2013-05-07T14:44:45.161Z,1367937885.161 [Supervisor](DEBUG): Initializing supervisor.
2013-05-07T14:44:45.163Z,1367937885.164 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-07T14:44:45.164Z,1367937885.164 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-07T14:44:45.165Z,1367937885.165 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-07T14:44:45.169Z,1367937885.169 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-07T14:44:45.179Z,1367937885.179 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-07T14:44:45.180Z,1367937885.180 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-07T14:44:45.181Z,1367937885.181 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-07T14:44:45.182Z,1367937885.182 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-07T14:44:45.183Z,1367937885.183 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-07T14:44:45.184Z,1367937885.184 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-07T14:44:45.460Z,1367937885.460 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-07T14:44:45.460Z,1367937885.460 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-07T14:44:45.654Z,1367937885.654 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-07T14:44:45.654Z,1367937885.654 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-07T14:44:45.753Z,1367937885.753 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-07T14:44:45.754Z,1367937885.754 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-07T14:44:45.952Z,1367937885.952 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-07T14:44:45.952Z,1367937885.952 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-07T14:44:46.088Z,1367937886.088 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-07T14:44:46.089Z,1367937886.089 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-07T14:44:46.318Z,1367937886.318 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-07T14:44:46.319Z,1367937886.319 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-07T14:44:46.487Z,1367937886.487 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-07T14:44:46.488Z,1367937886.488 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-07T14:44:46.736Z,1367937886.736 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-07T14:44:46.737Z,1367937886.737 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-07T14:44:46.834Z,1367937886.834 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-07T14:44:46.835Z,1367937886.835 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-07T14:44:47.231Z,1367937887.231 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-07T14:44:47.231Z,1367937887.231 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-07T14:44:47.345Z,1367937887.345 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-07T14:44:47.345Z,1367937887.345 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-07T14:44:47.430Z,1367937887.430 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-07T14:44:47.431Z,1367937887.431 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-07T14:44:47.535Z,1367937887.535 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-07T14:44:47.664Z,1367937887.664 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-07T14:44:47.748Z,1367937887.748 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-07T14:44:47.855Z,1367937887.855 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-07T14:44:47.956Z,1367937887.956 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-07T14:44:48.076Z,1367937888.076 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-07T14:44:48.172Z,1367937888.172 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-07T14:44:48.259Z,1367937888.259 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-05-07T14:44:48.283Z,1367937888.283 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-07T14:44:48.433Z,1367937888.433 [InternalSim] Loaded
2013-05-07T14:44:48.434Z,1367937888.434 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-07T14:44:48.435Z,1367937888.434 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-07T14:44:48.435Z,1367937888.435 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-07T14:44:48.493Z,1367937888.493 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-07T14:44:48.522Z,1367937888.522 [SBIT] Loaded
2013-05-07T14:44:48.522Z,1367937888.522 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-07T14:44:48.523Z,1367937888.523 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-07T14:44:48.552Z,1367937888.552 [IBIT] Loaded
2013-05-07T14:44:48.553Z,1367937888.553 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-07T14:44:48.556Z,1367937888.556 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-07T14:44:48.675Z,1367937888.675 [CBIT] Loaded
2013-05-07T14:44:48.675Z,1367937888.675 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-07T14:44:48.676Z,1367937888.676 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-07T14:44:48.676Z,1367937888.676 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-07T14:44:48.827Z,1367937888.827 [BuoyancyServo] Loaded
2013-05-07T14:44:48.827Z,1367937888.827 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-07T14:44:48.840Z,1367937888.839 [ElevatorServo] Loaded
2013-05-07T14:44:48.840Z,1367937888.840 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-07T14:44:48.852Z,1367937888.852 [MassServo] Loaded
2013-05-07T14:44:48.852Z,1367937888.852 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-07T14:44:48.864Z,1367937888.864 [RudderServo] Loaded
2013-05-07T14:44:48.864Z,1367937888.865 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-07T14:44:48.876Z,1367937888.876 [ThrusterServo] Loaded
2013-05-07T14:44:48.877Z,1367937888.877 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-07T14:44:48.877Z,1367937888.877 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-07T14:44:48.878Z,1367937888.878 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-07T14:44:48.895Z,1367937888.895 [DepthRateCalculator] Loaded
2013-05-07T14:44:48.895Z,1367937888.895 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-07T14:44:51.855Z,1367937891.855 [HFRadarModelCalc] Loaded
2013-05-07T14:44:51.856Z,1367937891.856 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-07T14:44:51.872Z,1367937891.872 [NavChart] Loaded
2013-05-07T14:44:51.872Z,1367937891.872 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-07T14:44:51.878Z,1367937891.878 [PitchRateCalculator] Loaded
2013-05-07T14:44:51.878Z,1367937891.878 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-07T14:44:51.889Z,1367937891.889 [SpeedCalculator] Loaded
2013-05-07T14:44:51.889Z,1367937891.889 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-07T14:44:51.905Z,1367937891.905 [TempGradientCalculator] Loaded
2013-05-07T14:44:51.905Z,1367937891.905 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-07T14:44:51.911Z,1367937891.911 [YawRateCalculator] Loaded
2013-05-07T14:44:51.911Z,1367937891.911 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-07T14:44:51.958Z,1367937891.958 [Navigation] Loaded
2013-05-07T14:44:51.958Z,1367937891.958 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-07T14:44:51.959Z,1367937891.958 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-07T14:44:51.959Z,1367937891.959 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-07T14:44:52.168Z,1367937892.168 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-07T14:44:52.169Z,1367937892.169 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-07T14:44:52.191Z,1367937892.191 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-07T14:44:52.191Z,1367937892.191 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-07T14:44:52.231Z,1367937892.231 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-07T14:44:52.325Z,1367937892.325 [VerticalControl] Loaded
2013-05-07T14:44:52.325Z,1367937892.325 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-07T14:44:52.326Z,1367937892.326 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-07T14:44:52.383Z,1367937892.383 [HorizontalControl] Loaded
2013-05-07T14:44:52.383Z,1367937892.383 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-07T14:44:52.384Z,1367937892.384 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-07T14:44:52.386Z,1367937892.386 [SpeedControl] Loaded
2013-05-07T14:44:52.386Z,1367937892.386 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-07T14:44:52.387Z,1367937892.387 [LoopControl](DEBUG): Construct LoopControl.
2013-05-07T14:44:52.387Z,1367937892.388 [LoopControl] Loaded
2013-05-07T14:44:52.388Z,1367937892.388 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-07T14:44:52.388Z,1367937892.388 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-07T14:44:52.389Z,1367937892.389 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-07T14:44:52.394Z,1367937892.394 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-07T14:44:52.399Z,1367937892.399 [AsyncPiEstimator] Loaded
2013-05-07T14:44:52.400Z,1367937892.400 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-07T14:44:52.401Z,1367937892.401 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-07T14:44:52.401Z,1367937892.401 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-07T14:44:52.402Z,1367937892.402 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-07T14:44:52.526Z,1367937892.526 [AHRS_sp3003D] Loaded
2013-05-07T14:44:52.526Z,1367937892.526 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-07T14:44:52.784Z,1367937892.784 [Batt_Ocean_Server] Loaded
2013-05-07T14:44:52.784Z,1367937892.784 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-07T14:44:52.798Z,1367937892.798 [Depth_Keller] Loaded
