2013-05-16T21:46:10.296Z,1368740770.296 [Supervisor](DEBUG): Initializing supervisor.
2013-05-16T21:46:10.300Z,1368740770.300 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-16T21:46:10.301Z,1368740770.301 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-16T21:46:10.305Z,1368740770.305 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-16T21:46:10.309Z,1368740770.309 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-16T21:46:10.320Z,1368740770.320 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-16T21:46:10.321Z,1368740770.321 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-16T21:46:10.322Z,1368740770.322 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-16T21:46:10.325Z,1368740770.325 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-16T21:46:10.326Z,1368740770.326 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-16T21:46:10.330Z,1368740770.330 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-16T21:46:10.646Z,1368740770.646 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-16T21:46:10.647Z,1368740770.647 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-16T21:46:10.861Z,1368740770.861 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-16T21:46:10.862Z,1368740770.862 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-16T21:46:10.957Z,1368740770.957 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-16T21:46:10.959Z,1368740770.959 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-16T21:46:11.189Z,1368740771.189 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-16T21:46:11.189Z,1368740771.189 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-16T21:46:11.342Z,1368740771.342 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-16T21:46:11.344Z,1368740771.344 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-16T21:46:11.611Z,1368740771.611 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-16T21:46:11.611Z,1368740771.611 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-16T21:46:11.802Z,1368740771.802 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-16T21:46:11.804Z,1368740771.804 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-16T21:46:12.089Z,1368740772.089 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-16T21:46:12.091Z,1368740772.091 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-16T21:46:12.202Z,1368740772.202 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-16T21:46:12.203Z,1368740772.203 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-16T21:46:12.655Z,1368740772.655 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-16T21:46:12.655Z,1368740772.655 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-16T21:46:12.786Z,1368740772.786 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-16T21:46:12.787Z,1368740772.787 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-16T21:46:12.883Z,1368740772.883 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-16T21:46:12.887Z,1368740772.886 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-16T21:46:13.004Z,1368740773.004 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-16T21:46:13.151Z,1368740773.151 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-16T21:46:13.245Z,1368740773.245 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-16T21:46:13.363Z,1368740773.362 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-16T21:46:13.475Z,1368740773.474 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-16T21:46:13.613Z,1368740773.613 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-16T21:46:13.725Z,1368740773.725 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-16T21:46:13.886Z,1368740773.886 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-05-16T21:46:13.933Z,1368740773.933 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-16T21:46:14.141Z,1368740774.141 [InternalSim] Loaded
2013-05-16T21:46:14.141Z,1368740774.141 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-16T21:46:14.146Z,1368740774.146 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-16T21:46:14.147Z,1368740774.147 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-16T21:46:14.234Z,1368740774.234 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-16T21:46:14.268Z,1368740774.267 [SBIT] Loaded
2013-05-16T21:46:14.268Z,1368740774.268 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-16T21:46:14.269Z,1368740774.269 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-16T21:46:14.303Z,1368740774.303 [IBIT] Loaded
2013-05-16T21:46:14.303Z,1368740774.303 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-16T21:46:14.306Z,1368740774.306 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-16T21:46:14.446Z,1368740774.446 [CBIT] Loaded
2013-05-16T21:46:14.446Z,1368740774.446 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-16T21:46:14.447Z,1368740774.447 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-16T21:46:14.447Z,1368740774.447 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-16T21:46:14.631Z,1368740774.631 [BuoyancyServo] Loaded
2013-05-16T21:46:14.632Z,1368740774.632 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-16T21:46:14.645Z,1368740774.645 [ElevatorServo] Loaded
2013-05-16T21:46:14.645Z,1368740774.645 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-16T21:46:14.661Z,1368740774.661 [MassServo] Loaded
2013-05-16T21:46:14.661Z,1368740774.661 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-16T21:46:14.674Z,1368740774.674 [RudderServo] Loaded
2013-05-16T21:46:14.674Z,1368740774.674 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-16T21:46:14.686Z,1368740774.686 [ThrusterServo] Loaded
2013-05-16T21:46:14.686Z,1368740774.686 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-16T21:46:14.687Z,1368740774.687 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-16T21:46:14.688Z,1368740774.688 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-16T21:46:14.725Z,1368740774.724 [DepthRateCalculator] Loaded
2013-05-16T21:46:14.725Z,1368740774.725 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-16T21:46:18.010Z,1368740778.010 [HFRadarModelCalc] Loaded
2013-05-16T21:46:18.010Z,1368740778.010 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-16T21:46:18.027Z,1368740778.027 [NavChart] Loaded
2013-05-16T21:46:18.027Z,1368740778.027 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-16T21:46:18.033Z,1368740778.033 [PitchRateCalculator] Loaded
2013-05-16T21:46:18.034Z,1368740778.034 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-16T21:46:18.049Z,1368740778.049 [SpeedCalculator] Loaded
2013-05-16T21:46:18.049Z,1368740778.049 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-16T21:46:18.065Z,1368740778.065 [TempGradientCalculator] Loaded
2013-05-16T21:46:18.065Z,1368740778.066 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-16T21:46:18.072Z,1368740778.072 [YawRateCalculator] Loaded
2013-05-16T21:46:18.072Z,1368740778.072 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-16T21:46:18.124Z,1368740778.124 [Navigation] Loaded
2013-05-16T21:46:18.124Z,1368740778.124 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-16T21:46:18.124Z,1368740778.124 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-16T21:46:18.125Z,1368740778.125 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-16T21:46:18.415Z,1368740778.415 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-16T21:46:18.416Z,1368740778.416 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-16T21:46:18.458Z,1368740778.458 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-16T21:46:18.459Z,1368740778.459 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-16T21:46:18.524Z,1368740778.524 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-16T21:46:18.633Z,1368740778.633 [VerticalControl] Loaded
2013-05-16T21:46:18.633Z,1368740778.633 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-16T21:46:18.634Z,1368740778.634 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-16T21:46:18.697Z,1368740778.697 [HorizontalControl] Loaded
2013-05-16T21:46:18.697Z,1368740778.697 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-16T21:46:18.698Z,1368740778.698 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-16T21:46:18.700Z,1368740778.700 [SpeedControl] Loaded
2013-05-16T21:46:18.700Z,1368740778.700 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-16T21:46:18.701Z,1368740778.701 [LoopControl](DEBUG): Construct LoopControl.
2013-05-16T21:46:18.702Z,1368740778.702 [LoopControl] Loaded
2013-05-16T21:46:18.702Z,1368740778.702 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-16T21:46:18.702Z,1368740778.703 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-16T21:46:18.703Z,1368740778.703 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-16T21:46:18.711Z,1368740778.711 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-16T21:46:18.717Z,1368740778.717 [AsyncPiEstimator] Loaded
2013-05-16T21:46:18.717Z,1368740778.717 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-16T21:46:18.721Z,1368740778.721 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-16T21:46:18.722Z,1368740778.722 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-16T21:46:18.723Z,1368740778.723 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-16T21:46:18.911Z,1368740778.911 [AHRS_sp3003D] Loaded
2013-05-16T21:46:18.911Z,1368740778.911 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-16T21:46:19.210Z,1368740779.210 [Batt_Ocean_Server] Loaded
2013-05-16T21:46:19.210Z,1368740779.210 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-16T21:46:19.225Z,1368740779.224 [Depth_Keller] Loaded
2013-05-16T21:46:19.225Z,1368740779.225 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-16T21:46:19.231Z,1368740779.231 [DropWeight] Loaded
2013-05-16T21:46:19.231Z,1368740779.231 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-16T21:46:19.431Z,1368740779.431 [DVL_micro] Loaded
2013-05-16T21:46:19.431Z,1368740779.431 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-16T21:46:19.433Z,1368740779.433 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406BD4E0
2013-05-16T21:46:19.527Z,1368740779.527 [NAL9602] Loaded
2013-05-16T21:46:19.527Z,1368740779.527 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-16T21:46:19.588Z,1368740779.588 [Onboard] Loaded
2013-05-16T21:46:19.589Z,1368740779.589 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-16T21:46:19.596Z,1368740779.596 [Radio_Freewave] Loaded
2013-05-16T21:46:19.596Z,1368740779.596 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-16T21:46:19.733Z,1368740779.733 [DAT] Loaded
2013-05-16T21:46:19.733Z,1368740779.733 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-05-16T21:46:19.734Z,1368740779.734 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-16T21:46:19.734Z,1368740779.734 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-16T21:46:19.844Z,1368740779.844 [CTD_NeilBrown] Loaded
2013-05-16T21:46:19.844Z,1368740779.844 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-16T21:46:19.845Z,1368740779.845 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4070F4E0
2013-05-16T21:46:19.882Z,1368740779.882 [WetLabsBB2FL] Loaded
2013-05-16T21:46:19.882Z,1368740779.882 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-16T21:46:19.885Z,1368740779.885 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4073F4E0
2013-05-16T21:46:19.886Z,1368740779.886 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-16T21:46:19.889Z,1368740779.889 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-16T21:46:19.890Z,1368740779.889 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-16T21:46:19.900Z,1368740779.900 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-16T21:46:19.905Z,1368740779.905 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2013-05-16T21:46:19.910Z,1368740779.910 [Supervisor](DEBUG): Running supervisor.
2013-05-16T21:46:19.911Z,1368740779.911 [CommandLine](INFO): Thread ID is 747
2013-05-16T21:46:19.914Z,1368740779.914 [controlThread](INFO): Thread ID is 746
2013-05-16T21:46:19.914Z,1368740779.914 [controlThread](DEBUG): Initializing ControlThread
2013-05-16T21:46:19.915Z,1368740779.915 [CycleStarter](INFO): Thread ID is 745
2013-05-16T21:46:19.915Z,1368740779.915 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-16T21:46:20.025Z,1368740780.025 [logger](INFO): Thread ID is 748
2013-05-16T21:46:20.134Z,1368740780.134 [AsyncPiEstimator](INFO): Thread ID is 809
2013-05-16T21:46:20.134Z,1368740780.134 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-16T21:46:20.150Z,1368740780.150 [DVL_micro](INFO): Thread ID is 810
2013-05-16T21:46:20.239Z,1368740780.239 [CTD_NeilBrown](INFO): Thread ID is 811
2013-05-16T21:46:20.240Z,1368740780.240 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-16T21:46:20.246Z,1368740780.246 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-16T21:46:20.255Z,1368740780.255 [WetLabsBB2FL](INFO): Thread ID is 812
2013-05-16T21:46:20.255Z,1368740780.255 [WetLabsBB2FL](INFO): Powering down
2013-05-16T21:46:20.319Z,1368740780.319 [DVL_micro](INFO): Initializing
2013-05-16T21:46:20.320Z,1368740780.320 [DVL_micro](INFO): start:Powering up
2013-05-16T21:46:20.320Z,1368740780.320 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T21:46:20.321Z,1368740780.321 [DVL_micro](INFO): Cycling power to configure device.
2013-05-16T21:46:20.326Z,1368740780.326 [NavChartDb](INFO): Thread ID is 813
2013-05-16T21:46:20.336Z,1368740780.336 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-16T21:46:20.336Z,1368740780.336 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-16T21:46:20.337Z,1368740780.337 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-16T21:46:20.337Z,1368740780.337 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-16T21:46:20.337Z,1368740780.337 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-16T21:46:20.338Z,1368740780.338 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-16T21:46:20.338Z,1368740780.338 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-16T21:46:20.338Z,1368740780.338 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-16T21:46:20.338Z,1368740780.338 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-16T21:46:20.375Z,1368740780.375 [SBIT](INFO): Initialize SBIT Component.
2013-05-16T21:46:20.375Z,1368740780.375 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10359
2013-05-16T21:46:20.376Z,1368740780.376 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-16T21:46:20.376Z,1368740780.376 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-16T21:46:20.377Z,1368740780.377 [IBIT](INFO): Initialize IBIT Component.
2013-05-16T21:46:20.402Z,1368740780.402 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-16T21:46:20.402Z,1368740780.402 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-05-16T21:46:20.427Z,1368740780.427 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-16T21:46:20.427Z,1368740780.427 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-16T21:46:20.428Z,1368740780.428 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-16T21:46:20.428Z,1368740780.428 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-16T21:46:20.428Z,1368740780.428 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-16T21:46:20.430Z,1368740780.430 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-16T21:46:20.430Z,1368740780.430 [Navigation](DEBUG): Initializing Navigation.
2013-05-16T21:46:20.431Z,1368740780.431 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-16T21:46:20.433Z,1368740780.432 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-16T21:46:20.433Z,1368740780.433 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-16T21:46:20.434Z,1368740780.434 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-16T21:46:21.892Z,1368740781.892 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-16T21:46:21.922Z,1368740781.922 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-05-16T21:46:21.923Z,1368740781.922 [DropWeight] Hardware Fault, FailCount= 1
2013-05-16T21:46:21.923Z,1368740781.922 [DropWeight](ERROR): Hardware Fault
2013-05-16T21:46:21.924Z,1368740781.924 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-16T21:46:21.964Z,1368740781.964 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:46:21.994Z,1368740781.994 [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>


2013-05-16T21:46:21.994Z,1368740781.994 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-16T21:46:22.083Z,1368740782.083 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-16T21:46:22.085Z,1368740782.085 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-16T21:46:22.088Z,1368740782.088 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:46:22.110Z,1368740782.110 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-16T21:46:22.113Z,1368740782.113 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:46:22.132Z,1368740782.132 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-16T21:46:22.182Z,1368740782.182 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-16T21:46:22.185Z,1368740782.185 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:46:22.202Z,1368740782.202 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-16T21:46:22.205Z,1368740782.205 [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>


2013-05-16T21:46:22.213Z,1368740782.213 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,DropWeight,NAL9602,Onboard,Radio_Freewave,DAT,Depth_Keller,DepthRateCalculator,HFRadarModelCalc,NavChart,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,Navigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,
2013-05-16T21:46:22.273Z,1368740782.273 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-16T21:46:22.426Z,1368740782.426 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T21:46:22.426Z,1368740782.426 [DVL_micro](INFO): Querying output modes
2013-05-16T21:46:22.427Z,1368740782.427 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-16T21:46:22.438Z,1368740782.438 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-05-16T21:46:22.438Z,1368740782.438 [DVL_micro](INFO): NQ1 output enabled
2013-05-16T21:46:22.438Z,1368740782.438 [DVL_micro](INFO): RSSI output enabled
2013-05-16T21:46:22.438Z,1368740782.438 [DVL_micro](INFO): ADCP output enabled
2013-05-16T21:46:22.438Z,1368740782.438 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-16T21:46:22.450Z,1368740782.450 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-16T21:46:22.455Z,1368740782.455 [DVL_micro](INFO): pause:Powering down
2013-05-16T21:46:22.486Z,1368740782.486 [DAT](INFO): Powering up
2013-05-16T21:46:22.486Z,1368740782.486 [DAT](DEBUG): Initializing DAT.
2013-05-16T21:46:22.677Z,1368740782.677 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:46:22.686Z,1368740782.686 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-16T21:46:22.704Z,1368740782.704 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:46:22.707Z,1368740782.707 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-16T21:46:22.725Z,1368740782.726 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:46:22.734Z,1368740782.734 [MassServo](DEBUG): Initializing MassServo.
2013-05-16T21:46:22.740Z,1368740782.740 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:46:22.746Z,1368740782.746 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-16T21:46:22.763Z,1368740782.763 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:46:22.774Z,1368740782.774 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-16T21:46:22.819Z,1368740782.819 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-05-16T21:46:22.820Z,1368740782.820 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-05-16T21:46:24.788Z,1368740784.787 [NAL9602](INFO): Powering up NAL9602
2013-05-16T21:46:35.246Z,1368740795.246 [NAL9602](INFO): NAL9602 initialized
2013-05-16T21:46:36.134Z,1368740796.134 [SBIT](IMPORTANT): Beginning Startup BIT
2013-05-16T21:46:36.137Z,1368740796.137 [CBIT](IMPORTANT): Beginning GF scan
2013-05-16T21:46:42.738Z,1368740802.738 [DAT](INFO): Powering down
2013-05-16T21:47:02.795Z,1368740822.795 [CBIT](IMPORTANT): No ground fault detected
2013-05-16T21:47:30.080Z,1368740850.080 [SBIT](IMPORTANT): SBIT PASSED
2013-05-16T21:47:30.486Z,1368740850.486 [MissionManager](IMPORTANT): Started mission Startup
2013-05-16T21:47:30.486Z,1368740850.486 [Startup] Running Loop=1
2013-05-16T21:47:30.486Z,1368740850.486 [Startup](INFO): Aggregate::initialize Startup
2013-05-16T21:47:30.486Z,1368740850.487 [Startup:A.GoToSurface] Running Loop=1
2013-05-16T21:47:30.487Z,1368740850.487 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T21:51:22.221Z,1368741082.220 [CBIT](INFO): Clearing failed count for component DropWeight
2013-05-16T21:51:22.221Z,1368741082.221 [DropWeight] No Fault, FailCount= 1
2013-05-16T21:51:22.399Z,1368741082.399 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-05-16T21:51:22.399Z,1368741082.399 [DropWeight] Hardware Fault, FailCount= 1
2013-05-16T21:51:22.399Z,1368741082.399 [DropWeight](ERROR): Hardware Fault
2013-05-16T21:51:22.540Z,1368741082.540 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-05-16T21:51:22.540Z,1368741082.540 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-05-16T21:51:40.820Z,1368741100.820 [Radio_Freewave](INFO): Powering up
2013-05-16T21:51:40.829Z,1368741100.829 [Startup:StartupSatComms] Running Loop=1
2013-05-16T21:51:40.829Z,1368741100.829 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-05-16T21:51:40.829Z,1368741100.829 [Startup:StartupSatComms:A] Running Loop=1
2013-05-16T21:51:41.272Z,1368741101.272 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-05-16T21:52:40.866Z,1368741160.866 [Startup:StartupSatComms:A](INFO): Timed out from 2013-05-16T21:51:40.8Z
2013-05-16T21:52:40.866Z,1368741160.866 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-05-16T21:52:40.867Z,1368741160.866 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-05-16T21:52:40.867Z,1368741160.867 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-05-16T21:52:40.867Z,1368741160.867 [Startup:StartupSatComms:A] Stopped
2013-05-16T21:52:40.867Z,1368741160.867 [Startup:StartupSatComms:B] Running Loop=1
2013-05-16T21:52:41.276Z,1368741161.276 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-05-16T21:52:44.396Z,1368741164.396 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:52:48.735Z,1368741168.735 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:00.590Z,1368741180.590 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:09.396Z,1368741189.396 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:13.199Z,1368741193.199 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:17.499Z,1368741197.499 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:21.456Z,1368741201.456 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:25.768Z,1368741205.768 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:30.443Z,1368741210.443 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:34.831Z,1368741214.831 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:39.527Z,1368741219.527 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:41.104Z,1368741221.104 [Startup:StartupSatComms:B](INFO): Timed out from 2013-05-16T21:52:40.9Z
2013-05-16T21:53:41.104Z,1368741221.104 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-05-16T21:53:41.104Z,1368741221.104 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-05-16T21:53:41.104Z,1368741221.104 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-05-16T21:53:41.104Z,1368741221.104 [Startup:StartupSatComms:B] Stopped
2013-05-16T21:53:41.105Z,1368741221.105 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-05-16T21:53:41.105Z,1368741221.105 [Startup:StartupSatComms] Stopped
2013-05-16T21:53:41.105Z,1368741221.105 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-05-16T21:53:41.106Z,1368741221.106 [Startup](INFO): Completed Startup
2013-05-16T21:53:41.106Z,1368741221.106 [Startup] Stopped
2013-05-16T21:53:41.106Z,1368741221.106 [Startup](INFO): Aggregate::uninitialize Startup
2013-05-16T21:53:41.106Z,1368741221.106 [Startup:A.GoToSurface] Stopped
2013-05-16T21:53:41.106Z,1368741221.106 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T21:53:41.491Z,1368741221.491 [MissionManager](IMPORTANT): Started mission Default
2013-05-16T21:53:41.491Z,1368741221.491 [Default] Running Loop=1
2013-05-16T21:53:41.491Z,1368741221.491 [Default](INFO): Aggregate::initialize Default
2013-05-16T21:53:41.492Z,1368741221.492 [Default:D.SetSpeed] Running Loop=1
2013-05-16T21:53:41.492Z,1368741221.492 [Default:D.SetSpeed](DEBUG): Initialize.
2013-05-16T21:53:41.492Z,1368741221.492 [Default:E.GoToSurface] Running Loop=1
2013-05-16T21:53:41.492Z,1368741221.492 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T21:53:41.492Z,1368741221.492 [Default:Iridium] Running Loop=1
2013-05-16T21:53:41.492Z,1368741221.492 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-05-16T21:53:41.492Z,1368741221.492 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-05-16T21:53:41.493Z,1368741221.493 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-05-16T21:53:41.493Z,1368741221.493 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-05-16T21:53:41.493Z,1368741221.493 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T21:53:41.493Z,1368741221.493 [Default:E.GoToSurface] Running Loop=1
2013-05-16T21:53:41.498Z,1368741221.499 [Default:D.SetSpeed] Running Loop=1
2013-05-16T21:53:41.503Z,1368741221.503 [Default:CallIridium] Running Loop=1
2013-05-16T21:53:41.503Z,1368741221.503 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-05-16T21:53:41.503Z,1368741221.503 [Default:CallIridium:A] Running Loop=1
2013-05-16T21:53:41.505Z,1368741221.505 [Default:CallIridium:A] Stopped
2013-05-16T21:53:41.505Z,1368741221.505 [Default:CallIridium:B] Running Loop=1
2013-05-16T21:53:41.506Z,1368741221.506 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-05-16T21:53:41.511Z,1368741221.511 [Default:Iridium:B.GoToSurface] Stopped
2013-05-16T21:53:41.511Z,1368741221.511 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T21:53:41.511Z,1368741221.511 [Default:Iridium:Read_Iridium] Running Loop=1
2013-05-16T21:53:41.511Z,1368741221.511 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-05-16T21:53:41.516Z,1368741221.516 [Default:GPS] Running Loop=1
2013-05-16T21:53:41.516Z,1368741221.516 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-05-16T21:53:41.516Z,1368741221.516 [Default:GPS:A.SetSpeed] Running Loop=1
2013-05-16T21:53:41.516Z,1368741221.516 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-05-16T21:53:41.516Z,1368741221.516 [Default:GPS:B.GoToSurface] Running Loop=1
2013-05-16T21:53:41.516Z,1368741221.516 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-16T21:53:41.522Z,1368741221.522 [Default:GPS:B.GoToSurface] Stopped
2013-05-16T21:53:41.522Z,1368741221.522 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-16T21:53:41.522Z,1368741221.522 [Default:GPS:Read_GPS] Running Loop=1
2013-05-16T21:53:41.522Z,1368741221.522 [Default:GPS:A.SetSpeed] Running Loop=1
2013-05-16T21:53:41.892Z,1368741221.892 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-05-16T21:53:41.895Z,1368741221.895 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-05-16T21:53:43.079Z,1368741223.079 [NAL9602](IMPORTANT): GPS fix at: 1368741153.00
2013-05-16T21:53:43.095Z,1368741223.095 [Default:GPS:Read_GPS] Stopped
2013-05-16T21:53:43.095Z,1368741223.095 [Default:GPS:D] Running Loop=1
2013-05-16T21:53:43.515Z,1368741223.515 [Default:GPS:D] Stopped
2013-05-16T21:53:43.516Z,1368741223.516 [Default:GPS](INFO): Completed Default:GPS
2013-05-16T21:53:43.516Z,1368741223.516 [Default:GPS] Stopped
2013-05-16T21:53:43.516Z,1368741223.516 [Default:GPS](INFO): Aggregate::uninitialize Default:GPS
2013-05-16T21:53:43.516Z,1368741223.516 [Default:GPS:A.SetSpeed] Stopped
2013-05-16T21:53:43.516Z,1368741223.516 [Default:GPS:A.SetSpeed](DEBUG): Uninitialize.
2013-05-16T21:53:46.253Z,1368741226.253 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:50.659Z,1368741230.659 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:52.983Z,1368741232.983 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:53:57.319Z,1368741237.319 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0
2013-05-16T21:54:00.102Z,1368741240.102 [NAL9602](ERROR): Inadequate Iridium signal strength reported: 0