2013-03-07T05:52:09.865Z,1362635529.865 [Supervisor](DEBUG): Initializing supervisor.
2013-03-07T05:52:09.868Z,1362635529.868 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-07T05:52:09.868Z,1362635529.868 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-07T05:52:09.869Z,1362635529.869 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-07T05:52:09.873Z,1362635529.873 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-07T05:52:09.884Z,1362635529.884 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-07T05:52:09.885Z,1362635529.885 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-07T05:52:09.886Z,1362635529.886 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-07T05:52:09.887Z,1362635529.887 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-07T05:52:09.888Z,1362635529.888 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-07T05:52:09.889Z,1362635529.889 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-07T05:52:10.171Z,1362635530.171 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-07T05:52:10.172Z,1362635530.172 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-07T05:52:10.359Z,1362635530.359 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-07T05:52:10.360Z,1362635530.360 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-07T05:52:10.444Z,1362635530.444 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-07T05:52:10.444Z,1362635530.444 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-07T05:52:10.627Z,1362635530.627 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-07T05:52:10.627Z,1362635530.627 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-07T05:52:10.759Z,1362635530.759 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-07T05:52:10.759Z,1362635530.759 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-07T05:52:10.989Z,1362635530.989 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-07T05:52:10.990Z,1362635530.990 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-07T05:52:11.158Z,1362635531.158 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-07T05:52:11.159Z,1362635531.159 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-07T05:52:11.411Z,1362635531.411 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-07T05:52:11.412Z,1362635531.411 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-07T05:52:11.509Z,1362635531.509 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-07T05:52:11.510Z,1362635531.510 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-07T05:52:12.223Z,1362635532.223 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-07T05:52:12.224Z,1362635532.224 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-07T05:52:12.461Z,1362635532.461 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-07T05:52:12.462Z,1362635532.462 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-07T05:52:12.587Z,1362635532.587 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-07T05:52:12.588Z,1362635532.588 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-07T05:52:12.748Z,1362635532.748 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-07T05:52:12.956Z,1362635532.956 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-07T05:52:13.088Z,1362635533.088 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-07T05:52:13.260Z,1362635533.260 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-07T05:52:13.424Z,1362635533.424 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-07T05:52:13.604Z,1362635533.604 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-07T05:52:13.797Z,1362635533.797 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-07T05:52:13.925Z,1362635533.925 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-07T05:52:13.950Z,1362635533.950 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-07T05:52:14.306Z,1362635534.306 [InternalSim] Loaded
2013-03-07T05:52:14.319Z,1362635534.319 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-07T05:52:14.319Z,1362635534.319 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-07T05:52:14.320Z,1362635534.320 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-07T05:52:14.421Z,1362635534.421 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-07T05:52:14.450Z,1362635534.450 [SBIT] Loaded
2013-03-07T05:52:14.451Z,1362635534.451 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-07T05:52:14.452Z,1362635534.452 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-07T05:52:14.481Z,1362635534.481 [IBIT] Loaded
2013-03-07T05:52:14.481Z,1362635534.481 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-07T05:52:14.485Z,1362635534.485 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-07T05:52:14.606Z,1362635534.606 [CBIT] Loaded
2013-03-07T05:52:14.606Z,1362635534.606 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-07T05:52:14.607Z,1362635534.607 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-07T05:52:14.607Z,1362635534.607 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-07T05:52:14.760Z,1362635534.760 [BuoyancyServo] Loaded
2013-03-07T05:52:14.761Z,1362635534.761 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-07T05:52:14.794Z,1362635534.794 [ElevatorServo] Loaded
2013-03-07T05:52:14.794Z,1362635534.794 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-07T05:52:14.807Z,1362635534.807 [MassServo] Loaded
2013-03-07T05:52:14.807Z,1362635534.807 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-07T05:52:14.819Z,1362635534.819 [RudderServo] Loaded