2013-05-07T14:44:52.799Z,1367937892.799 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-07T14:44:52.804Z,1367937892.804 [DropWeight] Loaded
2013-05-07T14:44:52.804Z,1367937892.805 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-07T14:44:52.977Z,1367937892.977 [DVL_micro] Loaded
2013-05-07T14:44:52.978Z,1367937892.978 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-07T14:44:52.979Z,1367937892.979 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406C04E0
2013-05-07T14:44:53.061Z,1367937893.061 [NAL9602] Loaded
2013-05-07T14:44:53.061Z,1367937893.061 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-07T14:44:53.112Z,1367937893.112 [Onboard] Loaded
2013-05-07T14:44:53.113Z,1367937893.113 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-07T14:44:53.119Z,1367937893.119 [Radio_Freewave] Loaded
2013-05-07T14:44:53.120Z,1367937893.120 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-07T14:44:53.120Z,1367937893.121 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-07T14:44:53.121Z,1367937893.121 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-07T14:44:53.192Z,1367937893.192 [CTD_NeilBrown] Loaded
2013-05-07T14:44:53.192Z,1367937893.192 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-07T14:44:53.193Z,1367937893.193 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2013-05-07T14:44:53.224Z,1367937893.224 [WetLabsBB2FL] Loaded
2013-05-07T14:44:53.224Z,1367937893.224 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-07T14:44:53.225Z,1367937893.225 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2013-05-07T14:44:53.226Z,1367937893.226 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-07T14:44:53.228Z,1367937893.228 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-07T14:44:53.229Z,1367937893.229 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-07T14:44:53.236Z,1367937893.236 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-07T14:44:53.237Z,1367937893.237 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2013-05-07T14:44:53.241Z,1367937893.241 [Supervisor](DEBUG): Running supervisor.
2013-05-07T14:44:53.242Z,1367937893.242 [CommandLine](INFO): Thread ID is 8375
2013-05-07T14:44:53.245Z,1367937893.245 [controlThread](INFO): Thread ID is 8374
2013-05-07T14:44:53.245Z,1367937893.245 [controlThread](DEBUG): Initializing ControlThread
2013-05-07T14:44:53.246Z,1367937893.246 [CycleStarter](INFO): Thread ID is 8373
2013-05-07T14:44:53.246Z,1367937893.246 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-07T14:44:53.281Z,1367937893.281 [logger](INFO): Thread ID is 8376
2013-05-07T14:44:53.297Z,1367937893.297 [SBIT](INFO): Initialize SBIT Component.
2013-05-07T14:44:53.298Z,1367937893.298 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10327
2013-05-07T14:44:53.298Z,1367937893.298 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-07T14:44:53.298Z,1367937893.298 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-07T14:44:53.299Z,1367937893.299 [IBIT](INFO): Initialize IBIT Component.
2013-05-07T14:44:53.300Z,1367937893.300 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-07T14:44:53.300Z,1367937893.300 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-05-07T14:44:53.310Z,1367937893.310 [AsyncPiEstimator](INFO): Thread ID is 8437
2013-05-07T14:44:53.310Z,1367937893.310 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-07T14:44:53.331Z,1367937893.330 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-07T14:44:53.331Z,1367937893.331 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-07T14:44:53.331Z,1367937893.332 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-07T14:44:53.332Z,1367937893.332 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-07T14:44:53.332Z,1367937893.332 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-07T14:44:53.334Z,1367937893.334 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-07T14:44:53.334Z,1367937893.334 [Navigation](DEBUG): Initializing Navigation.
2013-05-07T14:44:53.335Z,1367937893.335 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-07T14:44:53.336Z,1367937893.336 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-07T14:44:53.337Z,1367937893.337 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-07T14:44:53.338Z,1367937893.338 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-07T14:44:53.341Z,1367937893.341 [DVL_micro](INFO): Thread ID is 8438
2013-05-07T14:44:53.350Z,1367937893.350 [DVL_micro](INFO): Initializing
2013-05-07T14:44:53.350Z,1367937893.350 [DVL_micro](INFO): start:Powering up
2013-05-07T14:44:53.351Z,1367937893.351 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T14:44:53.352Z,1367937893.352 [DVL_micro](INFO): Cycling power to configure device.
2013-05-07T14:44:53.370Z,1367937893.370 [CTD_NeilBrown](INFO): Thread ID is 8439
2013-05-07T14:44:53.371Z,1367937893.371 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-07T14:44:53.374Z,1367937893.374 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-07T14:44:53.382Z,1367937893.382 [WetLabsBB2FL](INFO): Thread ID is 8440
2013-05-07T14:44:53.383Z,1367937893.383 [WetLabsBB2FL](INFO): Powering down
2013-05-07T14:44:53.422Z,1367937893.422 [NavChartDb](INFO): Thread ID is 8441
2013-05-07T14:44:53.424Z,1367937893.424 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-07T14:44:53.425Z,1367937893.425 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-07T14:44:53.426Z,1367937893.426 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-07T14:44:53.426Z,1367937893.426 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-07T14:44:53.426Z,1367937893.426 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-07T14:44:53.426Z,1367937893.426 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-07T14:44:53.427Z,1367937893.427 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-07T14:44:53.427Z,1367937893.427 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-07T14:44:53.427Z,1367937893.427 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-07T14:44:54.946Z,1367937894.946 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-07T14:44:54.975Z,1367937894.976 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-07T14:44:55.013Z,1367937895.013 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-07T14:44:55.047Z,1367937895.047 [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>


2013-05-07T14:44:55.048Z,1367937895.048 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-07T14:44:55.122Z,1367937895.122 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-07T14:44:55.124Z,1367937895.124 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-07T14:44:55.140Z,1367937895.140 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-07T14:44:55.156Z,1367937895.156 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-07T14:44:55.171Z,1367937895.171 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-07T14:44:55.178Z,1367937895.178 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-07T14:44:55.222Z,1367937895.222 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-07T14:44:55.225Z,1367937895.225 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-07T14:44:55.238Z,1367937895.238 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-07T14:44:55.242Z,1367937895.242 [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>


2013-05-07T14:44:55.247Z,1367937895.247 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-05-07T14:44:55.305Z,1367937895.305 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-07T14:44:55.329Z,1367937895.329 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-05-07T14:44:55.410Z,1367937895.410 [Radio_Freewave](INFO): Powering up
2013-05-07T14:44:55.426Z,1367937895.426 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T14:44:55.426Z,1367937895.426 [DVL_micro](INFO): Querying output modes
2013-05-07T14:44:55.426Z,1367937895.426 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-07T14:44:55.437Z,1367937895.437 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-07T14:44:55.438Z,1367937895.438 [DVL_micro](INFO): NQ1 output enabled
2013-05-07T14:44:55.438Z,1367937895.438 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-07T14:44:55.449Z,1367937895.450 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-07T14:44:55.454Z,1367937895.454 [DVL_micro](INFO): pause:Powering down
2013-05-07T14:44:55.620Z,1367937895.620 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-07T14:44:55.626Z,1367937895.625 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-07T14:44:55.642Z,1367937895.642 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-07T14:44:55.650Z,1367937895.649 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-07T14:44:55.655Z,1367937895.655 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-07T14:44:55.661Z,1367937895.661 [MassServo](DEBUG): Initializing MassServo.
2013-05-07T14:44:55.667Z,1367937895.667 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-07T14:44:55.674Z,1367937895.674 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-07T14:44:55.679Z,1367937895.679 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-07T14:44:55.710Z,1367937895.710 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-07T14:44:56.521Z,1367937896.521 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-05-07T14:44:56.521Z,1367937896.521 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-05-07T14:44:56.521Z,1367937896.522 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-05-07T14:44:56.522Z,1367937896.522 [AHRS_sp3003D](ERROR): Hardware Fault
2013-05-07T14:44:56.674Z,1367937896.674 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T14:44:56.675Z,1367937896.675 [DVL_micro](INFO): resume:Powering up
2013-05-07T14:44:56.676Z,1367937896.676 [DVL_micro](INFO): Cycling power to configure device.
2013-05-07T14:44:56.848Z,1367937896.848 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-05-07T14:44:56.862Z,1367937896.862 [AHRS_sp3003D](INFO): Powering down
2013-05-07T14:44:58.100Z,1367937898.100 [NAL9602](INFO): Powering up NAL9602
2013-05-07T14:44:58.272Z,1367937898.272 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-05-07T14:44:58.272Z,1367937898.272 [AHRS_sp3003D] No Fault, FailCount= 1
2013-05-07T14:44:58.460Z,1367937898.460 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-07T14:44:58.686Z,1367937898.686 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T14:44:58.686Z,1367937898.686 [DVL_micro](INFO): Querying output modes
2013-05-07T14:44:58.686Z,1367937898.686 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-07T14:44:58.697Z,1367937898.697 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-07T14:44:58.697Z,1367937898.697 [DVL_micro](INFO): NQ1 output enabled
2013-05-07T14:44:58.698Z,1367937898.698 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-07T14:44:58.710Z,1367937898.710 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-07T14:44:58.712Z,1367937898.712 [DVL_micro](INFO): pause:Powering down
2013-05-07T14:44:59.405Z,1367937899.405 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-05-07T14:44:59.405Z,1367937899.405 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0xA409A0
2013-05-07T14:44:59.406Z,1367937899.406 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-05-07T14:44:59.406Z,1367937899.406 [AHRS_sp3003D] Hardware Fault, FailCount= 2
2013-05-07T14:44:59.406Z,1367937899.406 [AHRS_sp3003D](ERROR): Hardware Fault
2013-05-07T14:44:59.530Z,1367937899.530 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T14:44:59.530Z,1367937899.530 [DVL_micro](INFO): resume:Powering up
2013-05-07T14:44:59.531Z,1367937899.531 [DVL_micro](INFO): Cycling power to configure device.
2013-05-07T14:45:00.004Z,1367937900.004 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-05-07T14:45:00.025Z,1367937900.026 [AHRS_sp3003D](INFO): Powering down
2013-05-07T14:45:01.383Z,1367937901.383 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-05-07T14:45:01.383Z,1367937901.383 [AHRS_sp3003D] No Fault, FailCount= 2
2013-05-07T14:45:01.538Z,1367937901.538 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T14:45:01.538Z,1367937901.538 [DVL_micro](INFO): Querying output modes
2013-05-07T14:45:01.538Z,1367937901.538 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-07T14:45:01.549Z,1367937901.549 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-07T14:45:01.549Z,1367937901.549 [DVL_micro](INFO): NQ1 output enabled
2013-05-07T14:45:01.550Z,1367937901.550 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-07T14:45:01.562Z,1367937901.562 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-07T14:45:01.564Z,1367937901.564 [DVL_micro](INFO): pause:Powering down
2013-05-07T14:45:01.679Z,1367937901.680 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-07T14:45:02.821Z,1367937902.821 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-05-07T14:45:02.821Z,1367937902.821 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-05-07T14:45:02.822Z,1367937902.822 [AHRS_sp3003D] Hardware Fault, FailCount= 3
2013-05-07T14:45:02.822Z,1367937902.822 [AHRS_sp3003D](ERROR): Hardware Fault
2013-05-07T14:45:02.877Z,1367937902.877 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-05-07T14:45:02.912Z,1367937902.912 [AHRS_sp3003D](INFO): Powering down
2013-05-07T14:45:03.182Z,1367937903.182 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T14:45:03.183Z,1367937903.183 [DVL_micro](INFO): resume:Powering up
2013-05-07T14:45:03.183Z,1367937903.183 [DVL_micro](INFO): Cycling power to configure device.
