2013-04-17T17:16:20.629Z,1366218980.629 [Supervisor](DEBUG): Initializing supervisor.
2013-04-17T17:16:20.632Z,1366218980.632 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-04-17T17:16:20.633Z,1366218980.633 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-04-17T17:16:20.634Z,1366218980.634 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-04-17T17:16:20.652Z,1366218980.652 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-04-17T17:16:20.663Z,1366218980.662 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-04-17T17:16:20.664Z,1366218980.664 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-04-17T17:16:20.664Z,1366218980.664 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-04-17T17:16:20.665Z,1366218980.665 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-04-17T17:16:20.666Z,1366218980.666 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-04-17T17:16:20.670Z,1366218980.670 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-04-17T17:16:21.025Z,1366218981.025 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-04-17T17:16:21.025Z,1366218981.025 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-04-17T17:16:21.237Z,1366218981.237 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-04-17T17:16:21.238Z,1366218981.238 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-04-17T17:16:21.319Z,1366218981.319 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-04-17T17:16:21.321Z,1366218981.321 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-04-17T17:16:21.496Z,1366218981.496 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-04-17T17:16:21.496Z,1366218981.496 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-04-17T17:16:21.631Z,1366218981.631 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-04-17T17:16:21.633Z,1366218981.633 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-04-17T17:16:21.862Z,1366218981.862 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-04-17T17:16:21.863Z,1366218981.862 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-04-17T17:16:22.028Z,1366218982.028 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-04-17T17:16:22.030Z,1366218982.030 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-04-17T17:16:22.276Z,1366218982.276 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-04-17T17:16:22.278Z,1366218982.279 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-04-17T17:16:22.373Z,1366218982.373 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-04-17T17:16:22.374Z,1366218982.374 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-04-17T17:16:22.767Z,1366218982.767 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-04-17T17:16:22.768Z,1366218982.768 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-04-17T17:16:22.878Z,1366218982.878 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-04-17T17:16:22.879Z,1366218982.879 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-04-17T17:16:22.960Z,1366218982.960 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-04-17T17:16:22.964Z,1366218982.964 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-04-17T17:16:23.062Z,1366218983.062 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-04-17T17:16:23.189Z,1366218983.189 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-04-17T17:16:23.271Z,1366218983.271 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-04-17T17:16:23.369Z,1366218983.369 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-04-17T17:16:23.465Z,1366218983.465 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-04-17T17:16:23.578Z,1366218983.578 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-04-17T17:16:23.667Z,1366218983.667 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-04-17T17:16:23.749Z,1366218983.749 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-04-17T17:16:23.777Z,1366218983.777 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-04-17T17:16:23.961Z,1366218983.961 [InternalSim] Loaded
2013-04-17T17:16:23.961Z,1366218983.961 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-04-17T17:16:23.962Z,1366218983.962 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-04-17T17:16:23.962Z,1366218983.962 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-04-17T17:16:24.041Z,1366218984.042 [SBIT](DEBUG): Construct Startup Built In Test.
2013-04-17T17:16:24.071Z,1366218984.071 [SBIT] Loaded
2013-04-17T17:16:24.071Z,1366218984.071 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-04-17T17:16:24.072Z,1366218984.072 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-04-17T17:16:24.103Z,1366218984.103 [IBIT] Loaded
2013-04-17T17:16:24.103Z,1366218984.103 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-04-17T17:16:24.106Z,1366218984.106 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-04-17T17:16:24.226Z,1366218984.226 [CBIT] Loaded
2013-04-17T17:16:24.226Z,1366218984.226 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-04-17T17:16:24.227Z,1366218984.227 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-04-17T17:16:24.228Z,1366218984.227 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-04-17T17:16:24.401Z,1366218984.401 [BuoyancyServo] Loaded
2013-04-17T17:16:24.401Z,1366218984.401 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-04-17T17:16:24.414Z,1366218984.414 [ElevatorServo] Loaded
2013-04-17T17:16:24.414Z,1366218984.414 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-04-17T17:16:24.426Z,1366218984.426 [MassServo] Loaded
2013-04-17T17:16:24.426Z,1366218984.426 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-04-17T17:16:24.438Z,1366218984.438 [RudderServo] Loaded
2013-04-17T17:16:24.439Z,1366218984.439 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-04-17T17:16:24.451Z,1366218984.451 [ThrusterServo] Loaded
2013-04-17T17:16:24.451Z,1366218984.451 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-04-17T17:16:24.451Z,1366218984.451 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-04-17T17:16:24.452Z,1366218984.452 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-04-17T17:16:24.484Z,1366218984.484 [DepthRateCalculator] Loaded
2013-04-17T17:16:24.485Z,1366218984.485 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-04-17T17:16:27.583Z,1366218987.583 [HFRadarModelCalc] Loaded
2013-04-17T17:16:27.583Z,1366218987.583 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-04-17T17:16:27.599Z,1366218987.599 [NavChart] Loaded
2013-04-17T17:16:27.599Z,1366218987.599 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-04-17T17:16:27.605Z,1366218987.605 [PitchRateCalculator] Loaded
2013-04-17T17:16:27.605Z,1366218987.605 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-04-17T17:16:27.612Z,1366218987.612 [SpeedCalculator] Loaded
2013-04-17T17:16:27.612Z,1366218987.612 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-04-17T17:16:27.628Z,1366218987.628 [TempGradientCalculator] Loaded
2013-04-17T17:16:27.628Z,1366218987.628 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-04-17T17:16:27.634Z,1366218987.634 [YawRateCalculator] Loaded
2013-04-17T17:16:27.634Z,1366218987.634 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-04-17T17:16:27.675Z,1366218987.675 [Navigation] Loaded
2013-04-17T17:16:27.675Z,1366218987.675 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-04-17T17:16:27.676Z,1366218987.676 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-04-17T17:16:27.676Z,1366218987.676 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-04-17T17:16:27.936Z,1366218987.936 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-04-17T17:16:27.937Z,1366218987.937 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-04-17T17:16:27.974Z,1366218987.974 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-04-17T17:16:27.975Z,1366218987.975 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-04-17T17:16:28.034Z,1366218988.034 [VerticalControl](DEBUG): Construct VerticalControl.
2013-04-17T17:16:28.130Z,1366218988.130 [VerticalControl] Loaded
2013-04-17T17:16:28.130Z,1366218988.130 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-04-17T17:16:28.131Z,1366218988.131 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-04-17T17:16:28.187Z,1366218988.187 [HorizontalControl] Loaded
2013-04-17T17:16:28.187Z,1366218988.187 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-04-17T17:16:28.188Z,1366218988.188 [SpeedControl](DEBUG): Construct SpeedControl.
2013-04-17T17:16:28.190Z,1366218988.190 [SpeedControl] Loaded
