2013-05-07T16:12:23.630Z,1367943143.630 [Supervisor](DEBUG): Initializing supervisor.
2013-05-07T16:12:23.632Z,1367943143.632 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-07T16:12:23.633Z,1367943143.633 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-07T16:12:23.634Z,1367943143.634 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-07T16:12:23.637Z,1367943143.638 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-07T16:12:23.647Z,1367943143.648 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-07T16:12:23.649Z,1367943143.649 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-07T16:12:23.649Z,1367943143.649 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-07T16:12:23.650Z,1367943143.650 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-07T16:12:23.651Z,1367943143.651 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-07T16:12:23.652Z,1367943143.652 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-07T16:12:23.925Z,1367943143.925 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-07T16:12:23.926Z,1367943143.926 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-07T16:12:24.111Z,1367943144.111 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-07T16:12:24.112Z,1367943144.112 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-07T16:12:24.194Z,1367943144.194 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-07T16:12:24.195Z,1367943144.195 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-07T16:12:24.391Z,1367943144.391 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-07T16:12:24.391Z,1367943144.391 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-07T16:12:24.525Z,1367943144.525 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-07T16:12:24.526Z,1367943144.526 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-07T16:12:24.753Z,1367943144.753 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-07T16:12:24.754Z,1367943144.754 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-07T16:12:24.921Z,1367943144.921 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-07T16:12:24.922Z,1367943144.921 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-07T16:12:25.168Z,1367943145.168 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-07T16:12:25.169Z,1367943145.169 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-07T16:12:25.266Z,1367943145.266 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-07T16:12:25.266Z,1367943145.266 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-07T16:12:25.660Z,1367943145.659 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-07T16:12:25.660Z,1367943145.660 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-07T16:12:25.772Z,1367943145.772 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-07T16:12:25.773Z,1367943145.773 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-07T16:12:25.857Z,1367943145.857 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-07T16:12:25.858Z,1367943145.858 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-07T16:12:25.960Z,1367943145.960 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-07T16:12:26.087Z,1367943146.087 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-07T16:12:26.171Z,1367943146.171 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-07T16:12:26.275Z,1367943146.275 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-07T16:12:26.375Z,1367943146.375 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-07T16:12:26.495Z,1367943146.495 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-07T16:12:26.589Z,1367943146.589 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-07T16:12:26.675Z,1367943146.675 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-05-07T16:12:26.699Z,1367943146.699 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-07T16:12:26.846Z,1367943146.846 [InternalSim] Loaded
2013-05-07T16:12:26.847Z,1367943146.847 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-07T16:12:26.848Z,1367943146.848 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-07T16:12:26.848Z,1367943146.848 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-07T16:12:26.905Z,1367943146.905 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-07T16:12:26.933Z,1367943146.933 [SBIT] Loaded
2013-05-07T16:12:26.934Z,1367943146.934 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-07T16:12:26.935Z,1367943146.935 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-07T16:12:26.963Z,1367943146.963 [IBIT] Loaded
2013-05-07T16:12:26.963Z,1367943146.963 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-07T16:12:26.967Z,1367943146.967 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-07T16:12:27.085Z,1367943147.085 [CBIT] Loaded
2013-05-07T16:12:27.086Z,1367943147.086 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-07T16:12:27.086Z,1367943147.086 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-07T16:12:27.087Z,1367943147.087 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-07T16:12:27.235Z,1367943147.234 [BuoyancyServo] Loaded
2013-05-07T16:12:27.235Z,1367943147.235 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-07T16:12:27.247Z,1367943147.247 [ElevatorServo] Loaded
2013-05-07T16:12:27.248Z,1367943147.247 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-07T16:12:27.259Z,1367943147.259 [MassServo] Loaded
2013-05-07T16:12:27.260Z,1367943147.260 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-07T16:12:27.272Z,1367943147.272 [RudderServo] Loaded
2013-05-07T16:12:27.272Z,1367943147.272 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-07T16:12:27.283Z,1367943147.283 [ThrusterServo] Loaded
2013-05-07T16:12:27.284Z,1367943147.284 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-07T16:12:27.284Z,1367943147.284 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-07T16:12:27.285Z,1367943147.285 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-07T16:12:27.301Z,1367943147.302 [DepthRateCalculator] Loaded