2013-03-07T05:52:14.819Z,1362635534.819 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-07T05:52:14.831Z,1362635534.831 [ThrusterServo] Loaded
2013-03-07T05:52:14.832Z,1362635534.832 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-07T05:52:14.832Z,1362635534.832 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-07T05:52:14.833Z,1362635534.833 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-07T05:52:14.850Z,1362635534.850 [DepthRateCalculator] Loaded
2013-03-07T05:52:14.850Z,1362635534.850 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-07T05:52:22.259Z,1362635542.259 [HFRadarModelCalc] Loaded
2013-03-07T05:52:22.260Z,1362635542.260 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-07T05:52:22.276Z,1362635542.276 [NavChart] Loaded
2013-03-07T05:52:22.276Z,1362635542.276 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-07T05:52:22.282Z,1362635542.283 [PitchRateCalculator] Loaded
2013-03-07T05:52:22.283Z,1362635542.283 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-07T05:52:22.289Z,1362635542.289 [SpeedCalculator] Loaded
2013-03-07T05:52:22.290Z,1362635542.290 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-07T05:52:22.305Z,1362635542.305 [TempGradientCalculator] Loaded
2013-03-07T05:52:22.306Z,1362635542.306 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-07T05:52:22.312Z,1362635542.312 [YawRateCalculator] Loaded
2013-03-07T05:52:22.312Z,1362635542.312 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-07T05:52:22.354Z,1362635542.354 [Navigation] Loaded
2013-03-07T05:52:22.354Z,1362635542.354 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-07T05:52:22.355Z,1362635542.355 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-07T05:52:22.355Z,1362635542.355 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-07T05:52:22.590Z,1362635542.590 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-07T05:52:22.590Z,1362635542.591 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-07T05:52:22.613Z,1362635542.613 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-07T05:52:22.613Z,1362635542.613 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-07T05:52:22.655Z,1362635542.655 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-07T05:52:22.752Z,1362635542.752 [VerticalControl] Loaded
2013-03-07T05:52:22.752Z,1362635542.753 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-07T05:52:22.754Z,1362635542.754 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-07T05:52:22.812Z,1362635542.812 [HorizontalControl] Loaded
2013-03-07T05:52:22.813Z,1362635542.813 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-07T05:52:22.814Z,1362635542.814 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-07T05:52:22.815Z,1362635542.815 [SpeedControl] Loaded
2013-03-07T05:52:22.816Z,1362635542.816 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-07T05:52:22.817Z,1362635542.817 [LoopControl](DEBUG): Construct LoopControl.
2013-03-07T05:52:22.817Z,1362635542.817 [LoopControl] Loaded
2013-03-07T05:52:22.817Z,1362635542.817 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-07T05:52:22.818Z,1362635542.818 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-07T05:52:22.818Z,1362635542.819 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-07T05:52:22.824Z,1362635542.824 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-07T05:52:22.829Z,1362635542.829 [AsyncPiEstimator] Loaded
2013-03-07T05:52:22.829Z,1362635542.829 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-07T05:52:22.831Z,1362635542.830 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-07T05:52:22.831Z,1362635542.831 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-07T05:52:22.832Z,1362635542.832 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-07T05:52:22.961Z,1362635542.961 [AHRS_sp3003D] Loaded
2013-03-07T05:52:22.961Z,1362635542.961 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-07T05:52:23.229Z,1362635543.229 [Batt_Ocean_Server] Loaded
2013-03-07T05:52:23.230Z,1362635543.230 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-07T05:52:23.244Z,1362635543.244 [Depth_Keller] Loaded
2013-03-07T05:52:23.244Z,1362635543.244 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-07T05:52:23.250Z,1362635543.250 [DropWeight] Loaded
2013-03-07T05:52:23.250Z,1362635543.250 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-07T05:52:23.431Z,1362635543.431 [DVL_micro] Loaded
2013-03-07T05:52:23.432Z,1362635543.432 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-07T05:52:23.433Z,1362635543.433 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-07T05:52:23.519Z,1362635543.519 [NAL9602] Loaded
2013-03-07T05:52:23.519Z,1362635543.519 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-07T05:52:23.573Z,1362635543.573 [Onboard] Loaded
2013-03-07T05:52:23.573Z,1362635543.573 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-07T05:52:23.574Z,1362635543.574 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-07T05:52:23.575Z,1362635543.575 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-07T05:52:23.633Z,1362635543.633 [Aanderaa_O2] Loaded
2013-03-07T05:52:23.633Z,1362635543.633 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-07T05:52:23.648Z,1362635543.648 [ISUS] Loaded
2013-03-07T05:52:23.648Z,1362635543.648 [ComponentRegistry](DEBUG): SyncComponent "ISUS" handled in the control thread.