2013-05-07T14:45:04.184Z,1367937904.184 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-05-07T14:45:04.184Z,1367937904.184 [AHRS_sp3003D] No Fault, FailCount= 3
2013-05-07T14:45:04.500Z,1367937904.500 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-07T14:45:05.190Z,1367937905.190 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T14:45:05.190Z,1367937905.190 [DVL_micro](INFO): Querying output modes
2013-05-07T14:45:05.190Z,1367937905.190 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-07T14:45:05.201Z,1367937905.201 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-07T14:45:05.202Z,1367937905.202 [DVL_micro](INFO): NQ1 output enabled
2013-05-07T14:45:05.202Z,1367937905.202 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-07T14:45:05.213Z,1367937905.214 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-07T14:45:05.216Z,1367937905.216 [DVL_micro](INFO): pause:Powering down
2013-05-07T14:45:05.648Z,1367937905.648 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-05-07T14:45:05.648Z,1367937905.648 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-05-07T14:45:05.648Z,1367937905.648 [AHRS_sp3003D] Hardware Fault, FailCount= 4
2013-05-07T14:45:05.648Z,1367937905.648 [AHRS_sp3003D](ERROR): Hardware Fault
2013-05-07T14:45:05.965Z,1367937905.966 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-05-07T14:45:05.993Z,1367937905.993 [AHRS_sp3003D](INFO): Powering down
2013-05-07T14:45:06.046Z,1367937906.046 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T14:45:06.047Z,1367937906.046 [DVL_micro](INFO): resume:Powering up
2013-05-07T14:45:06.047Z,1367937906.047 [DVL_micro](INFO): Cycling power to configure device.
2013-05-07T14:45:07.294Z,1367937907.294 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-05-07T14:45:07.294Z,1367937907.294 [AHRS_sp3003D] No Fault, FailCount= 4
2013-05-07T14:45:07.580Z,1367937907.580 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-07T14:45:08.054Z,1367937908.054 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T14:45:08.054Z,1367937908.054 [DVL_micro](INFO): Querying output modes
2013-05-07T14:45:08.054Z,1367937908.054 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-07T14:45:08.066Z,1367937908.066 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-07T14:45:08.066Z,1367937908.066 [DVL_micro](INFO): NQ1 output enabled
2013-05-07T14:45:08.066Z,1367937908.066 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-07T14:45:08.078Z,1367937908.078 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-07T14:45:08.080Z,1367937908.080 [DVL_micro](INFO): pause:Powering down
2013-05-07T14:45:08.721Z,1367937908.721 [AHRS_sp3003D](ERROR): readHeadingMagBin UART error: serial timeout
2013-05-07T14:45:08.721Z,1367937908.721 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-05-07T14:45:08.721Z,1367937908.721 [AHRS_sp3003D] Hardware Fault, FailCount= 5
2013-05-07T14:45:08.722Z,1367937908.722 [AHRS_sp3003D](ERROR): Hardware Fault
2013-05-07T14:45:08.871Z,1367937908.871 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-05-07T14:45:08.871Z,1367937908.871 [CBIT](CRITICAL): Hardware Fault in component: AHRS_sp3003D
2013-05-07T14:45:08.890Z,1367937908.890 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T14:45:08.890Z,1367937908.890 [DVL_micro](INFO): resume:Powering up
2013-05-07T14:45:08.891Z,1367937908.891 [DVL_micro](INFO): Cycling power to configure device.
2013-05-07T14:45:08.902Z,1367937908.902 [AHRS_sp3003D](INFO): Powering down
2013-05-07T14:45:09.034Z,1367937909.034 [NAL9602](INFO): NAL9602 initialized
2013-05-07T14:45:09.091Z,1367937909.091 [SBIT](IMPORTANT): Beginning Startup BIT
2013-05-07T14:45:09.102Z,1367937909.102 [CBIT](IMPORTANT): Beginning GF scan
2013-05-07T14:45:10.898Z,1367937910.898 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T14:45:10.898Z,1367937910.898 [DVL_micro](INFO): Querying output modes
2013-05-07T14:45:10.898Z,1367937910.898 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-07T14:45:10.909Z,1367937910.909 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-07T14:45:10.910Z,1367937910.909 [DVL_micro](INFO): NQ1 output enabled
2013-05-07T14:45:10.910Z,1367937910.910 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-07T14:45:10.910Z,1367937910.910 [Batt_Ocean_Server](INFO): Bus busy reported for battery bank#11 STATUS: 65535
2013-05-07T14:45:10.922Z,1367937910.921 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON