2013-05-16T21:55:57.761Z,1368741357.761 [Supervisor](DEBUG): Initializing supervisor.
2013-05-16T21:55:57.769Z,1368741357.769 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-16T21:55:57.770Z,1368741357.770 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-16T21:55:57.774Z,1368741357.773 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-16T21:55:57.777Z,1368741357.777 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-16T21:55:57.788Z,1368741357.787 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-16T21:55:57.789Z,1368741357.789 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-16T21:55:57.790Z,1368741357.790 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-16T21:55:57.794Z,1368741357.793 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-16T21:55:57.794Z,1368741357.794 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-16T21:55:57.798Z,1368741357.798 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-16T21:55:58.113Z,1368741358.113 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-16T21:55:58.114Z,1368741358.114 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-16T21:55:58.330Z,1368741358.330 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-16T21:55:58.331Z,1368741358.331 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-16T21:55:58.425Z,1368741358.425 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-16T21:55:58.427Z,1368741358.427 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-16T21:55:58.654Z,1368741358.654 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-16T21:55:58.655Z,1368741358.655 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-16T21:55:58.810Z,1368741358.810 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-16T21:55:58.812Z,1368741358.812 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-16T21:55:59.079Z,1368741359.079 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-16T21:55:59.079Z,1368741359.079 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-16T21:55:59.269Z,1368741359.269 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-16T21:55:59.271Z,1368741359.271 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-16T21:55:59.559Z,1368741359.559 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-16T21:55:59.561Z,1368741359.561 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-16T21:55:59.674Z,1368741359.674 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-16T21:55:59.675Z,1368741359.675 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-16T21:56:00.131Z,1368741360.131 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-16T21:56:00.132Z,1368741360.132 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-16T21:56:00.262Z,1368741360.262 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-16T21:56:00.263Z,1368741360.263 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-16T21:56:00.359Z,1368741360.359 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-16T21:56:00.363Z,1368741360.362 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-16T21:56:00.480Z,1368741360.480 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-16T21:56:00.627Z,1368741360.627 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-16T21:56:00.725Z,1368741360.725 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-16T21:56:00.843Z,1368741360.843 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-16T21:56:00.957Z,1368741360.957 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-16T21:56:01.096Z,1368741361.096 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-16T21:56:01.211Z,1368741361.211 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-16T21:56:01.643Z,1368741361.643 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-05-16T21:56:03.187Z,1368741363.187 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-16T21:56:03.373Z,1368741363.373 [InternalSim] Loaded
2013-05-16T21:56:03.374Z,1368741363.374 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-16T21:56:03.375Z,1368741363.375 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-16T21:56:03.375Z,1368741363.375 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-16T21:56:03.455Z,1368741363.455 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-16T21:56:03.484Z,1368741363.484 [SBIT] Loaded
2013-05-16T21:56:03.484Z,1368741363.484 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-16T21:56:03.485Z,1368741363.485 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-16T21:56:03.514Z,1368741363.514 [IBIT] Loaded
2013-05-16T21:56:03.514Z,1368741363.514 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-16T21:56:03.517Z,1368741363.517 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-16T21:56:03.637Z,1368741363.637 [CBIT] Loaded
2013-05-16T21:56:03.637Z,1368741363.637 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-16T21:56:03.637Z,1368741363.638 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-16T21:56:03.638Z,1368741363.638 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-16T21:56:03.811Z,1368741363.811 [BuoyancyServo] Loaded
2013-05-16T21:56:03.811Z,1368741363.811 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-16T21:56:03.823Z,1368741363.823 [ElevatorServo] Loaded
2013-05-16T21:56:03.824Z,1368741363.824 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-16T21:56:03.836Z,1368741363.836 [MassServo] Loaded
2013-05-16T21:56:03.836Z,1368741363.836 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-16T21:56:03.848Z,1368741363.848 [RudderServo] Loaded
2013-05-16T21:56:03.848Z,1368741363.848 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-16T21:56:03.860Z,1368741363.860 [ThrusterServo] Loaded
2013-05-16T21:56:03.861Z,1368741363.861 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-16T21:56:03.861Z,1368741363.861 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-16T21:56:03.862Z,1368741363.862 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-16T21:56:03.895Z,1368741363.895 [DepthRateCalculator] Loaded
2013-05-16T21:56:03.895Z,1368741363.895 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-16T21:56:06.867Z,1368741366.867 [HFRadarModelCalc] Loaded
2013-05-16T21:56:06.867Z,1368741366.867 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-16T21:56:06.883Z,1368741366.883 [NavChart] Loaded
2013-05-16T21:56:06.884Z,1368741366.884 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-16T21:56:06.889Z,1368741366.889 [PitchRateCalculator] Loaded
2013-05-16T21:56:06.890Z,1368741366.890 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-16T21:56:06.900Z,1368741366.900 [SpeedCalculator] Loaded
2013-05-16T21:56:06.901Z,1368741366.901 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-16T21:56:06.916Z,1368741366.916 [TempGradientCalculator] Loaded
2013-05-16T21:56:06.916Z,1368741366.917 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-16T21:56:06.922Z,1368741366.922 [YawRateCalculator] Loaded
2013-05-16T21:56:06.923Z,1368741366.923 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-16T21:56:06.969Z,1368741366.969 [Navigation] Loaded
2013-05-16T21:56:06.970Z,1368741366.970 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-16T21:56:06.970Z,1368741366.970 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-16T21:56:06.971Z,1368741366.971 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-16T21:56:07.221Z,1368741367.221 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-16T21:56:07.222Z,1368741367.222 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-16T21:56:07.260Z,1368741367.260 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-16T21:56:07.261Z,1368741367.260 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-16T21:56:07.320Z,1368741367.320 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-16T21:56:07.414Z,1368741367.414 [VerticalControl] Loaded
2013-05-16T21:56:07.414Z,1368741367.414 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-16T21:56:07.415Z,1368741367.415 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-16T21:56:07.471Z,1368741367.471 [HorizontalControl] Loaded
2013-05-16T21:56:07.472Z,1368741367.472 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-16T21:56:07.472Z,1368741367.473 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-16T21:56:07.474Z,1368741367.474 [SpeedControl] Loaded
2013-05-16T21:56:07.475Z,1368741367.475 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-16T21:56:07.475Z,1368741367.476 [LoopControl](DEBUG): Construct LoopControl.
2013-05-16T21:56:07.476Z,1368741367.476 [LoopControl] Loaded
2013-05-16T21:56:07.476Z,1368741367.476 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-16T21:56:07.477Z,1368741367.477 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-16T21:56:07.477Z,1368741367.477 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-16T21:56:07.486Z,1368741367.486 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-16T21:56:07.491Z,1368741367.491 [AsyncPiEstimator] Loaded
2013-05-16T21:56:07.491Z,1368741367.491 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-16T21:56:07.492Z,1368741367.492 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-16T21:56:07.493Z,1368741367.493 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-16T21:56:07.494Z,1368741367.494 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-16T21:56:07.661Z,1368741367.661 [AHRS_sp3003D] Loaded
2013-05-16T21:56:07.661Z,1368741367.661 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-16T21:56:07.919Z,1368741367.920 [Batt_Ocean_Server] Loaded
2013-05-16T21:56:07.920Z,1368741367.920 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-16T21:56:07.934Z,1368741367.934 [Depth_Keller] Loaded
2013-05-16T21:56:07.934Z,1368741367.934 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-16T21:56:07.940Z,1368741367.940 [DropWeight] Loaded
2013-05-16T21:56:07.940Z,1368741367.940 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-16T21:56:08.113Z,1368741368.113 [DVL_micro] Loaded
2013-05-16T21:56:08.113Z,1368741368.113 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-16T21:56:08.114Z,1368741368.114 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406BD4E0
2013-05-16T21:56:08.197Z,1368741368.197 [NAL9602] Loaded
2013-05-16T21:56:08.197Z,1368741368.197 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-16T21:56:08.249Z,1368741368.249 [Onboard] Loaded
2013-05-16T21:56:08.249Z,1368741368.249 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-16T21:56:08.255Z,1368741368.256 [Radio_Freewave] Loaded
2013-05-16T21:56:08.256Z,1368741368.256 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-16T21:56:08.376Z,1368741368.376 [DAT] Loaded
2013-05-16T21:56:08.377Z,1368741368.376 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-05-16T21:56:08.377Z,1368741368.377 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-16T21:56:08.378Z,1368741368.378 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-16T21:56:08.472Z,1368741368.472 [CTD_NeilBrown] Loaded
2013-05-16T21:56:08.473Z,1368741368.473 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-16T21:56:08.474Z,1368741368.474 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4070F4E0
2013-05-16T21:56:08.505Z,1368741368.505 [WetLabsBB2FL] Loaded
2013-05-16T21:56:08.506Z,1368741368.506 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-16T21:56:08.507Z,1368741368.507 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4073F4E0
2013-05-16T21:56:08.507Z,1368741368.507 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-16T21:56:08.510Z,1368741368.510 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-16T21:56:08.511Z,1368741368.511 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-16T21:56:08.521Z,1368741368.521 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-16T21:56:08.522Z,1368741368.522 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2013-05-16T21:56:08.526Z,1368741368.526 [Supervisor](DEBUG): Running supervisor.