2013-04-17T17:16:28.190Z,1366218988.190 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-04-17T17:16:28.191Z,1366218988.191 [LoopControl](DEBUG): Construct LoopControl.
2013-04-17T17:16:28.192Z,1366218988.192 [LoopControl] Loaded
2013-04-17T17:16:28.192Z,1366218988.192 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-04-17T17:16:28.192Z,1366218988.192 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-04-17T17:16:28.193Z,1366218988.193 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-04-17T17:16:28.201Z,1366218988.201 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-04-17T17:16:28.206Z,1366218988.206 [AsyncPiEstimator] Loaded
2013-04-17T17:16:28.206Z,1366218988.206 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-04-17T17:16:28.207Z,1366218988.207 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-04-17T17:16:28.208Z,1366218988.208 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-04-17T17:16:28.209Z,1366218988.209 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-04-17T17:16:28.377Z,1366218988.377 [AHRS_sp3003D] Loaded
2013-04-17T17:16:28.377Z,1366218988.377 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-04-17T17:16:28.639Z,1366218988.639 [Batt_Ocean_Server] Loaded
2013-04-17T17:16:28.640Z,1366218988.639 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-04-17T17:16:28.653Z,1366218988.653 [Depth_Keller] Loaded
2013-04-17T17:16:28.653Z,1366218988.653 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-04-17T17:16:28.659Z,1366218988.659 [DropWeight] Loaded
2013-04-17T17:16:28.659Z,1366218988.659 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-04-17T17:16:28.834Z,1366218988.834 [DVL_micro] Loaded
2013-04-17T17:16:28.834Z,1366218988.834 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-04-17T17:16:28.835Z,1366218988.835 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406BF4E0
2013-04-17T17:16:28.918Z,1366218988.918 [NAL9602] Loaded
2013-04-17T17:16:28.918Z,1366218988.918 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-04-17T17:16:28.969Z,1366218988.969 [Onboard] Loaded
2013-04-17T17:16:28.969Z,1366218988.969 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-04-17T17:16:28.976Z,1366218988.976 [Radio_Freewave] Loaded
2013-04-17T17:16:28.976Z,1366218988.977 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-04-17T17:16:28.977Z,1366218988.977 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-04-17T17:16:28.978Z,1366218988.978 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-04-17T17:16:29.075Z,1366218989.075 [CTD_NeilBrown] Loaded
2013-04-17T17:16:29.075Z,1366218989.075 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-04-17T17:16:29.076Z,1366218989.076 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407114E0
2013-04-17T17:16:29.095Z,1366218989.095 [PAR_Licor] Loaded
2013-04-17T17:16:29.095Z,1366218989.095 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2013-04-17T17:16:29.126Z,1366218989.126 [WetLabsBB2FL] Loaded
2013-04-17T17:16:29.126Z,1366218989.126 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-04-17T17:16:29.127Z,1366218989.127 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407414E0
2013-04-17T17:16:29.128Z,1366218989.128 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-04-17T17:16:29.130Z,1366218989.130 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-04-17T17:16:29.131Z,1366218989.131 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-04-17T17:16:29.141Z,1366218989.141 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-04-17T17:16:29.142Z,1366218989.142 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407714E0
2013-04-17T17:16:29.147Z,1366218989.147 [Supervisor](DEBUG): Running supervisor.
2013-04-17T17:16:29.148Z,1366218989.148 [CommandLine](INFO): Thread ID is 1243
2013-04-17T17:16:29.152Z,1366218989.151 [controlThread](INFO): Thread ID is 1242
2013-04-17T17:16:29.152Z,1366218989.152 [controlThread](DEBUG): Initializing ControlThread
2013-04-17T17:16:29.152Z,1366218989.152 [CycleStarter](INFO): Thread ID is 1241
2013-04-17T17:16:29.153Z,1366218989.153 [InternalSim](DEBUG):  InternalSim initializing...
2013-04-17T17:16:29.184Z,1366218989.184 [logger](INFO): Thread ID is 1244
2013-04-17T17:16:29.295Z,1366218989.295 [AsyncPiEstimator](INFO): Thread ID is 1305
2013-04-17T17:16:29.295Z,1366218989.295 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-04-17T17:16:29.311Z,1366218989.311 [DVL_micro](INFO): Thread ID is 1306
2013-04-17T17:16:29.507Z,1366218989.507 [CTD_NeilBrown](INFO): Thread ID is 1307
2013-04-17T17:16:29.507Z,1366218989.507 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-04-17T17:16:29.509Z,1366218989.509 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-04-17T17:16:29.523Z,1366218989.523 [WetLabsBB2FL](INFO): Thread ID is 1308
2013-04-17T17:16:29.524Z,1366218989.524 [WetLabsBB2FL](INFO): Powering down
2013-04-17T17:16:29.548Z,1366218989.548 [NavChartDb](INFO): Thread ID is 1309
2013-04-17T17:16:29.585Z,1366218989.585 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-04-17T17:16:29.585Z,1366218989.585 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-04-17T17:16:29.586Z,1366218989.586 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-04-17T17:16:29.586Z,1366218989.586 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-04-17T17:16:29.586Z,1366218989.586 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-04-17T17:16:29.587Z,1366218989.587 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-04-17T17:16:29.587Z,1366218989.587 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-04-17T17:16:29.587Z,1366218989.587 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-04-17T17:16:29.587Z,1366218989.587 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-04-17T17:16:29.589Z,1366218989.589 [DVL_micro](INFO): Initializing
2013-04-17T17:16:29.589Z,1366218989.589 [DVL_micro](INFO): start:Powering up
2013-04-17T17:16:29.590Z,1366218989.590 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-04-17T17:16:29.599Z,1366218989.599 [DVL_micro](INFO): Cycling power to configure device.
2013-04-17T17:16:29.617Z,1366218989.617 [SBIT](INFO): Initialize SBIT Component.
2013-04-17T17:16:29.618Z,1366218989.618 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10279
2013-04-17T17:16:29.618Z,1366218989.618 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-04-17T17:16:29.627Z,1366218989.627 [SBIT](FAULT): Kernel Reporting Different Version From Configuration.
Expected:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
Kernel Reported:#625 PREEMPT Mon Nov 5 10:42:26 PST 2012
2013-04-17T17:16:29.627Z,1366218989.627 [IBIT](INFO): Initialize IBIT Component.
2013-04-17T17:16:29.628Z,1366218989.628 [CBIT](DEBUG): Initialize CBIT Component.
2013-04-17T17:16:29.628Z,1366218989.628 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-04-17T17:16:29.628Z,1366218989.628 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-04-17T17:16:29.656Z,1366218989.656 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-04-17T17:16:29.656Z,1366218989.657 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-04-17T17:16:29.657Z,1366218989.657 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-04-17T17:16:29.657Z,1366218989.657 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-04-17T17:16:29.658Z,1366218989.658 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-04-17T17:16:29.659Z,1366218989.659 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-04-17T17:16:29.660Z,1366218989.660 [Navigation](DEBUG): Initializing Navigation.
2013-04-17T17:16:29.660Z,1366218989.660 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-04-17T17:16:29.662Z,1366218989.662 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-04-17T17:16:29.663Z,1366218989.663 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-04-17T17:16:29.664Z,1366218989.664 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-04-17T17:16:31.307Z,1366218991.307 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-04-17T17:16:31.338Z,1366218991.339 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-04-17T17:16:31.339Z,1366218991.339 [DropWeight] Hardware Fault, FailCount= 1
2013-04-17T17:16:31.339Z,1366218991.339 [DropWeight](ERROR): Hardware Fault
2013-04-17T17:16:31.347Z,1366218991.347 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-04-17T17:16:31.385Z,1366218991.385 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-17T17:16:31.428Z,1366218991.428 [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>