2013-05-07T16:12:27.302Z,1367943147.302 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-07T16:12:30.211Z,1367943150.211 [HFRadarModelCalc] Loaded
2013-05-07T16:12:30.211Z,1367943150.211 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-07T16:12:30.227Z,1367943150.227 [NavChart] Loaded
2013-05-07T16:12:30.227Z,1367943150.227 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-07T16:12:30.233Z,1367943150.233 [PitchRateCalculator] Loaded
2013-05-07T16:12:30.233Z,1367943150.233 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-07T16:12:30.244Z,1367943150.244 [SpeedCalculator] Loaded
2013-05-07T16:12:30.244Z,1367943150.244 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-07T16:12:30.259Z,1367943150.260 [TempGradientCalculator] Loaded
2013-05-07T16:12:30.260Z,1367943150.260 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-07T16:12:30.266Z,1367943150.266 [YawRateCalculator] Loaded
2013-05-07T16:12:30.266Z,1367943150.266 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-07T16:12:30.312Z,1367943150.312 [Navigation] Loaded
2013-05-07T16:12:30.312Z,1367943150.312 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-07T16:12:30.312Z,1367943150.312 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-07T16:12:30.313Z,1367943150.313 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-07T16:12:30.520Z,1367943150.520 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-07T16:12:30.521Z,1367943150.521 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-07T16:12:30.542Z,1367943150.542 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-07T16:12:30.543Z,1367943150.543 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-07T16:12:30.583Z,1367943150.583 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-07T16:12:30.674Z,1367943150.674 [VerticalControl] Loaded
2013-05-07T16:12:30.674Z,1367943150.674 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-07T16:12:30.675Z,1367943150.675 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-07T16:12:30.731Z,1367943150.731 [HorizontalControl] Loaded
2013-05-07T16:12:30.732Z,1367943150.732 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-07T16:12:30.733Z,1367943150.733 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-07T16:12:30.734Z,1367943150.734 [SpeedControl] Loaded
2013-05-07T16:12:30.734Z,1367943150.734 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-07T16:12:30.735Z,1367943150.735 [LoopControl](DEBUG): Construct LoopControl.
2013-05-07T16:12:30.736Z,1367943150.736 [LoopControl] Loaded
2013-05-07T16:12:30.736Z,1367943150.736 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-07T16:12:30.737Z,1367943150.737 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-07T16:12:30.737Z,1367943150.737 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-07T16:12:30.743Z,1367943150.743 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-07T16:12:30.748Z,1367943150.747 [AsyncPiEstimator] Loaded
2013-05-07T16:12:30.748Z,1367943150.748 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-07T16:12:30.749Z,1367943150.749 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-07T16:12:30.750Z,1367943150.750 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-07T16:12:30.750Z,1367943150.750 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-07T16:12:30.873Z,1367943150.872 [AHRS_sp3003D] Loaded
2013-05-07T16:12:30.873Z,1367943150.873 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-07T16:12:31.128Z,1367943151.128 [Batt_Ocean_Server] Loaded
2013-05-07T16:12:31.128Z,1367943151.128 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-07T16:12:31.142Z,1367943151.142 [Depth_Keller] Loaded
2013-05-07T16:12:31.142Z,1367943151.142 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-07T16:12:31.148Z,1367943151.148 [DropWeight] Loaded
2013-05-07T16:12:31.148Z,1367943151.148 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-07T16:12:31.319Z,1367943151.319 [DVL_micro] Loaded
2013-05-07T16:12:31.319Z,1367943151.319 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-07T16:12:31.321Z,1367943151.321 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406C04E0
2013-05-07T16:12:31.402Z,1367943151.402 [NAL9602] Loaded
2013-05-07T16:12:31.402Z,1367943151.402 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-07T16:12:31.452Z,1367943151.452 [Onboard] Loaded
2013-05-07T16:12:31.453Z,1367943151.453 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-07T16:12:31.459Z,1367943151.459 [Radio_Freewave] Loaded
2013-05-07T16:12:31.460Z,1367943151.460 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-07T16:12:31.460Z,1367943151.460 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-07T16:12:31.461Z,1367943151.461 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-07T16:12:31.531Z,1367943151.531 [CTD_NeilBrown] Loaded
2013-05-07T16:12:31.531Z,1367943151.531 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-07T16:12:31.532Z,1367943151.532 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407124E0
2013-05-07T16:12:31.563Z,1367943151.563 [WetLabsBB2FL] Loaded
2013-05-07T16:12:31.563Z,1367943151.563 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-07T16:12:31.564Z,1367943151.564 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407424E0
2013-05-07T16:12:31.565Z,1367943151.565 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-07T16:12:31.567Z,1367943151.567 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-07T16:12:31.568Z,1367943151.568 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-07T16:12:31.574Z,1367943151.574 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-07T16:12:31.576Z,1367943151.576 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407724E0
2013-05-07T16:12:31.580Z,1367943151.580 [Supervisor](DEBUG): Running supervisor.