2013-05-16T21:56:08.527Z,1368741368.527 [CommandLine](INFO): Thread ID is 747
2013-05-16T21:56:08.530Z,1368741368.530 [controlThread](INFO): Thread ID is 746
2013-05-16T21:56:08.530Z,1368741368.530 [controlThread](DEBUG): Initializing ControlThread
2013-05-16T21:56:08.531Z,1368741368.531 [CycleStarter](INFO): Thread ID is 745
2013-05-16T21:56:08.531Z,1368741368.531 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-16T21:56:08.629Z,1368741368.629 [logger](INFO): Thread ID is 748
2013-05-16T21:56:08.718Z,1368741368.718 [AsyncPiEstimator](INFO): Thread ID is 809
2013-05-16T21:56:08.718Z,1368741368.718 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-16T21:56:08.727Z,1368741368.727 [DVL_micro](INFO): Thread ID is 810
2013-05-16T21:56:08.824Z,1368741368.824 [CTD_NeilBrown](INFO): Thread ID is 811
2013-05-16T21:56:08.824Z,1368741368.824 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-16T21:56:08.827Z,1368741368.827 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-16T21:56:08.878Z,1368741368.878 [DVL_micro](INFO): Initializing
2013-05-16T21:56:08.878Z,1368741368.878 [DVL_micro](INFO): start:Powering up
2013-05-16T21:56:08.878Z,1368741368.878 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T21:56:08.879Z,1368741368.879 [DVL_micro](INFO): Cycling power to configure device.
2013-05-16T21:56:08.884Z,1368741368.884 [WetLabsBB2FL](INFO): Thread ID is 812
2013-05-16T21:56:08.885Z,1368741368.885 [WetLabsBB2FL](INFO): Powering down
2013-05-16T21:56:08.906Z,1368741368.907 [NavChartDb](INFO): Thread ID is 813
2013-05-16T21:56:08.913Z,1368741368.913 [SBIT](INFO): Initialize SBIT Component.
2013-05-16T21:56:08.916Z,1368741368.917 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-16T21:56:08.918Z,1368741368.918 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-16T21:56:08.918Z,1368741368.918 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-16T21:56:08.918Z,1368741368.918 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-16T21:56:08.918Z,1368741368.918 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-16T21:56:08.919Z,1368741368.919 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-16T21:56:08.919Z,1368741368.919 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-16T21:56:08.919Z,1368741368.919 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-16T21:56:08.919Z,1368741368.919 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-16T21:56:08.946Z,1368741368.946 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10359
2013-05-16T21:56:08.946Z,1368741368.946 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-16T21:56:08.946Z,1368741368.946 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-16T21:56:08.947Z,1368741368.947 [IBIT](INFO): Initialize IBIT Component.