2013-03-07T05:52:23.664Z,1362635543.664 [PAR_Licor] Loaded
2013-03-07T05:52:23.665Z,1362635543.665 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-07T05:52:23.697Z,1362635543.697 [WetLabsBB2FL] Loaded
2013-03-07T05:52:23.697Z,1362635543.697 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-07T05:52:23.698Z,1362635543.698 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-07T05:52:23.699Z,1362635543.699 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-07T05:52:23.701Z,1362635543.701 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-07T05:52:23.702Z,1362635543.702 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-07T05:52:23.709Z,1362635543.708 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-07T05:52:23.710Z,1362635543.710 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-07T05:52:23.714Z,1362635543.714 [Supervisor](DEBUG): Running supervisor.
2013-03-07T05:52:23.715Z,1362635543.715 [CommandLine](INFO): Thread ID is 6002
2013-03-07T05:52:23.718Z,1362635543.718 [controlThread](INFO): Thread ID is 6001
2013-03-07T05:52:23.718Z,1362635543.718 [controlThread](DEBUG): Initializing ControlThread
2013-03-07T05:52:23.719Z,1362635543.718 [CycleStarter](INFO): Thread ID is 6000
2013-03-07T05:52:23.719Z,1362635543.719 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-07T05:52:23.755Z,1362635543.755 [logger](INFO): Thread ID is 6003
2013-03-07T05:52:23.775Z,1362635543.775 [SBIT](INFO): Initialize SBIT Component.
2013-03-07T05:52:23.775Z,1362635543.776 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10234
2013-03-07T05:52:23.776Z,1362635543.776 [IBIT](INFO): Initialize IBIT Component.
2013-03-07T05:52:23.777Z,1362635543.777 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-07T05:52:23.777Z,1362635543.777 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-07T05:52:23.777Z,1362635543.777 [CBIT](CRITICAL): Watchdog Timer failed to initialize.
2013-03-07T05:52:23.777Z,1362635543.777 [CBIT] Hardware Fault, FailCount= 1
2013-03-07T05:52:23.778Z,1362635543.778 [CBIT](ERROR): Hardware Fault
2013-03-07T05:52:23.786Z,1362635543.786 [AsyncPiEstimator](INFO): Thread ID is 6069
2013-03-07T05:52:23.787Z,1362635543.787 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-07T05:52:23.796Z,1362635543.796 [DVL_micro](INFO): Thread ID is 6070
2013-03-07T05:52:23.805Z,1362635543.805 [DVL_micro](INFO): Initializing
2013-03-07T05:52:23.805Z,1362635543.805 [DVL_micro](INFO): start:Powering up
2013-03-07T05:52:23.808Z,1362635543.808 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-07T05:52:23.808Z,1362635543.808 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-07T05:52:23.809Z,1362635543.809 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-07T05:52:23.809Z,1362635543.809 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-07T05:52:23.809Z,1362635543.809 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-07T05:52:23.811Z,1362635543.810 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T05:52:23.811Z,1362635543.811 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T05:52:23.815Z,1362635543.815 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-07T05:52:23.815Z,1362635543.815 [Navigation](DEBUG): Initializing Navigation.