2013-05-07T16:12:31.581Z,1367943151.581 [CommandLine](INFO): Thread ID is 1057
2013-05-07T16:12:31.583Z,1367943151.583 [controlThread](INFO): Thread ID is 1056
2013-05-07T16:12:31.584Z,1367943151.583 [controlThread](DEBUG): Initializing ControlThread
2013-05-07T16:12:31.584Z,1367943151.584 [CycleStarter](INFO): Thread ID is 1055
2013-05-07T16:12:31.585Z,1367943151.585 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-07T16:12:31.618Z,1367943151.618 [logger](INFO): Thread ID is 1058
2013-05-07T16:12:31.643Z,1367943151.643 [SBIT](INFO): Initialize SBIT Component.
2013-05-07T16:12:31.643Z,1367943151.643 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10327
2013-05-07T16:12:31.644Z,1367943151.644 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-07T16:12:31.644Z,1367943151.644 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-07T16:12:31.645Z,1367943151.645 [IBIT](INFO): Initialize IBIT Component.
2013-05-07T16:12:31.645Z,1367943151.645 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-07T16:12:31.646Z,1367943151.646 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-05-07T16:12:31.658Z,1367943151.658 [AsyncPiEstimator](INFO): Thread ID is 1119
2013-05-07T16:12:31.658Z,1367943151.658 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-07T16:12:31.670Z,1367943151.671 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-07T16:12:31.671Z,1367943151.671 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-07T16:12:31.672Z,1367943151.672 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-07T16:12:31.672Z,1367943151.672 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-07T16:12:31.672Z,1367943151.672 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-07T16:12:31.674Z,1367943151.674 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-07T16:12:31.674Z,1367943151.674 [Navigation](DEBUG): Initializing Navigation.
2013-05-07T16:12:31.675Z,1367943151.675 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-07T16:12:31.677Z,1367943151.677 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-07T16:12:31.677Z,1367943151.677 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-07T16:12:31.678Z,1367943151.678 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-07T16:12:31.684Z,1367943151.684 [DVL_micro](INFO): Thread ID is 1120
2013-05-07T16:12:31.694Z,1367943151.694 [DVL_micro](INFO): Initializing
2013-05-07T16:12:31.694Z,1367943151.694 [DVL_micro](INFO): start:Powering up
2013-05-07T16:12:31.695Z,1367943151.695 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T16:12:31.695Z,1367943151.695 [DVL_micro](INFO): Cycling power to configure device.