2013-05-16T21:56:08.948Z,1368741368.948 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-16T21:56:08.948Z,1368741368.948 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-05-16T21:56:08.948Z,1368741368.948 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2013-05-16T21:56:08.975Z,1368741368.975 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-16T21:56:08.976Z,1368741368.976 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-16T21:56:08.976Z,1368741368.976 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-16T21:56:08.976Z,1368741368.976 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-16T21:56:08.977Z,1368741368.977 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-16T21:56:08.982Z,1368741368.982 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-16T21:56:08.982Z,1368741368.982 [Navigation](DEBUG): Initializing Navigation.
2013-05-16T21:56:08.982Z,1368741368.982 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-16T21:56:08.985Z,1368741368.985 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-16T21:56:08.997Z,1368741368.997 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-16T21:56:08.998Z,1368741368.998 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-16T21:56:10.657Z,1368741370.657 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-16T21:56:10.694Z,1368741370.694 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-05-16T21:56:10.694Z,1368741370.694 [DropWeight] Hardware Fault, FailCount= 1
2013-05-16T21:56:10.694Z,1368741370.694 [DropWeight](ERROR): Hardware Fault
2013-05-16T21:56:10.696Z,1368741370.696 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-16T21:56:10.732Z,1368741370.732 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:56:10.774Z,1368741370.774 [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>


2013-05-16T21:56:10.775Z,1368741370.775 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-16T21:56:10.829Z,1368741370.829 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-16T21:56:10.851Z,1368741370.851 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-16T21:56:10.854Z,1368741370.854 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:56:10.878Z,1368741370.878 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-16T21:56:10.881Z,1368741370.881 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:56:10.899Z,1368741370.899 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-16T21:56:10.920Z,1368741370.920 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-16T21:56:10.923Z,1368741370.923 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:56:10.960Z,1368741370.960 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-16T21:56:10.963Z,1368741370.963 [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="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>


2013-05-16T21:56:10.981Z,1368741370.981 [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,
2013-05-16T21:56:11.014Z,1368741371.014 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T21:56:11.014Z,1368741371.014 [DVL_micro](INFO): Querying output modes
2013-05-16T21:56:11.015Z,1368741371.015 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-16T21:56:11.018Z,1368741371.018 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-16T21:56:11.026Z,1368741371.026 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-05-16T21:56:11.026Z,1368741371.026 [DVL_micro](INFO): NQ1 output enabled
2013-05-16T21:56:11.026Z,1368741371.026 [DVL_micro](INFO): RSSI output enabled
2013-05-16T21:56:11.026Z,1368741371.026 [DVL_micro](INFO): ADCP output enabled
2013-05-16T21:56:11.027Z,1368741371.027 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-16T21:56:11.038Z,1368741371.038 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-16T21:56:11.043Z,1368741371.043 [DVL_micro](INFO): pause:Powering down
2013-05-16T21:56:11.076Z,1368741371.076 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-05-16T21:56:11.126Z,1368741371.126 [Radio_Freewave](INFO): Powering up
2013-05-16T21:56:11.131Z,1368741371.131 [DAT](INFO): Powering up
2013-05-16T21:56:11.131Z,1368741371.131 [DAT](DEBUG): Initializing DAT.
2013-05-16T21:56:11.326Z,1368741371.326 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:56:11.350Z,1368741371.350 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-16T21:56:11.356Z,1368741371.356 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:56:11.362Z,1368741371.362 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-16T21:56:11.384Z,1368741371.384 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:56:11.390Z,1368741371.390 [MassServo](DEBUG): Initializing MassServo.
2013-05-16T21:56:11.397Z,1368741371.397 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:56:11.402Z,1368741371.402 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-16T21:56:11.408Z,1368741371.408 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:56:11.414Z,1368741371.414 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-16T21:56:11.461Z,1368741371.461 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-05-16T21:56:11.461Z,1368741371.461 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-05-16T21:56:13.442Z,1368741373.442 [NAL9602](INFO): Powering up NAL9602
2013-05-16T21:56:24.114Z,1368741384.114 [NAL9602](INFO): NAL9602 initialized
2013-05-16T21:56:24.529Z,1368741384.529 [SBIT](IMPORTANT): Beginning Startup BIT
2013-05-16T21:56:24.555Z,1368741384.555 [CBIT](IMPORTANT): Beginning GF scan