2013-03-05T10:16:39.998Z,1362478599.998 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-05T10:16:39.999Z,1362478599.999 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-05T10:16:40.002Z,1362478600.002 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-05T10:16:40.006Z,1362478600.006 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-05T10:16:40.016Z,1362478600.016 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-05T10:16:40.018Z,1362478600.018 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-05T10:16:40.019Z,1362478600.019 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-05T10:16:40.022Z,1362478600.022 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-05T10:16:40.023Z,1362478600.023 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-05T10:16:40.027Z,1362478600.027 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-05T10:16:40.334Z,1362478600.334 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-05T10:16:40.334Z,1362478600.334 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-05T10:16:40.535Z,1362478600.535 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-05T10:16:40.536Z,1362478600.536 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-05T10:16:40.630Z,1362478600.630 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-05T10:16:40.632Z,1362478600.632 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-05T10:16:40.842Z,1362478600.842 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-05T10:16:40.842Z,1362478600.842 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-05T10:16:40.991Z,1362478600.991 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-05T10:16:40.993Z,1362478600.993 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-05T10:16:41.246Z,1362478601.246 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-05T10:16:41.247Z,1362478601.247 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-05T10:16:41.435Z,1362478601.435 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-05T10:16:41.437Z,1362478601.437 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-05T10:16:41.712Z,1362478601.712 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-05T10:16:41.714Z,1362478601.714 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-05T10:16:41.827Z,1362478601.827 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-05T10:16:41.827Z,1362478601.828 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-05T10:16:42.264Z,1362478602.263 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-05T10:16:42.264Z,1362478602.264 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-05T10:16:42.391Z,1362478602.391 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-05T10:16:42.392Z,1362478602.392 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-05T10:16:42.487Z,1362478602.487 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-05T10:16:42.491Z,1362478602.491 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-05T10:16:42.604Z,1362478602.604 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-05T10:16:42.748Z,1362478602.748 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-05T10:16:42.842Z,1362478602.842 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-05T10:16:42.951Z,1362478602.951 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-05T10:16:43.062Z,1362478603.062 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-05T10:16:43.196Z,1362478603.196 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-05T10:16:43.302Z,1362478603.302 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-05T10:16:43.402Z,1362478603.402 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-05T10:16:43.567Z,1362478603.567 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-05T10:16:43.768Z,1362478603.768 [InternalSim] Loaded
2013-03-05T10:16:43.768Z,1362478603.768 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-05T10:16:43.769Z,1362478603.769 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-05T10:16:43.769Z,1362478603.769 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-05T10:16:43.856Z,1362478603.856 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-05T10:16:43.884Z,1362478603.884 [SBIT] Loaded
2013-03-05T10:16:43.884Z,1362478603.884 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-05T10:16:43.885Z,1362478603.885 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-05T10:16:43.917Z,1362478603.917 [IBIT] Loaded
2013-03-05T10:16:43.917Z,1362478603.917 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-05T10:16:43.920Z,1362478603.921 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-05T10:16:44.051Z,1362478604.051 [CBIT] Loaded
2013-03-05T10:16:44.051Z,1362478604.051 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-05T10:16:44.051Z,1362478604.051 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-05T10:16:44.052Z,1362478604.052 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-05T10:16:44.228Z,1362478604.228 [BuoyancyServo] Loaded
2013-03-05T10:16:44.228Z,1362478604.228 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-05T10:16:44.240Z,1362478604.240 [ElevatorServo] Loaded
2013-03-05T10:16:44.240Z,1362478604.240 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-05T10:16:44.256Z,1362478604.256 [MassServo] Loaded
2013-03-05T10:16:44.256Z,1362478604.256 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-05T10:16:44.268Z,1362478604.268 [RudderServo] Loaded
2013-03-05T10:16:44.269Z,1362478604.269 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-05T10:16:44.280Z,1362478604.280 [ThrusterServo] Loaded
2013-03-05T10:16:44.281Z,1362478604.281 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-05T10:16:44.281Z,1362478604.281 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-05T10:16:44.282Z,1362478604.282 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-05T10:16:44.318Z,1362478604.318 [DepthRateCalculator] Loaded
2013-03-05T10:16:44.318Z,1362478604.318 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-05T10:16:47.811Z,1362478607.811 [HFRadarModelCalc] Loaded
2013-03-05T10:16:47.812Z,1362478607.812 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-05T10:16:47.827Z,1362478607.827 [NavChart] Loaded
2013-03-05T10:16:47.828Z,1362478607.828 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-05T10:16:47.833Z,1362478607.833 [PitchRateCalculator] Loaded
2013-03-05T10:16:47.834Z,1362478607.834 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-05T10:16:47.840Z,1362478607.840 [SpeedCalculator] Loaded
2013-03-05T10:16:47.840Z,1362478607.840 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-05T10:16:47.859Z,1362478607.859 [TempGradientCalculator] Loaded
2013-03-05T10:16:47.859Z,1362478607.859 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-05T10:16:47.865Z,1362478607.865 [YawRateCalculator] Loaded
2013-03-05T10:16:47.865Z,1362478607.865 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-05T10:16:47.909Z,1362478607.909 [Navigation] Loaded
2013-03-05T10:16:47.910Z,1362478607.910 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-05T10:16:47.910Z,1362478607.910 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-05T10:16:47.911Z,1362478607.911 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-05T10:16:48.193Z,1362478608.193 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-05T10:16:48.194Z,1362478608.194 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-05T10:16:48.238Z,1362478608.238 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-05T10:16:48.239Z,1362478608.239 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-05T10:16:48.301Z,1362478608.301 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-05T10:16:48.406Z,1362478608.406 [VerticalControl] Loaded
2013-03-05T10:16:48.407Z,1362478608.407 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-05T10:16:48.407Z,1362478608.408 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-05T10:16:48.467Z,1362478608.467 [HorizontalControl] Loaded
2013-03-05T10:16:48.467Z,1362478608.467 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-05T10:16:48.468Z,1362478608.468 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-05T10:16:48.470Z,1362478608.470 [SpeedControl] Loaded
2013-03-05T10:16:48.470Z,1362478608.470 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-05T10:16:48.471Z,1362478608.471 [LoopControl](DEBUG): Construct LoopControl.
2013-03-05T10:16:48.472Z,1362478608.472 [LoopControl] Loaded
2013-03-05T10:16:48.472Z,1362478608.472 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-05T10:16:48.472Z,1362478608.472 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-05T10:16:48.473Z,1362478608.473 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-05T10:16:48.482Z,1362478608.482 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-05T10:16:48.487Z,1362478608.487 [AsyncPiEstimator] Loaded
2013-03-05T10:16:48.488Z,1362478608.487 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-05T10:16:48.489Z,1362478608.489 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-05T10:16:48.490Z,1362478608.490 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-05T10:16:48.491Z,1362478608.491 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-05T10:16:48.676Z,1362478608.676 [AHRS_sp3003D] Loaded
2013-03-05T10:16:48.676Z,1362478608.676 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-05T10:16:48.960Z,1362478608.960 [Batt_Ocean_Server] Loaded
2013-03-05T10:16:48.961Z,1362478608.961 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-05T10:16:48.974Z,1362478608.974 [Depth_Keller] Loaded
2013-03-05T10:16:48.974Z,1362478608.974 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-05T10:16:48.980Z,1362478608.980 [DropWeight] Loaded
2013-03-05T10:16:48.980Z,1362478608.980 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-05T10:16:49.174Z,1362478609.174 [DVL_micro] Loaded
2013-03-05T10:16:49.174Z,1362478609.174 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-05T10:16:49.178Z,1362478609.178 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-05T10:16:49.269Z,1362478609.269 [NAL9602] Loaded
2013-03-05T10:16:49.269Z,1362478609.269 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-05T10:16:49.323Z,1362478609.323 [Onboard] Loaded
2013-03-05T10:16:49.323Z,1362478609.323 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-05T10:16:49.334Z,1362478609.334 [Radio_Freewave] Loaded
2013-03-05T10:16:49.334Z,1362478609.334 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-05T10:16:49.335Z,1362478609.335 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-05T10:16:49.336Z,1362478609.336 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-05T10:16:49.421Z,1362478609.421 [Aanderaa_O2] Loaded
2013-03-05T10:16:49.421Z,1362478609.421 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-05T10:16:49.458Z,1362478609.457 [CTD_NeilBrown] Loaded
2013-03-05T10:16:49.458Z,1362478609.458 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-05T10:16:49.462Z,1362478609.462 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-05T10:16:49.476Z,1362478609.476 [ISUS] Loaded
2013-03-05T10:16:49.476Z,1362478609.476 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-05T10:16:49.495Z,1362478609.496 [PAR_Licor] Loaded
2013-03-05T10:16:49.496Z,1362478609.496 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-05T10:16:49.525Z,1362478609.525 [WetLabsBB2FL] Loaded
2013-03-05T10:16:49.525Z,1362478609.526 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-05T10:16:49.534Z,1362478609.534 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-05T10:16:49.535Z,1362478609.535 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-05T10:16:49.537Z,1362478609.537 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-05T10:16:49.538Z,1362478609.538 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-05T10:16:49.549Z,1362478609.549 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-05T10:16:49.550Z,1362478609.550 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-05T10:16:49.555Z,1362478609.555 [Supervisor](DEBUG): Running supervisor.
2013-03-05T10:16:49.556Z,1362478609.556 [CommandLine](INFO): Thread ID is 749
2013-03-05T10:16:49.559Z,1362478609.559 [controlThread](INFO): Thread ID is 748
2013-03-05T10:16:49.559Z,1362478609.559 [controlThread](DEBUG): Initializing ControlThread
2013-03-05T10:16:49.560Z,1362478609.560 [CycleStarter](INFO): Thread ID is 747
2013-03-05T10:16:49.560Z,1362478609.560 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-05T10:16:49.666Z,1362478609.666 [logger](INFO): Thread ID is 750
2013-03-05T10:16:49.779Z,1362478609.779 [AsyncPiEstimator](INFO): Thread ID is 811
2013-03-05T10:16:49.779Z,1362478609.779 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-05T10:16:49.795Z,1362478609.795 [DVL_micro](INFO): Thread ID is 812
2013-03-05T10:16:49.888Z,1362478609.888 [CTD_NeilBrown](INFO): Thread ID is 813
2013-03-05T10:16:49.888Z,1362478609.888 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-05T10:16:49.891Z,1362478609.891 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-05T10:16:49.948Z,1362478609.948 [WetLabsBB2FL](INFO): Thread ID is 814
2013-03-05T10:16:49.949Z,1362478609.949 [WetLabsBB2FL](INFO): Powering down
2013-03-05T10:16:49.965Z,1362478609.965 [DVL_micro](INFO): Initializing
2013-03-05T10:16:49.965Z,1362478609.965 [DVL_micro](INFO): start:Powering up
2013-03-05T10:16:49.966Z,1362478609.966 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-05T10:16:49.967Z,1362478609.967 [DVL_micro](INFO): Cycling power to configure device.
2013-03-05T10:16:49.978Z,1362478609.978 [SBIT](INFO): Initialize SBIT Component.
2013-03-05T10:16:49.984Z,1362478609.984 [NavChartDb](INFO): Thread ID is 815
2013-03-05T10:16:49.978Z,1362478609.978 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10215
2013-03-05T10:16:49.985Z,1362478609.985 [IBIT](INFO): Initialize IBIT Component.
2013-03-05T10:16:49.992Z,1362478609.992 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-05T10:16:49.993Z,1362478609.993 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-05T10:16:49.993Z,1362478609.993 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-05T10:16:49.993Z,1362478609.993 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-05T10:16:49.994Z,1362478609.994 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-05T10:16:49.994Z,1362478609.994 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-05T10:16:49.994Z,1362478609.994 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-05T10:16:49.995Z,1362478609.995 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-05T10:16:49.995Z,1362478609.995 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-05T10:16:50.001Z,1362478610.001 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-05T10:16:50.001Z,1362478610.001 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-05T10:16:50.001Z,1362478610.001 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-05T10:16:50.036Z,1362478610.036 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-05T10:16:50.036Z,1362478610.036 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-05T10:16:50.037Z,1362478610.037 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-05T10:16:50.037Z,1362478610.037 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-05T10:16:50.037Z,1362478610.037 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-05T10:16:50.043Z,1362478610.043 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-05T10:16:50.043Z,1362478610.043 [Navigation](DEBUG): Initializing Navigation.
2013-03-05T10:16:50.044Z,1362478610.044 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-05T10:16:50.045Z,1362478610.045 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-05T10:16:50.046Z,1362478610.046 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-05T10:16:50.047Z,1362478610.047 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-05T10:16:51.643Z,1362478611.643 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-05T10:16:51.698Z,1362478611.698 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-05T10:16:51.761Z,1362478611.761 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T10:16:51.791Z,1362478611.791 [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>


2013-03-05T10:16:51.792Z,1362478611.792 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-05T10:16:51.883Z,1362478611.883 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-05T10:16:51.885Z,1362478611.885 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-05T10:16:51.888Z,1362478611.888 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T10:16:51.924Z,1362478611.924 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-05T10:16:51.943Z,1362478611.943 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T10:16:51.950Z,1362478611.950 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-05T10:16:51.971Z,1362478611.971 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-05T10:16:51.974Z,1362478611.974 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-05T10:16:51.994Z,1362478611.994 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-05T10:16:51.998Z,1362478611.998 [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>


2013-03-05T10:16:52.031Z,1362478612.031 [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,
2013-03-05T10:16:52.083Z,1362478612.083 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-05T10:16:52.083Z,1362478612.083 [DVL_micro](INFO): Querying output modes
2013-03-05T10:16:52.083Z,1362478612.083 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-05T10:16:52.087Z,1362478612.088 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-05T10:16:52.094Z,1362478612.095 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-05T10:16:52.095Z,1362478612.095 [DVL_micro](INFO): NQ1 output enabled
2013-03-05T10:16:52.095Z,1362478612.095 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-05T10:16:52.107Z,1362478612.107 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-05T10:16:52.121Z,1362478612.121 [DVL_micro](INFO): pause:Powering down
2013-03-05T10:16:52.144Z,1362478612.144 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-03-05T10:16:52.223Z,1362478612.223 [Radio_Freewave](INFO): Powering up
2013-03-05T10:16:52.631Z,1362478612.631 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-05T10:16:52.639Z,1362478612.639 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-05T10:16:52.658Z,1362478612.658 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-05T10:16:52.663Z,1362478612.663 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-05T10:16:52.681Z,1362478612.681 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-05T10:16:52.687Z,1362478612.687 [MassServo](DEBUG): Initializing MassServo.
2013-03-05T10:16:52.693Z,1362478612.693 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-05T10:16:52.699Z,1362478612.699 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-05T10:16:52.721Z,1362478612.721 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-05T10:16:52.731Z,1362478612.731 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-05T10:16:53.695Z,1362478613.694 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-03-05T10:16:53.695Z,1362478613.695 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-03-05T10:16:53.695Z,1362478613.695 [BuoyancyServo] Communications Fault, FailCount= 1
2013-03-05T10:16:53.695Z,1362478613.695 [BuoyancyServo](ERROR): Communications Fault
2013-03-05T10:16:53.896Z,1362478613.896 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-03-05T10:16:54.269Z,1362478614.269 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-05T10:16:54.270Z,1362478614.270 [BuoyancyServo](INFO): Powering down
2013-03-05T10:16:54.621Z,1362478614.621 [NAL9602](INFO): Powering up NAL9602