2013-04-17T17:16:31.428Z,1366218991.428 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-04-17T17:16:31.516Z,1366218991.516 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-04-17T17:16:31.518Z,1366218991.518 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-04-17T17:16:31.521Z,1366218991.521 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-17T17:16:31.545Z,1366218991.545 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-04-17T17:16:31.557Z,1366218991.557 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-17T17:16:31.565Z,1366218991.565 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-04-17T17:16:31.573Z,1366218991.573 [Default:D.SetSpeed](DEBUG): Construct.
2013-04-17T17:16:31.609Z,1366218991.609 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-04-17T17:16:31.613Z,1366218991.614 [Default:F.Wait](DEBUG): Construct Wait.
2013-04-17T17:16:31.635Z,1366218991.635 [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>


2013-04-17T17:16:31.651Z,1366218991.651 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,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,
2013-04-17T17:16:31.679Z,1366218991.679 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-04-17T17:16:31.679Z,1366218991.679 [DVL_micro](INFO): Querying output modes
2013-04-17T17:16:31.679Z,1366218991.680 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-04-17T17:16:31.686Z,1366218991.685 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-04-17T17:16:31.695Z,1366218991.694 [DVL_micro](DEBUG): cmdResponse: 01
2013-04-17T17:16:31.695Z,1366218991.695 [DVL_micro](INFO): NQ1 output enabled
2013-04-17T17:16:31.695Z,1366218991.695 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-04-17T17:16:31.707Z,1366218991.707 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-04-17T17:16:31.712Z,1366218991.712 [DVL_micro](INFO): pause:Powering down
2013-04-17T17:16:32.255Z,1366218992.255 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-04-17T17:16:32.262Z,1366218992.261 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-04-17T17:16:32.279Z,1366218992.279 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-04-17T17:16:32.287Z,1366218992.287 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-04-17T17:16:32.305Z,1366218992.305 [MassServo](DEBUG): Initializing EZServoServo.
2013-04-17T17:16:32.315Z,1366218992.315 [MassServo](DEBUG): Initializing MassServo.
2013-04-17T17:16:32.320Z,1366218992.320 [RudderServo](DEBUG): Initializing EZServoServo.
2013-04-17T17:16:32.327Z,1366218992.327 [RudderServo](DEBUG): Initializing RudderServo.
2013-04-17T17:16:32.344Z,1366218992.344 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-04-17T17:16:32.351Z,1366218992.351 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-04-17T17:16:32.378Z,1366218992.378 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-04-17T17:16:32.378Z,1366218992.378 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-04-17T17:16:33.956Z,1366218993.956 [NAL9602](INFO): Powering up NAL9602
2013-04-17T17:16:44.559Z,1366219004.559 [NAL9602](INFO): NAL9602 initialized
2013-04-17T17:16:45.029Z,1366219005.029 [SBIT](IMPORTANT): Beginning Startup BIT
2013-04-17T17:16:45.031Z,1366219005.031 [CBIT](IMPORTANT): Beginning GF scan
2013-04-17T17:16:58.166Z,1366219018.166 [SBIT](FAULT): Mass: EXPECTED:0.006000 ACTUAL:0.005885
2013-04-17T17:17:11.080Z,1366219031.080 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/tank_weight.xml
2013-04-17T17:17:11.081Z,1366219031.081 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/tank_weight.xml
2013-04-17T17:17:11.155Z,1366219031.155 [MissionManager](INFO): DefineArg tank_weight.BuoyancyLimitHiCC = 0.000955 n/a
2013-04-17T17:17:11.167Z,1366219031.167 [MissionManager](INFO): DefineArg tank_weight.BuoyancyLimitLoCC = 0.000080 n/a
2013-04-17T17:17:11.169Z,1366219031.169 [tank_weight:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2013-04-17T17:17:11.181Z,1366219031.181 [tank_weight:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2013-04-17T17:17:11.263Z,1366219031.263 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2013-04-17T17:17:11.662Z,1366219031.662 [MissionManager](INFO): DefineArg tank_weight:Science.SampleISUS = 0 bool
2013-04-17T17:17:11.677Z,1366219031.677 [MissionManager](INFO): DefineArg tank_weight:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2013-04-17T17:17:11.739Z,1366219031.739 [MissionManager](INFO): DefineArg tank_weight:Science.SampleISUSminPitch = -60.000000 arcdeg
2013-04-17T17:17:11.742Z,1366219031.742 [MissionManager](INFO): DefineArg tank_weight:Science.SampleRSSI = 1 bool
2013-04-17T17:17:11.757Z,1366219031.757 [MissionManager](INFO): DefineArg tank_weight:Science.SampleADCP = 1 bool
2013-04-17T17:17:11.761Z,1366219031.761 [CBIT](FAULT): Chan 0 High side GF detected
mA:
CHAN 5 (24V): 0.165191
CHAN 4 (Batt): 0.112487
CHAN 2 (12V): 0.077383
CHAN 1 (5V): 0.032713
CHAN 0 (3.3V): 0.021809
OPEN: 0.000765
Full Scale Calc: 0.392
2013-04-17T17:17:11.773Z,1366219031.773 [MissionManager](INFO): DefineArg tank_weight:Science.PeakDetectChlActive = 0 bool
2013-04-17T17:17:11.788Z,1366219031.788 [MissionManager](INFO): DefineArg tank_weight:Science.PeakDetectNO3Active = 0 bool
2013-04-17T17:17:11.814Z,1366219031.815 [MissionManager](INFO): DefineArg tank_weight:Science.PeakDetectRSSIActive = 0 bool
2013-04-17T17:17:11.817Z,1366219031.817 [MissionManager](INFO): DefineArg tank_weight:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2013-04-17T17:17:11.832Z,1366219031.832 [MissionManager](INFO): DefineArg tank_weight:Science.ComputeWaterCurrent = 0 bool
2013-04-17T17:17:11.855Z,1366219031.855 [MissionManager](INFO): DefineArg tank_weight:Science.ComputeWaterCurrentMinDepth = 2.000000 m
2013-04-17T17:17:11.867Z,1366219031.867 [MissionManager](INFO): DefineArg tank_weight:Science.ComputeWaterCurrentMaxDepth = 5.000000 m
2013-04-17T17:17:11.870Z,1366219031.870 [MissionManager](INFO): DefineArg tank_weight:Science.EnabledAanderaaO2 = 0.000000 n/a
2013-04-17T17:17:11.882Z,1366219031.882 [MissionManager](INFO): DefineArg tank_weight:Science.EnabledNeilBrown = 1.000000 n/a
2013-04-17T17:17:11.931Z,1366219031.931 [MissionManager](INFO): DefineArg tank_weight:Science.EnabledTurbulence_NPS = 0.000000 n/a
2013-04-17T17:17:11.948Z,1366219031.948 [MissionManager](INFO): DefineArg tank_weight:Science.EnabledWetLabsBB2FL = 1.000000 n/a
2013-04-17T17:17:11.960Z,1366219031.960 [MissionManager](INFO): DefineArg tank_weight:Science.EnabledDVL = 1.000000 n/a
2013-04-17T17:17:11.972Z,1366219031.972 [MissionManager](INFO): DefineArg tank_weight:Science.EnabledISUS = 0.000000 n/a
2013-04-17T17:17:11.984Z,1366219031.984 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakChl = 0.000000 ug/l
2013-04-17T17:17:12.024Z,1366219032.024 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakChlDepth = 0.000000 m
2013-04-17T17:17:12.047Z,1366219032.047 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakChlLatitude = nan arcdeg
2013-04-17T17:17:12.050Z,1366219032.050 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakChlLongitude = nan arcdeg
2013-04-17T17:17:12.073Z,1366219032.073 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakNO3 = 0.000000 umol/l
2013-04-17T17:17:12.089Z,1366219032.089 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakNO3Depth = 0.000000 m
2013-04-17T17:17:12.140Z,1366219032.141 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakNO3Latitude = nan arcdeg
2013-04-17T17:17:12.161Z,1366219032.161 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakNO3Longitude = nan arcdeg
2013-04-17T17:17:12.164Z,1366219032.164 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakRSSI = 0.000000 dB
2013-04-17T17:17:12.183Z,1366219032.183 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakRSSIDepth = 0.000000 m
2013-04-17T17:17:12.186Z,1366219032.186 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakRSSILatitude = nan arcdeg
2013-04-17T17:17:12.189Z,1366219032.189 [MissionManager](INFO): DefineOutput tank_weight:Science.PeakRSSILongitude = nan arcdeg
2013-04-17T17:17:12.348Z,1366219032.348 [tank_weight:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-04-17T17:17:12.373Z,1366219032.374 [tank_weight:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-04-17T17:17:12.449Z,1366219032.449 [tank_weight:Science:PeakDetectRSSI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2013-04-17T17:17:12.480Z,1366219032.480 [MissionManager](INFO): RedefineArg tank_weight:Science.SampleISUS = 1 bool
2013-04-17T17:17:12.482Z,1366219032.482 [tank_weight:D:A.SetSpeed](DEBUG): Construct.
2013-04-17T17:17:12.530Z,1366219032.530 [tank_weight:D:BuoyancyLo:A.Buoyancy](DEBUG): Construct Buoyancy.
2013-04-17T17:17:12.549Z,1366219032.549 [tank_weight:D:BuoyancyLo:B.Pitch](DEBUG): Construct.
2013-04-17T17:17:12.587Z,1366219032.587 [tank_weight:D:BuoyancyLo:C.Wait](DEBUG): Construct Wait.
2013-04-17T17:17:12.590Z,1366219032.590 [tank_weight:D:BuoyancyHi:A.Buoyancy](DEBUG): Construct Buoyancy.
2013-04-17T17:17:12.625Z,1366219032.625 [tank_weight:D:BuoyancyHi:B.Pitch](DEBUG): Construct.
2013-04-17T17:17:12.667Z,1366219032.667 [tank_weight:D:BuoyancyHi:C.Wait](DEBUG): Construct Wait.
2013-04-17T17:17:12.718Z,1366219032.718 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       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="tank_weight">

    <DefineArg Name="BuoyancyLimitHiCC"><Control:VerticalControl.buoyancyLimitHiCC/></DefineArg>

    <DefineArg Name="BuoyancyLimitLoCC"><Control:VerticalControl.buoyancyLimitLoCC/></DefineArg>

    <Timeout Duration="P75M"/>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>0</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>15</Value></Setting>
    </Guidance:DepthEnvelope>

    <Insert Filename="Insert/Science.xml">
        <RedefineArg Name="SampleISUS"><True/></RedefineArg>
    </Insert>

    <Aggregate>

        <Guidance:SetSpeed RunIn="Parallel">
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
        </Guidance:SetSpeed>

        <Aggregate Id="BuoyancyLo">

            <Guidance:Buoyancy RunIn="Parallel">
                <Setting><Guidance:Buoyancy.position/><Arg Name="BuoyancyLimitLoCC"/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.massPosition/><Units:meter/><Value>0</Value></Setting>
                <Setting><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Setting>
            </Guidance:Pitch>

            <Guidance:Wait RunIn="Sequence">
                <Setting><Guidance:Wait.duration/><Units:minute/><Value>65</Value></Setting>
            </Guidance:Wait>

        </Aggregate>

        <Aggregate Id="BuoyancyHi">

            <Guidance:Buoyancy RunIn="Parallel">
                <Setting><Guidance:Buoyancy.position/><Arg Name="BuoyancyLimitHiCC"/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.massPosition/><Units:meter/><Value>0</Value></Setting>
                <Setting><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Setting>
            </Guidance:Pitch>

            <Guidance:Wait RunIn="Sequence">
                <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
            </Guidance:Wait>

        </Aggregate>

    </Aggregate>

</Mission>


2013-04-17T17:17:12.734Z,1366219032.734 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/tank_weight.xml
2013-04-17T17:17:38.772Z,1366219058.772 [SBIT](CRITICAL): SBIT FAILED
2013-04-17T17:17:39.208Z,1366219059.208 [MissionManager](IMPORTANT): Started mission Startup
2013-04-17T17:17:39.209Z,1366219059.209 [Startup] Running Loop=1
2013-04-17T17:17:39.209Z,1366219059.209 [Startup](INFO): Aggregate::initialize Startup
2013-04-17T17:17:39.209Z,1366219059.209 [Startup:A.GoToSurface] Running Loop=1
2013-04-17T17:17:39.209Z,1366219059.209 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-04-17T17:17:46.796Z,1366219066.796 [CommandLine](IMPORTANT): got command maintain control VerticalControl.buoyancyAction 300.000000 cubic_centimeter
2013-04-17T17:17:46.798Z,1366219066.798 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.buoyancyAction" handled in the control thread.
2013-04-17T17:17:46.938Z,1366219066.938 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.buoyancyAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,