2013-03-07T05:52:23.815Z,1362635543.815 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-07T05:52:23.817Z,1362635543.817 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-07T05:52:23.818Z,1362635543.818 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-07T05:52:23.823Z,1362635543.823 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-07T05:52:23.839Z,1362635543.839 [WetLabsBB2FL](INFO): Thread ID is 6071
2013-03-07T05:52:23.840Z,1362635543.840 [WetLabsBB2FL](INFO): Powering down
2013-03-07T05:52:23.877Z,1362635543.877 [NavChartDb](INFO): Thread ID is 6072
2013-03-07T05:52:23.880Z,1362635543.880 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-07T05:52:23.881Z,1362635543.881 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-07T05:52:23.881Z,1362635543.881 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-07T05:52:23.881Z,1362635543.881 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-07T05:52:23.881Z,1362635543.881 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-07T05:52:23.882Z,1362635543.882 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-07T05:52:23.882Z,1362635543.882 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-07T05:52:23.882Z,1362635543.882 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-07T05:52:23.882Z,1362635543.882 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-07T05:52:25.477Z,1362635545.477 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-07T05:52:25.514Z,1362635545.514 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-07T05:52:25.538Z,1362635545.538 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T05:52:25.568Z,1362635545.568 [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>


2013-03-07T05:52:25.569Z,1362635545.569 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-07T05:52:25.640Z,1362635545.640 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-07T05:52:25.642Z,1362635545.642 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-07T05:52:25.646Z,1362635545.645 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T05:52:25.687Z,1362635545.687 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-07T05:52:25.705Z,1362635545.705 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T05:52:25.716Z,1362635545.716 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-07T05:52:25.724Z,1362635545.724 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-07T05:52:25.740Z,1362635545.740 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-07T05:52:25.744Z,1362635545.744 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-07T05:52:25.748Z,1362635545.748 [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>


2013-03-07T05:52:25.786Z,1362635545.786 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,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,
2013-03-07T05:52:25.833Z,1362635545.833 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-07T05:52:25.883Z,1362635545.883 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T05:52:25.883Z,1362635545.883 [DVL_micro](INFO): Querying output modes
2013-03-07T05:52:25.883Z,1362635545.884 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T05:52:25.894Z,1362635545.894 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-07T05:52:25.895Z,1362635545.895 [DVL_micro](INFO): NQ1 output enabled
2013-03-07T05:52:25.895Z,1362635545.895 [DVL_micro](INFO): ADCP output enabled
2013-03-07T05:52:25.895Z,1362635545.895 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T05:52:25.907Z,1362635545.907 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-07T05:52:25.912Z,1362635545.912 [DVL_micro](INFO): pause:Powering down
2013-03-07T05:52:26.507Z,1362635546.507 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-07T05:52:26.511Z,1362635546.511 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-07T05:52:26.526Z,1362635546.526 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-07T05:52:26.535Z,1362635546.535 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-07T05:52:26.541Z,1362635546.541 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-07T05:52:26.547Z,1362635546.547 [MassServo](DEBUG): Initializing MassServo.
2013-03-07T05:52:26.552Z,1362635546.552 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-07T05:52:26.583Z,1362635546.583 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-07T05:52:26.588Z,1362635546.588 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-07T05:52:26.595Z,1362635546.595 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-07T05:52:26.630Z,1362635546.630 [CBIT](DEBUG): Uninitialize CBIT Component.
2013-03-07T05:52:26.854Z,1362635546.854 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-03-07T05:52:26.855Z,1362635546.855 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xA409A0
2013-03-07T05:52:26.855Z,1362635546.855 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-03-07T05:52:26.855Z,1362635546.855 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-03-07T05:52:26.855Z,1362635546.855 [AHRS_sp3003D](ERROR): Hardware Fault
2013-03-07T05:52:27.093Z,1362635547.093 [AHRS_sp3003D](INFO): Powering down
2013-03-07T05:52:27.125Z,1362635547.125 [DVL_micro](INFO): ADCP unrequested
2013-03-07T05:52:27.126Z,1362635547.126 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T05:52:27.126Z,1362635547.126 [DVL_micro](INFO): resume:Powering up
2013-03-07T05:52:27.126Z,1362635547.126 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T05:52:27.802Z,1362635547.802 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-03-07T05:52:27.803Z,1362635547.803 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-03-07T05:52:27.803Z,1362635547.803 [BuoyancyServo] Communications Fault, FailCount= 1
2013-03-07T05:52:27.803Z,1362635547.803 [BuoyancyServo](ERROR): Communications Fault
2013-03-07T05:52:28.315Z,1362635548.315 [ElevatorServo](ERROR): Elevator initialization uart error I:serial timeout
2013-03-07T05:52:28.315Z,1362635548.315 [ElevatorServo](FAULT): Elevator failed to initialize
2013-03-07T05:52:28.315Z,1362635548.315 [ElevatorServo] Communications Fault, FailCount= 1
2013-03-07T05:52:28.315Z,1362635548.315 [ElevatorServo](ERROR): Communications Fault
2013-03-07T05:52:28.818Z,1362635548.818 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2013-03-07T05:52:28.818Z,1362635548.819 [RudderServo](FAULT): Rudder failed to initialize
2013-03-07T05:52:28.819Z,1362635548.819 [RudderServo] Communications Fault, FailCount= 1
2013-03-07T05:52:28.819Z,1362635548.819 [RudderServo](ERROR): Communications Fault
2013-03-07T05:52:29.135Z,1362635549.135 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T05:52:29.135Z,1362635549.135 [DVL_micro](INFO): Querying output modes
2013-03-07T05:52:29.135Z,1362635549.135 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T05:52:29.338Z,1362635549.338 [ThrusterServo](ERROR): Thruster halt for initialization uart error serial timeout
2013-03-07T05:52:29.859Z,1362635549.859 [ThrusterServo](ERROR): Thruster initialization uart error serial timeout
2013-03-07T05:52:29.859Z,1362635549.859 [ThrusterServo](FAULT): Thruster failed to initialize
2013-03-07T05:52:29.859Z,1362635549.859 [ThrusterServo] Communications Fault, FailCount= 1
2013-03-07T05:52:29.859Z,1362635549.859 [ThrusterServo](ERROR): Communications Fault
2013-03-07T05:52:30.017Z,1362635550.017 [NAL9602](INFO): Powering up NAL9602
2013-03-07T05:52:30.084Z,1362635550.084 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-07T05:52:30.086Z,1362635550.086 [BuoyancyServo](INFO): Powering down
2013-03-07T05:52:30.147Z,1362635550.147 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-03-07T05:52:30.147Z,1362635550.147 [ElevatorServo](INFO): Powering down
2013-03-07T05:52:30.710Z,1362635550.710 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout
2013-03-07T05:52:30.711Z,1362635550.711 [MassServo] Communications Fault, FailCount= 1
2013-03-07T05:52:30.711Z,1362635550.711 [MassServo](ERROR): Communications Fault
2013-03-07T05:52:30.711Z,1362635550.711 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-03-07T05:52:30.711Z,1362635550.711 [RudderServo](INFO): Powering down
2013-03-07T05:52:30.734Z,1362635550.734 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-03-07T05:52:30.735Z,1362635550.735 [ThrusterServo](INFO): Powering down
2013-03-07T05:52:31.057Z,1362635551.057 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-03-07T05:52:31.057Z,1362635551.057 [MassServo](INFO): Powering down
2013-03-07T05:52:31.138Z,1362635551.138 [DVL_micro](DEBUG): cmdResponse: 
2013-03-07T05:52:31.138Z,1362635551.138 [DVL_micro](INFO): Output Modes: No Response
2013-03-07T05:52:31.139Z,1362635551.139 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T05:52:31.280Z,1362635551.280 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-07T05:52:31.399Z,1362635551.399 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-07T05:52:31.401Z,1362635551.401 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-07T05:52:31.520Z,1362635551.520 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-07T05:52:31.711Z,1362635551.711 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-07T05:52:31.831Z,1362635551.831 [MassServo](DEBUG): Initializing MassServo.
2013-03-07T05:52:33.150Z,1362635553.150 [DVL_micro](DEBUG): cmdResponse: 
2013-03-07T05:52:33.152Z,1362635553.152 [DVL_micro](INFO): ADCP unrequested
2013-03-07T05:52:33.152Z,1362635553.152 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T05:52:35.160Z,1362635555.160 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T05:52:35.160Z,1362635555.160 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T05:52:36.477Z,1362635556.477 [Aanderaa_O2](FAULT): Timed out starting
2013-03-07T05:52:36.477Z,1362635556.477 [Aanderaa_O2] Communications Fault, FailCount= 1
2013-03-07T05:52:36.477Z,1362635556.477 [Aanderaa_O2](ERROR): Communications Fault
2013-03-07T05:52:36.994Z,1362635556.994 [Aanderaa_O2](INFO): Powering down
2013-03-07T05:52:37.166Z,1362635557.166 [DVL_micro](DEBUG): cmdResponse: 
2013-03-07T05:52:37.166Z,1362635557.166 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T05:52:37.167Z,1362635557.167 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T05:52:39.174Z,1362635559.174 [DVL_micro](DEBUG): cmdResponse: 
2013-03-07T05:52:39.174Z,1362635559.174 [DVL_micro](INFO): Querying output modes
2013-03-07T05:52:39.175Z,1362635559.175 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T05:52:39.333Z,1362635559.333 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-07T05:52:41.186Z,1362635561.186 [DVL_micro](DEBUG): cmdResponse: 
2013-03-07T05:52:41.186Z,1362635561.186 [DVL_micro](INFO): Output Modes: No Response
2013-03-07T05:52:41.187Z,1362635561.187 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T05:52:42.494Z,1362635562.494 [NAL9602](ERROR): NAL9602 initialize uart error: serial timeout
2013-03-07T05:52:42.495Z,1362635562.494 [NAL9602] Communications Fault, FailCount= 1
2013-03-07T05:52:42.495Z,1362635562.495 [NAL9602](ERROR): Communications Fault
2013-03-07T05:52:42.808Z,1362635562.808 [NAL9602](INFO): Powering down
2013-03-07T05:52:43.198Z,1362635563.198 [DVL_micro](DEBUG): cmdResponse: 
2013-03-07T05:52:45.203Z,1362635565.203 [DVL_micro](INFO): ADCP unrequested
2013-03-07T05:52:45.203Z,1362635565.203 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T05:52:47.211Z,1362635567.211 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T05:52:47.211Z,1362635567.211 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T05:52:49.214Z,1362635569.214 [DVL_micro](DEBUG): cmdResponse: 
2013-03-07T05:52:49.214Z,1362635569.214 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T05:52:49.215Z,1362635569.215 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T05:52:51.226Z,1362635571.226 [DVL_micro](DEBUG): cmdResponse: 
2013-03-07T05:52:51.226Z,1362635571.226 [DVL_micro](INFO): Querying output modes
2013-03-07T05:52:51.227Z,1362635571.227 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-07T05:52:53.238Z,1362635573.238 [DVL_micro](DEBUG): cmdResponse: 
2013-03-07T05:52:53.238Z,1362635573.238 [DVL_micro](INFO): Output Modes: No Response
2013-03-07T05:52:53.239Z,1362635573.239 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-07T05:52:55.246Z,1362635575.246 [DVL_micro](DEBUG): cmdResponse: 
2013-03-07T05:52:57.251Z,1362635577.251 [DVL_micro](INFO): ADCP unrequested
2013-03-07T05:52:57.251Z,1362635577.251 [DVL_micro](INFO): Cycling power to configure device.
2013-03-07T05:52:59.259Z,1362635579.259 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-07T05:52:59.259Z,1362635579.259 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD1616 00 0

2013-03-07T05:53:01.270Z,1362635581.270 [DVL_micro](DEBUG): cmdResponse: 
2013-03-07T05:53:01.270Z,1362635581.270 [DVL_micro](INFO): Enabling NQ1 output
2013-03-07T05:53:01.271Z,1362635581.271 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0505 01 1

2013-03-07T05:53:03.274Z,1362635583.274 [DVL_micro](DEBUG): cmdResponse: 
2013-03-07T05:53:03.274Z,1362635583.274 [DVL_micro](INFO): Querying output modes
2013-03-07T05:53:03.275Z,1362635583.275 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606