2013-05-07T16:12:31.702Z,1367943151.702 [CTD_NeilBrown](INFO): Thread ID is 1121
2013-05-07T16:12:31.702Z,1367943151.703 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-07T16:12:31.707Z,1367943151.707 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-07T16:12:31.715Z,1367943151.714 [WetLabsBB2FL](INFO): Thread ID is 1122
2013-05-07T16:12:31.715Z,1367943151.715 [WetLabsBB2FL](INFO): Powering down
2013-05-07T16:12:31.754Z,1367943151.754 [NavChartDb](INFO): Thread ID is 1123
2013-05-07T16:12:31.757Z,1367943151.757 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-07T16:12:31.758Z,1367943151.758 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-07T16:12:31.758Z,1367943151.758 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-07T16:12:31.758Z,1367943151.758 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-07T16:12:31.758Z,1367943151.758 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-07T16:12:31.759Z,1367943151.759 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-07T16:12:31.759Z,1367943151.759 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-07T16:12:31.759Z,1367943151.759 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-07T16:12:31.759Z,1367943151.759 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-07T16:12:32.902Z,1367943152.902 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-05-07T16:12:32.902Z,1367943152.902 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-05-07T16:12:32.902Z,1367943152.902 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2013-05-07T16:12:32.902Z,1367943152.902 [Batt_Ocean_Server](ERROR): Communications Fault
2013-05-07T16:12:32.907Z,1367943152.907 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-07T16:12:32.937Z,1367943152.937 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-07T16:12:32.963Z,1367943152.963 [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>


2013-05-07T16:12:32.964Z,1367943152.964 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-07T16:12:33.046Z,1367943153.046 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-07T16:12:33.048Z,1367943153.048 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-07T16:12:33.063Z,1367943153.063 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-07T16:12:33.083Z,1367943153.083 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-07T16:12:33.086Z,1367943153.086 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-07T16:12:33.093Z,1367943153.092 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-07T16:12:33.137Z,1367943153.137 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-07T16:12:33.140Z,1367943153.140 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-07T16:12:33.162Z,1367943153.161 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-07T16:12:33.165Z,1367943153.165 [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>


2013-05-07T16:12:33.181Z,1367943153.181 [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,
2013-05-07T16:12:33.218Z,1367943153.218 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-07T16:12:33.249Z,1367943153.249 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-05-07T16:12:33.346Z,1367943153.346 [Radio_Freewave](INFO): Powering up
2013-05-07T16:12:33.511Z,1367943153.511 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-07T16:12:33.517Z,1367943153.517 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-07T16:12:33.540Z,1367943153.540 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-07T16:12:33.546Z,1367943153.546 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-07T16:12:33.559Z,1367943153.559 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-07T16:12:33.566Z,1367943153.566 [MassServo](DEBUG): Initializing MassServo.
2013-05-07T16:12:33.583Z,1367943153.583 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-07T16:12:33.590Z,1367943153.590 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-07T16:12:33.596Z,1367943153.596 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-07T16:12:33.601Z,1367943153.602 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-07T16:12:33.655Z,1367943153.655 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-05-07T16:12:33.655Z,1367943153.655 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-05-07T16:12:33.655Z,1367943153.655 [Batt_Ocean_Server] No Fault, FailCount= 1
2013-05-07T16:12:33.806Z,1367943153.806 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-07T16:12:33.806Z,1367943153.806 [DVL_micro](INFO): Querying output modes
2013-05-07T16:12:33.806Z,1367943153.806 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-07T16:12:33.817Z,1367943153.817 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-07T16:12:33.818Z,1367943153.818 [DVL_micro](INFO): NQ1 output enabled
2013-05-07T16:12:33.818Z,1367943153.818 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-07T16:12:33.830Z,1367943153.830 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-07T16:12:33.835Z,1367943153.835 [DVL_micro](INFO): pause:Powering down
2013-05-07T16:12:35.678Z,1367943155.678 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-07T16:12:36.850Z,1367943156.850 [NAL9602](INFO): Powering up NAL9602
2013-05-07T16:12:47.206Z,1367943167.207 [SBIT](IMPORTANT): Beginning Startup BIT
2013-05-07T16:12:47.213Z,1367943167.213 [CBIT](IMPORTANT): Beginning GF scan
2013-05-07T16:12:47.614Z,1367943167.614 [NAL9602](INFO): NAL9602 initialized
2013-05-07T16:13:02.130Z,1367943182.130 [CommandLine](IMPORTANT): got command burn 5.000000
2013-05-07T16:13:13.950Z,1367943193.950 [CBIT](IMPORTANT): No ground fault detected
2013-05-07T16:13:41.259Z,1367943221.259 [SBIT](IMPORTANT): SBIT PASSED
2013-05-07T16:13:41.727Z,1367943221.727 [MissionManager](IMPORTANT): Started mission Startup
2013-05-07T16:13:41.727Z,1367943221.727 [Startup] Running Loop=1
2013-05-07T16:13:41.727Z,1367943221.727 [Startup](INFO): Aggregate::initialize Startup
2013-05-07T16:13:41.728Z,1367943221.727 [Startup:A.GoToSurface] Running Loop=1
2013-05-07T16:13:41.728Z,1367943221.728 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-07T16:13:41.734Z,1367943221.734 [Startup:StartupSatComms] Running Loop=1
2013-05-07T16:13:41.734Z,1367943221.734 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-05-07T16:13:41.735Z,1367943221.735 [Startup:StartupSatComms:A] Running Loop=1
2013-05-07T16:13:42.070Z,1367943222.070 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix