2013-03-19T18:39:25.782Z,1363718365.782 [Supervisor](DEBUG): Initializing supervisor.
2013-03-19T18:39:25.786Z,1363718365.786 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-19T18:39:25.787Z,1363718365.787 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-19T18:39:25.790Z,1363718365.790 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-19T18:39:25.794Z,1363718365.794 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-19T18:39:25.805Z,1363718365.805 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-19T18:39:25.806Z,1363718365.806 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-19T18:39:25.807Z,1363718365.807 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-19T18:39:25.810Z,1363718365.810 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-19T18:39:25.811Z,1363718365.811 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-19T18:39:25.815Z,1363718365.815 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-19T18:39:26.126Z,1363718366.126 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-19T18:39:26.126Z,1363718366.126 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-19T18:39:26.330Z,1363718366.330 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-19T18:39:26.331Z,1363718366.330 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-19T18:39:26.426Z,1363718366.426 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-19T18:39:26.428Z,1363718366.428 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-19T18:39:26.630Z,1363718366.630 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-19T18:39:26.631Z,1363718366.631 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-19T18:39:26.779Z,1363718366.779 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-19T18:39:26.781Z,1363718366.781 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-19T18:39:27.034Z,1363718367.034 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-19T18:39:27.034Z,1363718367.034 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-19T18:39:27.223Z,1363718367.223 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-19T18:39:27.225Z,1363718367.225 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-19T18:39:27.496Z,1363718367.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-19T18:39:27.498Z,1363718367.498 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-19T18:39:27.611Z,1363718367.611 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-19T18:39:27.612Z,1363718367.612 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-19T18:39:28.052Z,1363718368.052 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-19T18:39:28.052Z,1363718368.052 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-19T18:39:28.180Z,1363718368.180 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-19T18:39:28.180Z,1363718368.180 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-19T18:39:28.271Z,1363718368.272 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-19T18:39:28.275Z,1363718368.276 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-19T18:39:28.386Z,1363718368.386 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-19T18:39:28.528Z,1363718368.528 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-19T18:39:28.694Z,1363718368.694 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-19T18:39:28.806Z,1363718368.806 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-19T18:39:28.915Z,1363718368.915 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-19T18:39:29.046Z,1363718369.046 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-19T18:39:29.154Z,1363718369.154 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-19T18:39:29.330Z,1363718369.330 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-19T18:39:31.344Z,1363718371.344 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-19T18:39:31.555Z,1363718371.555 [InternalSim] Loaded
2013-03-19T18:39:31.555Z,1363718371.555 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-19T18:39:31.556Z,1363718371.556 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-19T18:39:31.557Z,1363718371.557 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-19T18:39:31.638Z,1363718371.638 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-19T18:39:31.670Z,1363718371.670 [SBIT] Loaded
2013-03-19T18:39:31.671Z,1363718371.671 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-19T18:39:31.672Z,1363718371.672 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-19T18:39:31.704Z,1363718371.704 [IBIT] Loaded
2013-03-19T18:39:31.704Z,1363718371.704 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-19T18:39:31.707Z,1363718371.707 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-19T18:39:31.838Z,1363718371.838 [CBIT] Loaded
2013-03-19T18:39:31.838Z,1363718371.838 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-19T18:39:31.839Z,1363718371.839 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-19T18:39:31.839Z,1363718371.839 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-19T18:39:32.016Z,1363718372.016 [BuoyancyServo] Loaded
2013-03-19T18:39:32.016Z,1363718372.016 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-19T18:39:32.029Z,1363718372.029 [ElevatorServo] Loaded
2013-03-19T18:39:32.029Z,1363718372.029 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-19T18:39:32.045Z,1363718372.045 [MassServo] Loaded
2013-03-19T18:39:32.045Z,1363718372.045 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-19T18:39:32.057Z,1363718372.057 [RudderServo] Loaded
2013-03-19T18:39:32.057Z,1363718372.057 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-19T18:39:32.069Z,1363718372.069 [ThrusterServo] Loaded
2013-03-19T18:39:32.069Z,1363718372.069 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-19T18:39:32.070Z,1363718372.070 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-19T18:39:32.070Z,1363718372.070 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-19T18:39:32.103Z,1363718372.103 [DepthRateCalculator] Loaded
2013-03-19T18:39:32.104Z,1363718372.104 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-19T18:39:35.747Z,1363718375.747 [HFRadarModelCalc] Loaded
2013-03-19T18:39:35.747Z,1363718375.747 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-19T18:39:35.763Z,1363718375.763 [NavChart] Loaded
2013-03-19T18:39:35.763Z,1363718375.763 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-19T18:39:35.769Z,1363718375.769 [PitchRateCalculator] Loaded
2013-03-19T18:39:35.769Z,1363718375.769 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-19T18:39:35.775Z,1363718375.775 [SpeedCalculator] Loaded
2013-03-19T18:39:35.776Z,1363718375.776 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-19T18:39:35.795Z,1363718375.795 [TempGradientCalculator] Loaded
2013-03-19T18:39:35.795Z,1363718375.795 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-19T18:39:35.801Z,1363718375.801 [YawRateCalculator] Loaded
2013-03-19T18:39:35.801Z,1363718375.801 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-19T18:39:35.846Z,1363718375.846 [Navigation] Loaded
2013-03-19T18:39:35.846Z,1363718375.846 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-19T18:39:35.846Z,1363718375.846 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-19T18:39:35.847Z,1363718375.847 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-19T18:39:36.133Z,1363718376.133 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-19T18:39:36.134Z,1363718376.134 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-19T18:39:36.172Z,1363718376.172 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-19T18:39:36.172Z,1363718376.172 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-19T18:39:36.236Z,1363718376.236 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-19T18:39:36.337Z,1363718376.337 [VerticalControl] Loaded
2013-03-19T18:39:36.337Z,1363718376.337 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-19T18:39:36.338Z,1363718376.338 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-19T18:39:36.403Z,1363718376.403 [HorizontalControl] Loaded
2013-03-19T18:39:36.403Z,1363718376.404 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-19T18:39:36.405Z,1363718376.405 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-19T18:39:36.406Z,1363718376.406 [SpeedControl] Loaded
2013-03-19T18:39:36.407Z,1363718376.407 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-19T18:39:36.407Z,1363718376.407 [LoopControl](DEBUG): Construct LoopControl.
2013-03-19T18:39:36.408Z,1363718376.408 [LoopControl] Loaded
2013-03-19T18:39:36.408Z,1363718376.408 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-19T18:39:36.409Z,1363718376.409 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-19T18:39:36.409Z,1363718376.409 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-19T18:39:36.417Z,1363718376.417 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-19T18:39:36.422Z,1363718376.422 [AsyncPiEstimator] Loaded
2013-03-19T18:39:36.423Z,1363718376.422 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-19T18:39:36.426Z,1363718376.426 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-19T18:39:36.427Z,1363718376.427 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-19T18:39:36.428Z,1363718376.428 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-19T18:39:36.614Z,1363718376.614 [AHRS_sp3003D] Loaded
2013-03-19T18:39:36.614Z,1363718376.614 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-19T18:39:36.900Z,1363718376.900 [Batt_Ocean_Server] Loaded
2013-03-19T18:39:36.900Z,1363718376.900 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-19T18:39:36.914Z,1363718376.914 [Depth_Keller] Loaded
2013-03-19T18:39:36.914Z,1363718376.914 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-19T18:39:36.919Z,1363718376.920 [DropWeight] Loaded
2013-03-19T18:39:36.920Z,1363718376.920 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-19T18:39:37.115Z,1363718377.115 [DVL_micro] Loaded
2013-03-19T18:39:37.115Z,1363718377.115 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-19T18:39:37.118Z,1363718377.118 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-19T18:39:37.209Z,1363718377.209 [NAL9602] Loaded
2013-03-19T18:39:37.209Z,1363718377.209 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-19T18:39:37.264Z,1363718377.264 [Onboard] Loaded
2013-03-19T18:39:37.265Z,1363718377.265 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-19T18:39:37.275Z,1363718377.276 [Radio_Freewave] Loaded
2013-03-19T18:39:37.276Z,1363718377.276 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-19T18:39:37.277Z,1363718377.277 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-19T18:39:37.277Z,1363718377.277 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-19T18:39:37.362Z,1363718377.362 [Aanderaa_O2] Loaded
2013-03-19T18:39:37.363Z,1363718377.363 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-19T18:39:37.403Z,1363718377.404 [CTD_NeilBrown] Loaded
2013-03-19T18:39:37.404Z,1363718377.404 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-19T18:39:37.406Z,1363718377.406 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-19T18:39:37.423Z,1363718377.423 [PAR_Licor] Loaded
2013-03-19T18:39:37.423Z,1363718377.423 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-19T18:39:37.457Z,1363718377.457 [WetLabsBB2FL] Loaded
2013-03-19T18:39:37.457Z,1363718377.457 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-19T18:39:37.458Z,1363718377.458 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-19T18:39:37.459Z,1363718377.459 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-19T18:39:37.461Z,1363718377.461 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-19T18:39:37.462Z,1363718377.462 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-19T18:39:37.473Z,1363718377.473 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-19T18:39:37.474Z,1363718377.474 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-19T18:39:37.479Z,1363718377.479 [Supervisor](DEBUG): Running supervisor.
2013-03-19T18:39:37.480Z,1363718377.480 [CommandLine](INFO): Thread ID is 749
2013-03-19T18:39:37.483Z,1363718377.483 [controlThread](INFO): Thread ID is 748
2013-03-19T18:39:37.483Z,1363718377.483 [controlThread](DEBUG): Initializing ControlThread
2013-03-19T18:39:37.484Z,1363718377.484 [CycleStarter](INFO): Thread ID is 747
2013-03-19T18:39:37.484Z,1363718377.484 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-19T18:39:37.590Z,1363718377.590 [logger](INFO): Thread ID is 750
2013-03-19T18:39:37.727Z,1363718377.727 [AsyncPiEstimator](INFO): Thread ID is 814
2013-03-19T18:39:37.727Z,1363718377.727 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-19T18:39:37.831Z,1363718377.831 [DVL_micro](INFO): Thread ID is 815
2013-03-19T18:39:37.850Z,1363718377.850 [DVL_micro](INFO): Initializing
2013-03-19T18:39:37.850Z,1363718377.850 [DVL_micro](INFO): start:Powering up
2013-03-19T18:39:37.851Z,1363718377.851 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-19T18:39:37.852Z,1363718377.852 [DVL_micro](INFO): Cycling power to configure device.
2013-03-19T18:39:37.862Z,1363718377.862 [CTD_NeilBrown](INFO): Thread ID is 816
2013-03-19T18:39:37.863Z,1363718377.863 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-19T18:39:37.875Z,1363718377.875 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-19T18:39:37.935Z,1363718377.935 [WetLabsBB2FL](INFO): Thread ID is 817
2013-03-19T18:39:37.936Z,1363718377.935 [WetLabsBB2FL](INFO): Powering down
2013-03-19T18:39:37.957Z,1363718377.957 [SBIT](INFO): Initialize SBIT Component.
2013-03-19T18:39:37.958Z,1363718377.958 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10234
2013-03-19T18:39:37.963Z,1363718377.963 [NavChartDb](INFO): Thread ID is 818
2013-03-19T18:39:37.969Z,1363718377.969 [IBIT](INFO): Initialize IBIT Component.
2013-03-19T18:39:37.970Z,1363718377.970 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-19T18:39:37.971Z,1363718377.971 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-19T18:39:37.973Z,1363718377.973 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-19T18:39:37.974Z,1363718377.974 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-19T18:39:37.974Z,1363718377.974 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-19T18:39:37.975Z,1363718377.975 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-19T18:39:37.975Z,1363718377.975 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-19T18:39:37.975Z,1363718377.975 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-19T18:39:37.975Z,1363718377.975 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-19T18:39:37.975Z,1363718377.976 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-19T18:39:37.976Z,1363718377.976 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-19T18:39:37.977Z,1363718377.977 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2013-03-19T18:39:38.008Z,1363718378.008 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-19T18:39:38.008Z,1363718378.008 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-19T18:39:38.009Z,1363718378.009 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-19T18:39:38.009Z,1363718378.009 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-19T18:39:38.009Z,1363718378.009 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-19T18:39:38.023Z,1363718378.023 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-19T18:39:38.023Z,1363718378.023 [Navigation](DEBUG): Initializing Navigation.
2013-03-19T18:39:38.024Z,1363718378.024 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-19T18:39:38.026Z,1363718378.026 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-19T18:39:38.026Z,1363718378.026 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-19T18:39:38.027Z,1363718378.027 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-19T18:39:39.838Z,1363718379.838 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-19T18:39:39.959Z,1363718379.959 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-19T18:39:39.959Z,1363718379.959 [DVL_micro](INFO): Querying output modes
2013-03-19T18:39:39.960Z,1363718379.960 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-19T18:39:39.968Z,1363718379.968 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-19T18:39:39.971Z,1363718379.971 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-19T18:39:39.971Z,1363718379.971 [DVL_micro](INFO): NQ1 output enabled
2013-03-19T18:39:39.971Z,1363718379.971 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-19T18:39:39.983Z,1363718379.983 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-19T18:39:39.990Z,1363718379.990 [DVL_micro](INFO): pause:Powering down
2013-03-19T18:39:40.040Z,1363718380.040 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:39:40.068Z,1363718380.068 [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>


2013-03-19T18:39:40.069Z,1363718380.069 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-19T18:39:40.909Z,1363718380.909 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-19T18:39:40.931Z,1363718380.931 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-19T18:39:40.934Z,1363718380.934 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:39:40.950Z,1363718380.950 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-19T18:39:40.967Z,1363718380.967 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:39:40.973Z,1363718380.973 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-19T18:39:40.998Z,1363718380.998 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-19T18:39:41.001Z,1363718381.001 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:39:41.034Z,1363718381.034 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-19T18:39:41.038Z,1363718381.038 [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>


2013-03-19T18:39:41.051Z,1363718381.051 [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,
2013-03-19T18:39:41.103Z,1363718381.103 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-19T18:39:41.165Z,1363718381.165 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-03-19T18:39:41.263Z,1363718381.263 [Radio_Freewave](INFO): Powering up
2013-03-19T18:39:41.580Z,1363718381.580 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:39:41.583Z,1363718381.583 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-19T18:39:41.589Z,1363718381.589 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:39:41.595Z,1363718381.595 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-19T18:39:41.600Z,1363718381.601 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:39:41.627Z,1363718381.627 [MassServo](DEBUG): Initializing MassServo.
2013-03-19T18:39:41.648Z,1363718381.648 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:39:41.655Z,1363718381.655 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-19T18:39:41.660Z,1363718381.660 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:39:41.667Z,1363718381.667 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-19T18:39:42.623Z,1363718382.622 [BuoyancyServo](ERROR): Buoyancy initialization uart error serial timeout
2013-03-19T18:39:42.623Z,1363718382.623 [BuoyancyServo](FAULT): Buoyancy failed to initialize
2013-03-19T18:39:42.623Z,1363718382.623 [BuoyancyServo] Communications Fault, FailCount= 1
2013-03-19T18:39:42.623Z,1363718382.623 [BuoyancyServo](ERROR): Communications Fault
2013-03-19T18:39:42.861Z,1363718382.861 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2013-03-19T18:39:43.066Z,1363718383.066 [NAL9602](INFO): Powering up NAL9602
2013-03-19T18:39:43.108Z,1363718383.108 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-03-19T18:39:43.109Z,1363718383.109 [BuoyancyServo](INFO): Powering down
2013-03-19T18:39:44.403Z,1363718384.403 [Aanderaa_O2](INFO): Powering down
2013-03-19T18:39:45.453Z,1363718385.453 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2013-03-19T18:39:45.453Z,1363718385.453 [BuoyancyServo] No Fault, FailCount= 1
2013-03-19T18:39:45.728Z,1363718385.728 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:39:45.863Z,1363718385.863 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.