2013-03-19T18:37:50.126Z,1363718270.126 [Supervisor](DEBUG): Initializing supervisor.
2013-03-19T18:37:50.130Z,1363718270.130 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-19T18:37:50.131Z,1363718270.131 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-19T18:37:50.134Z,1363718270.134 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-19T18:37:50.138Z,1363718270.138 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-19T18:37:50.149Z,1363718270.149 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-19T18:37:50.150Z,1363718270.150 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-19T18:37:50.151Z,1363718270.151 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-19T18:37:50.154Z,1363718270.154 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-19T18:37:50.155Z,1363718270.155 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-19T18:37:50.159Z,1363718270.159 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-19T18:37:50.470Z,1363718270.470 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-19T18:37:50.470Z,1363718270.470 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-19T18:37:50.678Z,1363718270.678 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-19T18:37:50.678Z,1363718270.678 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-19T18:37:50.778Z,1363718270.778 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-19T18:37:50.780Z,1363718270.780 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-19T18:37:50.982Z,1363718270.982 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-19T18:37:50.982Z,1363718270.982 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-19T18:37:51.131Z,1363718271.131 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-19T18:37:51.133Z,1363718271.133 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-19T18:37:51.386Z,1363718271.386 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-19T18:37:51.386Z,1363718271.386 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-19T18:37:51.575Z,1363718271.575 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-19T18:37:51.577Z,1363718271.577 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-19T18:37:51.852Z,1363718271.852 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-19T18:37:51.854Z,1363718271.854 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-19T18:37:51.967Z,1363718271.967 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-19T18:37:51.968Z,1363718271.968 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-19T18:37:52.422Z,1363718272.422 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-19T18:37:52.423Z,1363718272.422 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-19T18:37:52.551Z,1363718272.551 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-19T18:37:52.552Z,1363718272.552 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-19T18:37:52.647Z,1363718272.648 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-19T18:37:52.652Z,1363718272.652 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-19T18:37:52.767Z,1363718272.767 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-19T18:37:52.911Z,1363718272.911 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-19T18:37:53.080Z,1363718273.080 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-19T18:37:53.190Z,1363718273.190 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-19T18:37:53.299Z,1363718273.299 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-19T18:37:53.431Z,1363718273.431 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-19T18:37:53.535Z,1363718273.536 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-19T18:37:53.635Z,1363718273.635 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-19T18:37:53.663Z,1363718273.663 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-19T18:37:53.871Z,1363718273.871 [InternalSim] Loaded
2013-03-19T18:37:53.871Z,1363718273.871 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-19T18:37:53.872Z,1363718273.872 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-19T18:37:53.873Z,1363718273.873 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-19T18:37:53.961Z,1363718273.961 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-19T18:37:53.989Z,1363718273.989 [SBIT] Loaded
2013-03-19T18:37:53.989Z,1363718273.989 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-19T18:37:53.990Z,1363718273.990 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-19T18:37:54.023Z,1363718274.023 [IBIT] Loaded
2013-03-19T18:37:54.023Z,1363718274.023 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-19T18:37:54.027Z,1363718274.027 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-19T18:37:54.163Z,1363718274.163 [CBIT] Loaded
2013-03-19T18:37:54.163Z,1363718274.163 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-19T18:37:54.164Z,1363718274.164 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-19T18:37:54.164Z,1363718274.164 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-19T18:37:54.348Z,1363718274.348 [BuoyancyServo] Loaded
2013-03-19T18:37:54.348Z,1363718274.348 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-19T18:37:54.361Z,1363718274.361 [ElevatorServo] Loaded
2013-03-19T18:37:54.361Z,1363718274.361 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-19T18:37:54.377Z,1363718274.377 [MassServo] Loaded
2013-03-19T18:37:54.377Z,1363718274.377 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-19T18:37:54.389Z,1363718274.389 [RudderServo] Loaded
2013-03-19T18:37:54.389Z,1363718274.389 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-19T18:37:54.401Z,1363718274.401 [ThrusterServo] Loaded
2013-03-19T18:37:54.402Z,1363718274.402 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-19T18:37:54.402Z,1363718274.402 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-19T18:37:54.403Z,1363718274.403 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-19T18:37:54.439Z,1363718274.439 [DepthRateCalculator] Loaded
2013-03-19T18:37:54.439Z,1363718274.439 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-19T18:37:58.948Z,1363718278.948 [HFRadarModelCalc] Loaded
2013-03-19T18:37:58.948Z,1363718278.948 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-19T18:37:58.964Z,1363718278.964 [NavChart] Loaded
2013-03-19T18:37:58.965Z,1363718278.964 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-19T18:37:58.970Z,1363718278.970 [PitchRateCalculator] Loaded
2013-03-19T18:37:58.971Z,1363718278.971 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-19T18:37:58.977Z,1363718278.977 [SpeedCalculator] Loaded
2013-03-19T18:37:58.977Z,1363718278.977 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-19T18:37:58.997Z,1363718278.997 [TempGradientCalculator] Loaded
2013-03-19T18:37:58.997Z,1363718278.997 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-19T18:37:59.003Z,1363718279.003 [YawRateCalculator] Loaded
2013-03-19T18:37:59.003Z,1363718279.003 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-19T18:37:59.052Z,1363718279.052 [Navigation] Loaded
2013-03-19T18:37:59.052Z,1363718279.053 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-19T18:37:59.053Z,1363718279.053 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-19T18:37:59.054Z,1363718279.054 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-19T18:37:59.347Z,1363718279.347 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-19T18:37:59.348Z,1363718279.348 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-19T18:37:59.390Z,1363718279.390 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-19T18:37:59.391Z,1363718279.391 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-19T18:37:59.454Z,1363718279.454 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-19T18:37:59.556Z,1363718279.556 [VerticalControl] Loaded
2013-03-19T18:37:59.556Z,1363718279.556 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-19T18:37:59.557Z,1363718279.557 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-19T18:37:59.619Z,1363718279.619 [HorizontalControl] Loaded
2013-03-19T18:37:59.619Z,1363718279.619 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-19T18:37:59.620Z,1363718279.620 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-19T18:37:59.622Z,1363718279.622 [SpeedControl] Loaded
2013-03-19T18:37:59.626Z,1363718279.626 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-19T18:37:59.627Z,1363718279.627 [LoopControl](DEBUG): Construct LoopControl.
2013-03-19T18:37:59.628Z,1363718279.628 [LoopControl] Loaded
2013-03-19T18:37:59.628Z,1363718279.628 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-19T18:37:59.629Z,1363718279.629 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-19T18:37:59.629Z,1363718279.629 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-19T18:37:59.637Z,1363718279.637 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-19T18:37:59.642Z,1363718279.642 [AsyncPiEstimator] Loaded
2013-03-19T18:37:59.642Z,1363718279.642 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-19T18:37:59.646Z,1363718279.646 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-19T18:37:59.647Z,1363718279.647 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-19T18:37:59.648Z,1363718279.648 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-19T18:37:59.830Z,1363718279.830 [AHRS_sp3003D] Loaded
2013-03-19T18:37:59.831Z,1363718279.831 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-19T18:38:00.120Z,1363718280.120 [Batt_Ocean_Server] Loaded
2013-03-19T18:38:00.120Z,1363718280.120 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-19T18:38:00.134Z,1363718280.134 [Depth_Keller] Loaded
2013-03-19T18:38:00.138Z,1363718280.138 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-19T18:38:00.144Z,1363718280.144 [DropWeight] Loaded
2013-03-19T18:38:00.144Z,1363718280.144 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-19T18:38:00.341Z,1363718280.341 [DVL_micro] Loaded
2013-03-19T18:38:00.341Z,1363718280.341 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-19T18:38:00.342Z,1363718280.342 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-19T18:38:00.435Z,1363718280.435 [NAL9602] Loaded
2013-03-19T18:38:00.435Z,1363718280.435 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-19T18:38:00.490Z,1363718280.490 [Onboard] Loaded
2013-03-19T18:38:00.491Z,1363718280.491 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-19T18:38:00.502Z,1363718280.501 [Radio_Freewave] Loaded
2013-03-19T18:38:00.502Z,1363718280.502 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-19T18:38:00.503Z,1363718280.503 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-19T18:38:00.503Z,1363718280.503 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-19T18:38:00.589Z,1363718280.589 [Aanderaa_O2] Loaded
2013-03-19T18:38:00.589Z,1363718280.589 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-19T18:38:00.626Z,1363718280.626 [CTD_NeilBrown] Loaded
2013-03-19T18:38:00.626Z,1363718280.626 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-19T18:38:00.630Z,1363718280.630 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-19T18:38:00.647Z,1363718280.647 [PAR_Licor] Loaded
2013-03-19T18:38:00.647Z,1363718280.647 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-19T18:38:00.681Z,1363718280.681 [WetLabsBB2FL] Loaded
2013-03-19T18:38:00.682Z,1363718280.682 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-19T18:38:00.686Z,1363718280.686 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-19T18:38:00.687Z,1363718280.687 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-19T18:38:00.689Z,1363718280.689 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-19T18:38:00.690Z,1363718280.690 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-19T18:38:00.701Z,1363718280.701 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-19T18:38:00.702Z,1363718280.702 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-19T18:38:00.707Z,1363718280.707 [Supervisor](DEBUG): Running supervisor.
2013-03-19T18:38:00.708Z,1363718280.708 [CommandLine](INFO): Thread ID is 752
2013-03-19T18:38:00.711Z,1363718280.711 [controlThread](INFO): Thread ID is 751
2013-03-19T18:38:00.711Z,1363718280.711 [controlThread](DEBUG): Initializing ControlThread
2013-03-19T18:38:00.712Z,1363718280.712 [CycleStarter](INFO): Thread ID is 750
2013-03-19T18:38:00.712Z,1363718280.712 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-19T18:38:00.819Z,1363718280.819 [logger](INFO): Thread ID is 753
2013-03-19T18:38:00.952Z,1363718280.952 [AsyncPiEstimator](INFO): Thread ID is 816
2013-03-19T18:38:00.952Z,1363718280.952 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-19T18:38:01.051Z,1363718281.051 [DVL_micro](INFO): Thread ID is 817
2013-03-19T18:38:01.070Z,1363718281.070 [DVL_micro](INFO): Initializing
2013-03-19T18:38:01.070Z,1363718281.070 [DVL_micro](INFO): start:Powering up
2013-03-19T18:38:01.071Z,1363718281.071 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-19T18:38:01.072Z,1363718281.072 [DVL_micro](INFO): Cycling power to configure device.
2013-03-19T18:38:01.077Z,1363718281.077 [CTD_NeilBrown](INFO): Thread ID is 818
2013-03-19T18:38:01.078Z,1363718281.078 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-19T18:38:01.080Z,1363718281.080 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-19T18:38:01.139Z,1363718281.139 [WetLabsBB2FL](INFO): Thread ID is 819
2013-03-19T18:38:01.139Z,1363718281.139 [WetLabsBB2FL](INFO): Powering down
2013-03-19T18:38:01.172Z,1363718281.172 [SBIT](INFO): Initialize SBIT Component.
2013-03-19T18:38:01.172Z,1363718281.172 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10234
2013-03-19T18:38:01.173Z,1363718281.173 [IBIT](INFO): Initialize IBIT Component.
2013-03-19T18:38:01.174Z,1363718281.174 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-19T18:38:01.187Z,1363718281.187 [NavChartDb](INFO): Thread ID is 820
2013-03-19T18:38:01.190Z,1363718281.190 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-19T18:38:01.191Z,1363718281.191 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-19T18:38:01.201Z,1363718281.201 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-19T18:38:01.202Z,1363718281.202 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-19T18:38:01.203Z,1363718281.203 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-19T18:38:01.203Z,1363718281.203 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-19T18:38:01.203Z,1363718281.203 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-19T18:38:01.203Z,1363718281.203 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-19T18:38:01.204Z,1363718281.204 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-19T18:38:01.204Z,1363718281.204 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-19T18:38:01.204Z,1363718281.204 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-19T18:38:01.216Z,1363718281.216 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-19T18:38:01.216Z,1363718281.216 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-19T18:38:01.217Z,1363718281.217 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-19T18:38:01.217Z,1363718281.217 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-19T18:38:01.217Z,1363718281.217 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-19T18:38:01.227Z,1363718281.227 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-19T18:38:01.227Z,1363718281.227 [Navigation](DEBUG): Initializing Navigation.
2013-03-19T18:38:01.228Z,1363718281.228 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-19T18:38:01.230Z,1363718281.230 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-19T18:38:01.235Z,1363718281.234 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-19T18:38:01.235Z,1363718281.235 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-19T18:38:02.909Z,1363718282.909 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-19T18:38:02.982Z,1363718282.982 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-19T18:38:03.040Z,1363718283.040 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:38:03.083Z,1363718283.083 [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>


2013-03-19T18:38:03.084Z,1363718283.084 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-19T18:38:03.127Z,1363718283.127 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-19T18:38:03.127Z,1363718283.127 [DVL_micro](INFO): Querying output modes
2013-03-19T18:38:03.127Z,1363718283.127 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-19T18:38:03.138Z,1363718283.138 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-19T18:38:03.139Z,1363718283.139 [DVL_micro](INFO): NQ1 output enabled
2013-03-19T18:38:03.139Z,1363718283.139 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-19T18:38:03.151Z,1363718283.151 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-19T18:38:03.155Z,1363718283.155 [DVL_micro](INFO): pause:Powering down
2013-03-19T18:38:03.174Z,1363718283.174 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-19T18:38:03.176Z,1363718283.176 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-19T18:38:03.179Z,1363718283.180 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:38:03.219Z,1363718283.219 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-19T18:38:03.226Z,1363718283.226 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:38:03.233Z,1363718283.233 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-19T18:38:03.266Z,1363718283.266 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-19T18:38:03.269Z,1363718283.269 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:38:03.297Z,1363718283.297 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-19T18:38:03.313Z,1363718283.313 [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>


2013-03-19T18:38:03.317Z,1363718283.317 [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,
2013-03-19T18:38:03.374Z,1363718283.374 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-19T18:38:03.431Z,1363718283.431 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-03-19T18:38:03.609Z,1363718283.609 [Radio_Freewave](INFO): Powering up
2013-03-19T18:38:03.933Z,1363718283.932 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:38:03.959Z,1363718283.959 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-19T18:38:03.966Z,1363718283.966 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:38:03.967Z,1363718283.967 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-19T18:38:04.005Z,1363718284.005 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:38:04.011Z,1363718284.011 [MassServo](DEBUG): Initializing MassServo.
2013-03-19T18:38:04.018Z,1363718284.018 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:38:04.035Z,1363718284.035 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-19T18:38:04.041Z,1363718284.041 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:38:04.063Z,1363718284.063 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-19T18:38:05.023Z,1363718285.023 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-03-19T18:38:05.023Z,1363718285.023 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-03-19T18:38:05.023Z,1363718285.023 [BuoyancyServo] Communications Fault, FailCount= 1
2013-03-19T18:38:05.023Z,1363718285.023 [BuoyancyServo](ERROR): Communications Fault
2013-03-19T18:38:05.229Z,1363718285.229 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-03-19T18:38:05.478Z,1363718285.478 [NAL9602](INFO): Powering up NAL9602
2013-03-19T18:38:05.538Z,1363718285.538 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-19T18:38:05.539Z,1363718285.539 [BuoyancyServo](INFO): Powering down
2013-03-19T18:38:06.835Z,1363718286.835 [Aanderaa_O2](INFO): Powering down
2013-03-19T18:38:07.821Z,1363718287.821 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-03-19T18:38:07.821Z,1363718287.821 [BuoyancyServo] No Fault, FailCount= 1
2013-03-19T18:38:08.212Z,1363718288.212 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:38:08.335Z,1363718288.335 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-19T18:38:16.095Z,1363718296.095 [NAL9602](INFO): NAL9602 initialized
2013-03-19T18:38:16.484Z,1363718296.484 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-19T18:38:16.491Z,1363718296.491 [CBIT](IMPORTANT): Beginning GF scan
2013-03-19T18:38:34.876Z,1363718314.876 [NAL9602](IMPORTANT): GPS fix at: 1363718252.00