2013-03-11T23:04:41.123Z,1363043081.123 [Supervisor](DEBUG): Initializing supervisor.
2013-03-11T23:04:41.126Z,1363043081.126 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-11T23:04:41.127Z,1363043081.127 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-11T23:04:41.130Z,1363043081.130 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-11T23:04:41.134Z,1363043081.134 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-11T23:04:41.145Z,1363043081.145 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-11T23:04:41.146Z,1363043081.146 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-11T23:04:41.147Z,1363043081.147 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-11T23:04:41.150Z,1363043081.150 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-11T23:04:41.151Z,1363043081.151 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-11T23:04:41.155Z,1363043081.155 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-11T23:04:41.475Z,1363043081.475 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-11T23:04:41.476Z,1363043081.476 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-11T23:04:41.686Z,1363043081.686 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-11T23:04:41.687Z,1363043081.687 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-11T23:04:41.782Z,1363043081.782 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-11T23:04:41.784Z,1363043081.784 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-11T23:04:41.990Z,1363043081.990 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-11T23:04:41.990Z,1363043081.990 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-11T23:04:42.139Z,1363043082.139 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-11T23:04:42.141Z,1363043082.141 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-11T23:04:42.402Z,1363043082.402 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-11T23:04:42.403Z,1363043082.403 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-11T23:04:42.594Z,1363043082.594 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-11T23:04:42.596Z,1363043082.596 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-11T23:04:42.880Z,1363043082.880 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-11T23:04:42.882Z,1363043082.882 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-11T23:04:42.995Z,1363043082.995 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-11T23:04:42.996Z,1363043082.996 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-11T23:04:43.448Z,1363043083.448 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-11T23:04:43.449Z,1363043083.448 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-11T23:04:43.579Z,1363043083.579 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-11T23:04:43.580Z,1363043083.580 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-11T23:04:43.675Z,1363043083.675 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-11T23:04:43.679Z,1363043083.680 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-11T23:04:43.796Z,1363043083.796 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-11T23:04:43.940Z,1363043083.940 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-11T23:04:44.038Z,1363043084.038 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-11T23:04:44.150Z,1363043084.150 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-11T23:04:44.264Z,1363043084.264 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-11T23:04:44.396Z,1363043084.396 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-11T23:04:44.502Z,1363043084.502 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-11T23:04:44.613Z,1363043084.612 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-11T23:04:47.891Z,1363043087.891 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-11T23:04:48.167Z,1363043088.167 [InternalSim] Loaded
2013-03-11T23:04:48.167Z,1363043088.167 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-11T23:04:48.168Z,1363043088.168 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-11T23:04:48.169Z,1363043088.169 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-11T23:04:48.251Z,1363043088.251 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-11T23:04:48.282Z,1363043088.283 [SBIT] Loaded
2013-03-11T23:04:48.283Z,1363043088.283 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-11T23:04:48.284Z,1363043088.284 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-11T23:04:48.312Z,1363043088.312 [IBIT] Loaded
2013-03-11T23:04:48.313Z,1363043088.313 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-11T23:04:48.320Z,1363043088.320 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-11T23:04:48.454Z,1363043088.454 [CBIT] Loaded
2013-03-11T23:04:48.454Z,1363043088.454 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-11T23:04:48.454Z,1363043088.454 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-11T23:04:48.455Z,1363043088.455 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-11T23:04:48.636Z,1363043088.636 [BuoyancyServo] Loaded
2013-03-11T23:04:48.636Z,1363043088.636 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-11T23:04:48.648Z,1363043088.648 [ElevatorServo] Loaded
2013-03-11T23:04:48.649Z,1363043088.649 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-11T23:04:48.664Z,1363043088.664 [MassServo] Loaded
2013-03-11T23:04:48.665Z,1363043088.665 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-11T23:04:48.677Z,1363043088.677 [RudderServo] Loaded
2013-03-11T23:04:48.677Z,1363043088.677 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-11T23:04:48.689Z,1363043088.689 [ThrusterServo] Loaded
2013-03-11T23:04:48.689Z,1363043088.689 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-11T23:04:48.689Z,1363043088.689 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-11T23:04:48.690Z,1363043088.690 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-11T23:04:48.726Z,1363043088.726 [DepthRateCalculator] Loaded
2013-03-11T23:04:48.727Z,1363043088.727 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-11T23:04:52.935Z,1363043092.935 [HFRadarModelCalc] Loaded
2013-03-11T23:04:52.935Z,1363043092.935 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-11T23:04:52.951Z,1363043092.951 [NavChart] Loaded
2013-03-11T23:04:52.951Z,1363043092.951 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-11T23:04:52.957Z,1363043092.957 [PitchRateCalculator] Loaded
2013-03-11T23:04:52.957Z,1363043092.957 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-11T23:04:52.964Z,1363043092.964 [SpeedCalculator] Loaded
2013-03-11T23:04:52.964Z,1363043092.964 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-11T23:04:52.979Z,1363043092.979 [TempGradientCalculator] Loaded
2013-03-11T23:04:52.979Z,1363043092.980 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-11T23:04:52.985Z,1363043092.985 [YawRateCalculator] Loaded
2013-03-11T23:04:52.985Z,1363043092.986 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-11T23:04:53.026Z,1363043093.026 [Navigation] Loaded
2013-03-11T23:04:53.027Z,1363043093.027 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-11T23:04:53.027Z,1363043093.027 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-11T23:04:53.028Z,1363043093.028 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-11T23:04:53.290Z,1363043093.290 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-11T23:04:53.290Z,1363043093.290 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-11T23:04:53.328Z,1363043093.328 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-11T23:04:53.329Z,1363043093.329 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-11T23:04:53.388Z,1363043093.388 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-11T23:04:53.480Z,1363043093.480 [VerticalControl] Loaded
2013-03-11T23:04:53.480Z,1363043093.480 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-11T23:04:53.481Z,1363043093.481 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-11T23:04:53.537Z,1363043093.537 [HorizontalControl] Loaded
2013-03-11T23:04:53.538Z,1363043093.538 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-11T23:04:53.539Z,1363043093.539 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-11T23:04:53.540Z,1363043093.540 [SpeedControl] Loaded
2013-03-11T23:04:53.540Z,1363043093.540 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-11T23:04:53.541Z,1363043093.541 [LoopControl](DEBUG): Construct LoopControl.
2013-03-11T23:04:53.542Z,1363043093.542 [LoopControl] Loaded
2013-03-11T23:04:53.542Z,1363043093.542 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-11T23:04:53.543Z,1363043093.543 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-11T23:04:53.543Z,1363043093.543 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-11T23:04:53.551Z,1363043093.551 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-11T23:04:53.556Z,1363043093.556 [AsyncPiEstimator] Loaded
2013-03-11T23:04:53.557Z,1363043093.556 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-11T23:04:53.558Z,1363043093.558 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-11T23:04:53.558Z,1363043093.558 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-11T23:04:53.559Z,1363043093.559 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-11T23:04:53.727Z,1363043093.727 [AHRS_sp3003D] Loaded
2013-03-11T23:04:53.727Z,1363043093.727 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-11T23:04:54.002Z,1363043094.002 [Batt_Ocean_Server] Loaded
2013-03-11T23:04:54.003Z,1363043094.003 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-11T23:04:54.016Z,1363043094.016 [Depth_Keller] Loaded
2013-03-11T23:04:54.016Z,1363043094.016 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-11T23:04:54.022Z,1363043094.022 [DropWeight] Loaded
2013-03-11T23:04:54.022Z,1363043094.022 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-11T23:04:54.205Z,1363043094.205 [DVL_micro] Loaded
2013-03-11T23:04:54.205Z,1363043094.205 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-11T23:04:54.206Z,1363043094.206 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-11T23:04:54.294Z,1363043094.294 [NAL9602] Loaded
2013-03-11T23:04:54.294Z,1363043094.294 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-11T23:04:54.347Z,1363043094.347 [Onboard] Loaded
2013-03-11T23:04:54.348Z,1363043094.348 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-11T23:04:54.354Z,1363043094.354 [Radio_Freewave] Loaded
2013-03-11T23:04:54.355Z,1363043094.355 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-11T23:04:54.355Z,1363043094.355 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-11T23:04:54.356Z,1363043094.356 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-11T23:04:54.436Z,1363043094.436 [Aanderaa_O2] Loaded
2013-03-11T23:04:54.436Z,1363043094.436 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-11T23:04:54.470Z,1363043094.470 [CTD_NeilBrown] Loaded
2013-03-11T23:04:54.470Z,1363043094.470 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-11T23:04:54.471Z,1363043094.471 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-11T23:04:54.487Z,1363043094.487 [PAR_Licor] Loaded
2013-03-11T23:04:54.488Z,1363043094.487 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-11T23:04:54.519Z,1363043094.519 [WetLabsBB2FL] Loaded
2013-03-11T23:04:54.520Z,1363043094.520 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-11T23:04:54.521Z,1363043094.521 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-11T23:04:54.521Z,1363043094.521 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-11T23:04:54.524Z,1363043094.524 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-11T23:04:54.525Z,1363043094.525 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-11T23:04:54.535Z,1363043094.534 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-11T23:04:54.536Z,1363043094.536 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-11T23:04:54.540Z,1363043094.540 [Supervisor](DEBUG): Running supervisor.
2013-03-11T23:04:54.541Z,1363043094.541 [CommandLine](INFO): Thread ID is 749
2013-03-11T23:04:54.544Z,1363043094.544 [controlThread](INFO): Thread ID is 748
2013-03-11T23:04:54.544Z,1363043094.544 [controlThread](DEBUG): Initializing ControlThread
2013-03-11T23:04:54.544Z,1363043094.544 [CycleStarter](INFO): Thread ID is 747
2013-03-11T23:04:54.545Z,1363043094.545 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-11T23:04:54.644Z,1363043094.644 [logger](INFO): Thread ID is 750
2013-03-11T23:04:54.731Z,1363043094.731 [AsyncPiEstimator](INFO): Thread ID is 811
2013-03-11T23:04:54.731Z,1363043094.731 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-11T23:04:54.740Z,1363043094.740 [DVL_micro](INFO): Thread ID is 812
2013-03-11T23:04:54.842Z,1363043094.842 [CTD_NeilBrown](INFO): Thread ID is 813
2013-03-11T23:04:54.842Z,1363043094.842 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-11T23:04:54.845Z,1363043094.845 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-11T23:04:54.862Z,1363043094.862 [DVL_micro](INFO): Initializing
2013-03-11T23:04:54.862Z,1363043094.862 [DVL_micro](INFO): start:Powering up
2013-03-11T23:04:54.883Z,1363043094.883 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-11T23:04:54.883Z,1363043094.883 [DVL_micro](INFO): Cycling power to configure device.
2013-03-11T23:04:54.900Z,1363043094.900 [WetLabsBB2FL](INFO): Thread ID is 814
2013-03-11T23:04:54.900Z,1363043094.901 [WetLabsBB2FL](INFO): Powering down
2013-03-11T23:04:54.902Z,1363043094.902 [NavChartDb](INFO): Thread ID is 815
2013-03-11T23:04:54.920Z,1363043094.920 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-11T23:04:54.921Z,1363043094.921 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-11T23:04:54.922Z,1363043094.921 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-11T23:04:54.922Z,1363043094.922 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-11T23:04:54.922Z,1363043094.922 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-11T23:04:54.922Z,1363043094.922 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-11T23:04:54.923Z,1363043094.923 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-11T23:04:54.923Z,1363043094.923 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-11T23:04:54.923Z,1363043094.923 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-11T23:04:54.928Z,1363043094.928 [SBIT](INFO): Initialize SBIT Component.
2013-03-11T23:04:54.929Z,1363043094.929 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10234
2013-03-11T23:04:54.929Z,1363043094.930 [IBIT](INFO): Initialize IBIT Component.
2013-03-11T23:04:54.951Z,1363043094.951 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-11T23:04:54.951Z,1363043094.951 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-11T23:04:54.951Z,1363043094.951 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-11T23:04:54.991Z,1363043094.991 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-11T23:04:54.992Z,1363043094.992 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-11T23:04:54.992Z,1363043094.992 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-11T23:04:54.992Z,1363043094.992 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-11T23:04:54.993Z,1363043094.993 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-11T23:04:54.994Z,1363043094.994 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-11T23:04:55.014Z,1363043095.014 [Navigation](DEBUG): Initializing Navigation.
2013-03-11T23:04:55.015Z,1363043095.015 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-11T23:04:55.017Z,1363043095.017 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-11T23:04:55.017Z,1363043095.017 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-11T23:04:55.018Z,1363043095.018 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-11T23:04:56.765Z,1363043096.765 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-11T23:04:56.802Z,1363043096.802 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-11T23:04:56.833Z,1363043096.833 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-11T23:04:56.872Z,1363043096.872 [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>


2013-03-11T23:04:56.872Z,1363043096.872 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-11T23:04:56.939Z,1363043096.939 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-11T23:04:56.941Z,1363043096.941 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-11T23:04:56.973Z,1363043096.973 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-11T23:04:56.995Z,1363043096.995 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-11T23:04:56.998Z,1363043096.998 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-11T23:04:57.015Z,1363043097.015 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-11T23:04:57.027Z,1363043097.027 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-11T23:04:57.027Z,1363043097.027 [DVL_micro](INFO): Querying output modes
2013-03-11T23:04:57.028Z,1363043097.028 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-11T23:04:57.032Z,1363043097.032 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-11T23:04:57.035Z,1363043097.035 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-11T23:04:57.039Z,1363043097.039 [DVL_micro](DEBUG): cmdResponse: 01 03
2013-03-11T23:04:57.039Z,1363043097.039 [DVL_micro](INFO): NQ1 output enabled
2013-03-11T23:04:57.039Z,1363043097.039 [DVL_micro](INFO): ADCP output enabled
2013-03-11T23:04:57.039Z,1363043097.039 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-11T23:04:57.051Z,1363043097.051 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-11T23:04:57.070Z,1363043097.070 [DVL_micro](INFO): pause:Powering down
2013-03-11T23:04:57.073Z,1363043097.073 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-11T23:04:57.089Z,1363043097.089 [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>


2013-03-11T23:04:57.093Z,1363043097.093 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,Aanderaa_O2,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,
2013-03-11T23:04:57.139Z,1363043097.139 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-11T23:04:57.189Z,1363043097.189 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-03-11T23:04:57.335Z,1363043097.335 [Radio_Freewave](INFO): Powering up
2013-03-11T23:04:57.672Z,1363043097.672 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-11T23:04:57.679Z,1363043097.679 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-11T23:04:57.693Z,1363043097.693 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-11T23:04:57.699Z,1363043097.699 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-11T23:04:57.717Z,1363043097.717 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-11T23:04:57.723Z,1363043097.723 [MassServo](DEBUG): Initializing MassServo.
2013-03-11T23:04:57.729Z,1363043097.729 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-11T23:04:57.737Z,1363043097.737 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-11T23:04:57.743Z,1363043097.743 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-11T23:04:57.775Z,1363043097.775 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-11T23:04:58.767Z,1363043098.767 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-03-11T23:04:58.767Z,1363043098.767 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-03-11T23:04:58.767Z,1363043098.767 [BuoyancyServo] Communications Fault, FailCount= 1
2013-03-11T23:04:58.767Z,1363043098.767 [BuoyancyServo](ERROR): Communications Fault
2013-03-11T23:04:58.977Z,1363043098.977 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-03-11T23:04:59.226Z,1363043099.226 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-11T23:04:59.227Z,1363043099.227 [BuoyancyServo](INFO): Powering down
2013-03-11T23:04:59.569Z,1363043099.569 [NAL9602](INFO): Powering up NAL9602
2013-03-11T23:05:00.551Z,1363043100.551 [Aanderaa_O2](INFO): Powering down
2013-03-11T23:05:01.561Z,1363043101.561 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-03-11T23:05:01.561Z,1363043101.561 [BuoyancyServo] No Fault, FailCount= 1
2013-03-11T23:05:01.877Z,1363043101.877 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-11T23:05:01.995Z,1363043101.995 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-11T23:05:10.199Z,1363043110.199 [NAL9602](INFO): NAL9602 initialized
2013-03-11T23:05:10.632Z,1363043110.632 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-11T23:05:10.635Z,1363043110.635 [CBIT](IMPORTANT): Beginning GF scan
2013-03-11T23:05:33.773Z,1363043133.773 [NAL9602](IMPORTANT): GPS fix at: 1363043132.00
2013-03-11T23:05:37.435Z,1363043137.435 [CBIT](IMPORTANT): No ground fault detected
2013-03-11T23:05:40.968Z,1363043140.968 [NAL9602](INFO): Powering down
2013-03-11T23:06:04.797Z,1363043164.797 [SBIT](IMPORTANT): SBIT PASSED
2013-03-11T23:06:05.169Z,1363043165.169 [MissionManager](IMPORTANT): Started mission Startup
2013-03-11T23:06:05.169Z,1363043165.169 [Startup] Running Loop=1
2013-03-11T23:06:05.169Z,1363043165.169 [Startup](INFO): Aggregate::initialize Startup
2013-03-11T23:06:05.169Z,1363043165.169 [Startup:A.GoToSurface] Running Loop=1
2013-03-11T23:06:05.169Z,1363043165.169 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-03-11T23:06:05.175Z,1363043165.175 [Startup:StartupSatComms] Running Loop=1
2013-03-11T23:06:05.175Z,1363043165.175 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-03-11T23:06:05.176Z,1363043165.176 [Startup:StartupSatComms:A] Running Loop=1
2013-03-11T23:06:05.563Z,1363043165.563 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-03-11T23:06:05.944Z,1363043165.944 [NAL9602](INFO): Powering up
2013-03-11T23:06:16.907Z,1363043176.907 [NAL9602](INFO): NAL9602 initialized
2013-03-11T23:06:35.583Z,1363043195.583 [NAL9602](IMPORTANT): GPS fix at: 1363043194.00
2013-03-11T23:06:35.598Z,1363043195.598 [Startup:StartupSatComms:A] Stopped
2013-03-11T23:06:35.598Z,1363043195.598 [Startup:StartupSatComms:B] Running Loop=1
2013-03-11T23:06:36.022Z,1363043196.022 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-03-11T23:06:53.761Z,1363043213.761 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=6807, MT Status=1, MTMSN=534
2013-03-11T23:06:53.811Z,1363043213.811 [NAL9602](INFO): Sent 324 bytes from file Logs/20130311T223520/shore0001.lzma
2013-03-11T23:06:53.811Z,1363043213.811 [NAL9602](INFO): Packets left to send: 0
2013-03-11T23:06:53.814Z,1363043213.814 [NAL9602](INFO): Stored copy of sent data in Logs/20130311T223520/shore0001.lzma.parts/0000.sbd
2013-03-11T23:06:54.351Z,1363043214.351 [NAL9602](INFO): Received command:! md5sum /mnt/mmc/LRAUV/Config/lrauv-tethys/Sensor.cfg
2013-03-11T23:06:54.367Z,1363043214.367 [CommandLine](IMPORTANT): got command ! md5sum /mnt/mmc/LRAUV/Config/lrauv-tethys/Sensor.cfg
2013-03-11T23:06:54.581Z,1363043214.581 [CommandLine](IMPORTANT): fbfa68ba77aa51bef379ca443ac32a21  /mnt/mmc/LRAUV/Config/lrauv-tethys/Sensor.cfg