2013-03-19T18:40:42.641Z,1363718442.641 [Supervisor](DEBUG): Initializing supervisor.
2013-03-19T18:40:42.647Z,1363718442.647 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-03-19T18:40:42.647Z,1363718442.647 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-03-19T18:40:42.651Z,1363718442.651 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-03-19T18:40:42.654Z,1363718442.654 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-03-19T18:40:42.665Z,1363718442.665 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-03-19T18:40:42.667Z,1363718442.667 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-03-19T18:40:42.668Z,1363718442.668 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-03-19T18:40:42.671Z,1363718442.671 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-03-19T18:40:42.671Z,1363718442.671 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-03-19T18:40:42.675Z,1363718442.675 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-03-19T18:40:42.986Z,1363718442.986 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-03-19T18:40:42.987Z,1363718442.987 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-03-19T18:40:43.187Z,1363718443.187 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-03-19T18:40:43.188Z,1363718443.188 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-03-19T18:40:43.285Z,1363718443.286 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-03-19T18:40:43.287Z,1363718443.287 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-03-19T18:40:43.487Z,1363718443.487 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-03-19T18:40:43.488Z,1363718443.488 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-03-19T18:40:43.635Z,1363718443.635 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-03-19T18:40:43.637Z,1363718443.637 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-03-19T18:40:43.890Z,1363718443.890 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-03-19T18:40:43.891Z,1363718443.891 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-03-19T18:40:44.079Z,1363718444.079 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-03-19T18:40:44.081Z,1363718444.081 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-03-19T18:40:44.364Z,1363718444.364 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-03-19T18:40:44.366Z,1363718444.366 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-03-19T18:40:44.479Z,1363718444.479 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-03-19T18:40:44.480Z,1363718444.480 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-03-19T18:40:44.912Z,1363718444.912 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-03-19T18:40:44.913Z,1363718444.912 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-03-19T18:40:45.039Z,1363718445.039 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-03-19T18:40:45.040Z,1363718445.040 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-03-19T18:40:45.142Z,1363718445.142 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-03-19T18:40:45.236Z,1363718445.236 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-03-19T18:40:45.347Z,1363718445.346 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-03-19T18:40:45.492Z,1363718445.492 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-03-19T18:40:45.656Z,1363718445.656 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-03-19T18:40:45.766Z,1363718445.766 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-03-19T18:40:45.876Z,1363718445.876 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-03-19T18:40:46.008Z,1363718446.008 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-03-19T18:40:46.112Z,1363718446.112 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-03-19T18:40:46.210Z,1363718446.210 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-03-19T18:40:46.237Z,1363718446.237 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-03-19T18:40:46.438Z,1363718446.438 [InternalSim] Loaded
2013-03-19T18:40:46.438Z,1363718446.438 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-03-19T18:40:46.439Z,1363718446.439 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-03-19T18:40:46.440Z,1363718446.440 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-03-19T18:40:46.524Z,1363718446.524 [SBIT](DEBUG): Construct Startup Built In Test.
2013-03-19T18:40:46.556Z,1363718446.556 [SBIT] Loaded
2013-03-19T18:40:46.557Z,1363718446.556 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-03-19T18:40:46.557Z,1363718446.557 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-03-19T18:40:46.590Z,1363718446.590 [IBIT] Loaded
2013-03-19T18:40:46.590Z,1363718446.590 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-03-19T18:40:46.593Z,1363718446.593 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-03-19T18:40:46.724Z,1363718446.724 [CBIT] Loaded
2013-03-19T18:40:46.724Z,1363718446.724 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-03-19T18:40:46.724Z,1363718446.724 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-03-19T18:40:46.725Z,1363718446.725 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-03-19T18:40:46.904Z,1363718446.904 [BuoyancyServo] Loaded
2013-03-19T18:40:46.904Z,1363718446.904 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-03-19T18:40:46.917Z,1363718446.917 [ElevatorServo] Loaded
2013-03-19T18:40:46.917Z,1363718446.917 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-03-19T18:40:46.933Z,1363718446.933 [MassServo] Loaded
2013-03-19T18:40:46.933Z,1363718446.933 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-03-19T18:40:46.945Z,1363718446.945 [RudderServo] Loaded
2013-03-19T18:40:46.945Z,1363718446.945 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-03-19T18:40:46.957Z,1363718446.957 [ThrusterServo] Loaded
2013-03-19T18:40:46.957Z,1363718446.957 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-03-19T18:40:46.958Z,1363718446.958 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-03-19T18:40:46.959Z,1363718446.959 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-03-19T18:40:46.992Z,1363718446.991 [DepthRateCalculator] Loaded
2013-03-19T18:40:46.992Z,1363718446.992 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-03-19T18:40:52.417Z,1363718452.417 [HFRadarModelCalc] Loaded
2013-03-19T18:40:52.417Z,1363718452.417 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-03-19T18:40:52.437Z,1363718452.437 [NavChart] Loaded
2013-03-19T18:40:52.437Z,1363718452.437 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-03-19T18:40:52.443Z,1363718452.443 [PitchRateCalculator] Loaded
2013-03-19T18:40:52.443Z,1363718452.443 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-03-19T18:40:52.450Z,1363718452.450 [SpeedCalculator] Loaded
2013-03-19T18:40:52.450Z,1363718452.450 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-03-19T18:40:52.465Z,1363718452.465 [TempGradientCalculator] Loaded
2013-03-19T18:40:52.465Z,1363718452.465 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-03-19T18:40:52.471Z,1363718452.471 [YawRateCalculator] Loaded
2013-03-19T18:40:52.471Z,1363718452.471 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-03-19T18:40:52.516Z,1363718452.516 [Navigation] Loaded
2013-03-19T18:40:52.516Z,1363718452.516 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-03-19T18:40:52.516Z,1363718452.516 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-03-19T18:40:52.517Z,1363718452.517 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-03-19T18:40:52.803Z,1363718452.803 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-03-19T18:40:52.804Z,1363718452.804 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-03-19T18:40:52.845Z,1363718452.845 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-03-19T18:40:52.846Z,1363718452.846 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-03-19T18:40:52.904Z,1363718452.904 [VerticalControl](DEBUG): Construct VerticalControl.
2013-03-19T18:40:53.013Z,1363718453.013 [VerticalControl] Loaded
2013-03-19T18:40:53.013Z,1363718453.013 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-03-19T18:40:53.014Z,1363718453.014 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-03-19T18:40:53.075Z,1363718453.075 [HorizontalControl] Loaded
2013-03-19T18:40:53.075Z,1363718453.075 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-03-19T18:40:53.076Z,1363718453.076 [SpeedControl](DEBUG): Construct SpeedControl.
2013-03-19T18:40:53.078Z,1363718453.078 [SpeedControl] Loaded
2013-03-19T18:40:53.078Z,1363718453.078 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-03-19T18:40:53.079Z,1363718453.079 [LoopControl](DEBUG): Construct LoopControl.
2013-03-19T18:40:53.080Z,1363718453.080 [LoopControl] Loaded
2013-03-19T18:40:53.080Z,1363718453.080 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-03-19T18:40:53.080Z,1363718453.080 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-03-19T18:40:53.081Z,1363718453.081 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-03-19T18:40:53.089Z,1363718453.089 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-03-19T18:40:53.094Z,1363718453.094 [AsyncPiEstimator] Loaded
2013-03-19T18:40:53.094Z,1363718453.094 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-03-19T18:40:53.099Z,1363718453.099 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 406A44E0
2013-03-19T18:40:53.099Z,1363718453.099 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-03-19T18:40:53.100Z,1363718453.100 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-03-19T18:40:53.285Z,1363718453.285 [AHRS_sp3003D] Loaded
2013-03-19T18:40:53.286Z,1363718453.286 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-03-19T18:40:53.571Z,1363718453.570 [Batt_Ocean_Server] Loaded
2013-03-19T18:40:53.571Z,1363718453.571 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-03-19T18:40:53.584Z,1363718453.584 [Depth_Keller] Loaded
2013-03-19T18:40:53.585Z,1363718453.585 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-03-19T18:40:53.590Z,1363718453.590 [DropWeight] Loaded
2013-03-19T18:40:53.590Z,1363718453.590 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-03-19T18:40:53.784Z,1363718453.783 [DVL_micro] Loaded
2013-03-19T18:40:53.784Z,1363718453.784 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-03-19T18:40:53.787Z,1363718453.787 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 407284E0
2013-03-19T18:40:53.877Z,1363718453.877 [NAL9602] Loaded
2013-03-19T18:40:53.877Z,1363718453.877 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-03-19T18:40:53.932Z,1363718453.932 [Onboard] Loaded
2013-03-19T18:40:53.932Z,1363718453.932 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-03-19T18:40:53.943Z,1363718453.943 [Radio_Freewave] Loaded
2013-03-19T18:40:53.943Z,1363718453.943 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-03-19T18:40:53.944Z,1363718453.944 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-03-19T18:40:53.945Z,1363718453.945 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-03-19T18:40:54.035Z,1363718454.035 [Aanderaa_O2] Loaded
2013-03-19T18:40:54.035Z,1363718454.035 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2013-03-19T18:40:54.067Z,1363718454.067 [CTD_NeilBrown] Loaded
2013-03-19T18:40:54.068Z,1363718454.068 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-03-19T18:40:54.071Z,1363718454.071 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2013-03-19T18:40:54.087Z,1363718454.087 [PAR_Licor] Loaded
2013-03-19T18:40:54.087Z,1363718454.087 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-03-19T18:40:54.121Z,1363718454.121 [WetLabsBB2FL] Loaded
2013-03-19T18:40:54.121Z,1363718454.121 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-03-19T18:40:54.123Z,1363718454.123 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2013-03-19T18:40:54.123Z,1363718454.123 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-03-19T18:40:54.126Z,1363718454.126 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-03-19T18:40:54.126Z,1363718454.126 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-03-19T18:40:54.137Z,1363718454.137 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-03-19T18:40:54.139Z,1363718454.139 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2013-03-19T18:40:54.143Z,1363718454.143 [Supervisor](DEBUG): Running supervisor.
2013-03-19T18:40:54.144Z,1363718454.144 [CommandLine](INFO): Thread ID is 749
2013-03-19T18:40:54.147Z,1363718454.147 [controlThread](INFO): Thread ID is 748
2013-03-19T18:40:54.147Z,1363718454.148 [controlThread](DEBUG): Initializing ControlThread
2013-03-19T18:40:54.148Z,1363718454.148 [CycleStarter](INFO): Thread ID is 747
2013-03-19T18:40:54.148Z,1363718454.148 [InternalSim](DEBUG):  InternalSim initializing...
2013-03-19T18:40:54.254Z,1363718454.254 [logger](INFO): Thread ID is 750
2013-03-19T18:40:54.371Z,1363718454.371 [AsyncPiEstimator](INFO): Thread ID is 811
2013-03-19T18:40:54.371Z,1363718454.371 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-03-19T18:40:54.454Z,1363718454.454 [DVL_micro](INFO): Thread ID is 812
2013-03-19T18:40:54.481Z,1363718454.481 [DVL_micro](INFO): Initializing
2013-03-19T18:40:54.481Z,1363718454.481 [DVL_micro](INFO): start:Powering up
2013-03-19T18:40:54.483Z,1363718454.483 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-19T18:40:54.483Z,1363718454.483 [DVL_micro](INFO): Cycling power to configure device.
2013-03-19T18:40:54.487Z,1363718454.487 [CTD_NeilBrown](INFO): Thread ID is 813
2013-03-19T18:40:54.488Z,1363718454.488 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-03-19T18:40:54.499Z,1363718454.499 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-03-19T18:40:54.535Z,1363718454.535 [WetLabsBB2FL](INFO): Thread ID is 814
2013-03-19T18:40:54.536Z,1363718454.536 [WetLabsBB2FL](INFO): Powering down
2013-03-19T18:40:54.559Z,1363718454.559 [NavChartDb](INFO): Thread ID is 815
2013-03-19T18:40:54.567Z,1363718454.567 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-03-19T18:40:54.568Z,1363718454.568 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-03-19T18:40:54.568Z,1363718454.568 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-03-19T18:40:54.569Z,1363718454.569 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-03-19T18:40:54.569Z,1363718454.569 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-03-19T18:40:54.569Z,1363718454.569 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-03-19T18:40:54.569Z,1363718454.569 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-03-19T18:40:54.570Z,1363718454.570 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-03-19T18:40:54.570Z,1363718454.570 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-03-19T18:40:54.604Z,1363718454.604 [SBIT](INFO): Initialize SBIT Component.
2013-03-19T18:40:54.605Z,1363718454.605 [SBIT](IMPORTANT): Tethys CM Info:
$Rev: 10234
2013-03-19T18:40:54.605Z,1363718454.605 [IBIT](INFO): Initialize IBIT Component.
2013-03-19T18:40:54.606Z,1363718454.606 [CBIT](DEBUG): Initialize CBIT Component.
2013-03-19T18:40:54.606Z,1363718454.606 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-03-19T18:40:54.607Z,1363718454.607 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-03-19T18:40:54.636Z,1363718454.636 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-03-19T18:40:54.637Z,1363718454.637 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-03-19T18:40:54.637Z,1363718454.637 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-03-19T18:40:54.638Z,1363718454.638 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-03-19T18:40:54.638Z,1363718454.638 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-03-19T18:40:54.656Z,1363718454.656 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-03-19T18:40:54.656Z,1363718454.656 [Navigation](DEBUG): Initializing Navigation.
2013-03-19T18:40:54.657Z,1363718454.657 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-03-19T18:40:54.658Z,1363718454.658 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-03-19T18:40:54.659Z,1363718454.659 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-03-19T18:40:54.660Z,1363718454.660 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-03-19T18:40:56.413Z,1363718456.413 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-03-19T18:40:56.496Z,1363718456.496 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-03-19T18:40:56.541Z,1363718456.541 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:40:56.563Z,1363718456.563 [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>


2013-03-19T18:40:56.564Z,1363718456.564 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-03-19T18:40:56.615Z,1363718456.615 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-03-19T18:40:56.615Z,1363718456.615 [DVL_micro](INFO): Querying output modes
2013-03-19T18:40:56.616Z,1363718456.616 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-03-19T18:40:56.627Z,1363718456.627 [DVL_micro](DEBUG): cmdResponse: 01
2013-03-19T18:40:56.627Z,1363718456.627 [DVL_micro](INFO): NQ1 output enabled
2013-03-19T18:40:56.627Z,1363718456.627 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-03-19T18:40:56.639Z,1363718456.639 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-03-19T18:40:56.644Z,1363718456.644 [DVL_micro](INFO): pause:Powering down
2013-03-19T18:40:56.654Z,1363718456.654 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-03-19T18:40:56.656Z,1363718456.657 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-03-19T18:40:56.660Z,1363718456.660 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:40:56.703Z,1363718456.704 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-03-19T18:40:56.723Z,1363718456.723 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:40:56.729Z,1363718456.729 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-03-19T18:40:56.747Z,1363718456.747 [Default:D.SetSpeed](DEBUG): Construct.
2013-03-19T18:40:56.750Z,1363718456.750 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-03-19T18:40:56.771Z,1363718456.771 [Default:F.Wait](DEBUG): Construct Wait.
2013-03-19T18:40:56.799Z,1363718456.799 [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>


2013-03-19T18:40:56.803Z,1363718456.803 [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,
2013-03-19T18:40:56.851Z,1363718456.851 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-03-19T18:40:57.247Z,1363718457.247 [Radio_Freewave](INFO): Powering up
2013-03-19T18:40:57.710Z,1363718457.710 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:40:57.715Z,1363718457.715 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-03-19T18:40:57.733Z,1363718457.733 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:40:57.739Z,1363718457.739 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-03-19T18:40:57.745Z,1363718457.745 [MassServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:40:57.751Z,1363718457.751 [MassServo](DEBUG): Initializing MassServo.
2013-03-19T18:40:57.757Z,1363718457.757 [RudderServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:40:57.803Z,1363718457.803 [RudderServo](DEBUG): Initializing RudderServo.
2013-03-19T18:40:57.809Z,1363718457.809 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-03-19T18:40:57.819Z,1363718457.819 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-03-19T18:40:59.111Z,1363718459.111 [NAL9602](INFO): Powering up NAL9602
2013-03-19T18:41:00.107Z,1363718460.107 [Aanderaa_O2](INFO): Powering down
2013-03-19T18:41:09.651Z,1363718469.651 [NAL9602](INFO): NAL9602 initialized
2013-03-19T18:41:10.185Z,1363718470.185 [SBIT](IMPORTANT): Beginning Startup BIT
2013-03-19T18:41:10.188Z,1363718470.188 [CBIT](IMPORTANT): Beginning GF scan
2013-03-19T18:41:34.090Z,1363718494.090 [NAL9602](IMPORTANT): GPS fix at: 1363718492.00
2013-03-19T18:41:36.970Z,1363718496.970 [CBIT](FAULT): Chan 4 High side GF detected
mA:
CHAN 5 (24V): 0.054426
CHAN 4 (Batt): 0.004017
CHAN 2 (12V): 0.000765
CHAN 1 (5V): 0.000574
CHAN 0 (3.3V): 0.000765
OPEN: 0.021809
Full Scale Calc: 0.392
2013-03-19T18:41:41.296Z,1363718501.296 [NAL9602](INFO): Powering down