2013-05-16T21:58:17.542Z,1368741497.542 [Supervisor](DEBUG): Initializing supervisor.
2013-05-16T21:58:17.550Z,1368741497.550 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-16T21:58:17.550Z,1368741497.550 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-16T21:58:17.554Z,1368741497.554 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-16T21:58:17.557Z,1368741497.557 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-16T21:58:17.568Z,1368741497.568 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-16T21:58:17.570Z,1368741497.570 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-16T21:58:17.571Z,1368741497.570 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-16T21:58:17.574Z,1368741497.574 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-16T21:58:17.574Z,1368741497.574 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-16T21:58:17.578Z,1368741497.579 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-16T21:58:17.899Z,1368741497.898 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-16T21:58:17.899Z,1368741497.899 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-16T21:58:18.114Z,1368741498.114 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-16T21:58:18.115Z,1368741498.115 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-16T21:58:18.209Z,1368741498.209 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-16T21:58:18.211Z,1368741498.211 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-16T21:58:18.438Z,1368741498.438 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-16T21:58:18.439Z,1368741498.439 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-16T21:58:18.594Z,1368741498.594 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-16T21:58:18.596Z,1368741498.596 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-16T21:58:18.862Z,1368741498.862 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-16T21:58:18.863Z,1368741498.863 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-16T21:58:19.053Z,1368741499.053 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-16T21:58:19.055Z,1368741499.055 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-16T21:58:19.343Z,1368741499.343 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-16T21:58:19.345Z,1368741499.345 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-16T21:58:19.458Z,1368741499.458 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-16T21:58:19.459Z,1368741499.459 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-16T21:58:19.911Z,1368741499.911 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-16T21:58:19.912Z,1368741499.912 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-16T21:58:20.036Z,1368741500.036 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-16T21:58:20.036Z,1368741500.036 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-16T21:58:20.132Z,1368741500.132 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-16T21:58:20.135Z,1368741500.135 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-16T21:58:20.256Z,1368741500.256 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-16T21:58:20.403Z,1368741500.403 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-16T21:58:20.498Z,1368741500.497 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-16T21:58:20.615Z,1368741500.615 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-16T21:58:20.729Z,1368741500.730 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-16T21:58:20.867Z,1368741500.867 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-16T21:58:20.984Z,1368741500.984 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-16T21:58:21.430Z,1368741501.430 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-05-16T21:58:23.023Z,1368741503.023 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-16T21:58:23.208Z,1368741503.208 [InternalSim] Loaded
2013-05-16T21:58:23.208Z,1368741503.208 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-16T21:58:23.209Z,1368741503.209 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-16T21:58:23.210Z,1368741503.210 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-16T21:58:23.290Z,1368741503.290 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-16T21:58:23.318Z,1368741503.318 [SBIT] Loaded
2013-05-16T21:58:23.319Z,1368741503.319 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-16T21:58:23.319Z,1368741503.319 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-16T21:58:23.348Z,1368741503.348 [IBIT] Loaded
2013-05-16T21:58:23.349Z,1368741503.349 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-16T21:58:23.352Z,1368741503.352 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-16T21:58:23.472Z,1368741503.472 [CBIT] Loaded
2013-05-16T21:58:23.472Z,1368741503.472 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-16T21:58:23.472Z,1368741503.472 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-16T21:58:23.473Z,1368741503.473 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-16T21:58:23.643Z,1368741503.643 [BuoyancyServo] Loaded
2013-05-16T21:58:23.643Z,1368741503.643 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-16T21:58:23.656Z,1368741503.656 [ElevatorServo] Loaded
2013-05-16T21:58:23.656Z,1368741503.656 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-16T21:58:23.668Z,1368741503.668 [MassServo] Loaded
2013-05-16T21:58:23.668Z,1368741503.668 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-16T21:58:23.680Z,1368741503.681 [RudderServo] Loaded
2013-05-16T21:58:23.681Z,1368741503.681 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-16T21:58:23.692Z,1368741503.692 [ThrusterServo] Loaded
2013-05-16T21:58:23.693Z,1368741503.693 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-16T21:58:23.693Z,1368741503.693 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-16T21:58:23.694Z,1368741503.694 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-16T21:58:23.726Z,1368741503.727 [DepthRateCalculator] Loaded
2013-05-16T21:58:23.727Z,1368741503.727 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-16T21:58:26.723Z,1368741506.723 [HFRadarModelCalc] Loaded
2013-05-16T21:58:26.723Z,1368741506.723 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-16T21:58:26.739Z,1368741506.739 [NavChart] Loaded
2013-05-16T21:58:26.739Z,1368741506.740 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-16T21:58:26.745Z,1368741506.745 [PitchRateCalculator] Loaded
2013-05-16T21:58:26.746Z,1368741506.746 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-16T21:58:26.756Z,1368741506.756 [SpeedCalculator] Loaded
2013-05-16T21:58:26.757Z,1368741506.757 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-16T21:58:26.772Z,1368741506.772 [TempGradientCalculator] Loaded
2013-05-16T21:58:26.772Z,1368741506.773 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-16T21:58:26.778Z,1368741506.778 [YawRateCalculator] Loaded
2013-05-16T21:58:26.779Z,1368741506.779 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-16T21:58:26.825Z,1368741506.825 [Navigation] Loaded
2013-05-16T21:58:26.825Z,1368741506.825 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-16T21:58:26.826Z,1368741506.826 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-16T21:58:26.826Z,1368741506.826 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-16T21:58:27.079Z,1368741507.079 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-16T21:58:27.079Z,1368741507.079 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-16T21:58:27.117Z,1368741507.117 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-16T21:58:27.118Z,1368741507.118 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-16T21:58:27.178Z,1368741507.178 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-16T21:58:27.270Z,1368741507.270 [VerticalControl] Loaded
2013-05-16T21:58:27.271Z,1368741507.271 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-16T21:58:27.272Z,1368741507.272 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-16T21:58:27.328Z,1368741507.328 [HorizontalControl] Loaded
2013-05-16T21:58:27.329Z,1368741507.329 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-16T21:58:27.329Z,1368741507.329 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-16T21:58:27.331Z,1368741507.331 [SpeedControl] Loaded
2013-05-16T21:58:27.331Z,1368741507.331 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-16T21:58:27.332Z,1368741507.332 [LoopControl](DEBUG): Construct LoopControl.
2013-05-16T21:58:27.333Z,1368741507.333 [LoopControl] Loaded
2013-05-16T21:58:27.333Z,1368741507.333 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-16T21:58:27.334Z,1368741507.334 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-16T21:58:27.334Z,1368741507.334 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-16T21:58:27.342Z,1368741507.342 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-16T21:58:27.347Z,1368741507.348 [AsyncPiEstimator] Loaded
2013-05-16T21:58:27.348Z,1368741507.348 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-16T21:58:27.349Z,1368741507.349 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-16T21:58:27.350Z,1368741507.350 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-16T21:58:27.350Z,1368741507.350 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-16T21:58:27.516Z,1368741507.516 [AHRS_sp3003D] Loaded
2013-05-16T21:58:27.516Z,1368741507.516 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-16T21:58:27.775Z,1368741507.775 [Batt_Ocean_Server] Loaded
2013-05-16T21:58:27.775Z,1368741507.775 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-16T21:58:27.789Z,1368741507.789 [Depth_Keller] Loaded
2013-05-16T21:58:27.789Z,1368741507.789 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-16T21:58:27.963Z,1368741507.963 [DVL_micro] Loaded
2013-05-16T21:58:27.964Z,1368741507.964 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-16T21:58:27.965Z,1368741507.965 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406BD4E0
2013-05-16T21:58:28.048Z,1368741508.048 [NAL9602] Loaded
2013-05-16T21:58:28.048Z,1368741508.048 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-16T21:58:28.099Z,1368741508.099 [Onboard] Loaded
2013-05-16T21:58:28.099Z,1368741508.099 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-16T21:58:28.106Z,1368741508.106 [Radio_Freewave] Loaded
2013-05-16T21:58:28.106Z,1368741508.106 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-16T21:58:28.226Z,1368741508.226 [DAT] Loaded
2013-05-16T21:58:28.227Z,1368741508.227 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-05-16T21:58:28.227Z,1368741508.227 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-16T21:58:28.228Z,1368741508.228 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-16T21:58:28.323Z,1368741508.323 [CTD_NeilBrown] Loaded
2013-05-16T21:58:28.324Z,1368741508.323 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-16T21:58:28.325Z,1368741508.325 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 4070F4E0
2013-05-16T21:58:28.356Z,1368741508.356 [WetLabsBB2FL] Loaded
2013-05-16T21:58:28.356Z,1368741508.356 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-16T21:58:28.357Z,1368741508.357 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 4073F4E0
2013-05-16T21:58:28.358Z,1368741508.358 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-16T21:58:28.360Z,1368741508.360 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-16T21:58:28.361Z,1368741508.361 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-16T21:58:28.371Z,1368741508.371 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-16T21:58:28.372Z,1368741508.372 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 4076F4E0
2013-05-16T21:58:28.376Z,1368741508.376 [Supervisor](DEBUG): Running supervisor.
2013-05-16T21:58:28.377Z,1368741508.378 [CommandLine](INFO): Thread ID is 747
2013-05-16T21:58:28.380Z,1368741508.380 [controlThread](INFO): Thread ID is 746
2013-05-16T21:58:28.380Z,1368741508.380 [controlThread](DEBUG): Initializing ControlThread
2013-05-16T21:58:28.381Z,1368741508.381 [CycleStarter](INFO): Thread ID is 745
2013-05-16T21:58:28.381Z,1368741508.381 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-16T21:58:28.480Z,1368741508.480 [logger](INFO): Thread ID is 748
2013-05-16T21:58:28.567Z,1368741508.567 [AsyncPiEstimator](INFO): Thread ID is 809
2013-05-16T21:58:28.567Z,1368741508.567 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-16T21:58:28.576Z,1368741508.576 [DVL_micro](INFO): Thread ID is 810
2013-05-16T21:58:28.689Z,1368741508.689 [CTD_NeilBrown](INFO): Thread ID is 811
2013-05-16T21:58:28.690Z,1368741508.690 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-16T21:58:28.702Z,1368741508.702 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-16T21:58:28.734Z,1368741508.734 [WetLabsBB2FL](INFO): Thread ID is 812
2013-05-16T21:58:28.735Z,1368741508.735 [WetLabsBB2FL](INFO): Powering down
2013-05-16T21:58:28.755Z,1368741508.755 [DVL_micro](INFO): Initializing
2013-05-16T21:58:28.755Z,1368741508.755 [DVL_micro](INFO): start:Powering up
2013-05-16T21:58:28.756Z,1368741508.756 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T21:58:28.757Z,1368741508.757 [DVL_micro](INFO): Cycling power to configure device.
2013-05-16T21:58:28.763Z,1368741508.763 [NavChartDb](INFO): Thread ID is 813
2013-05-16T21:58:28.766Z,1368741508.766 [SBIT](INFO): Initialize SBIT Component.
2013-05-16T21:58:28.767Z,1368741508.767 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10359
2013-05-16T21:58:28.767Z,1368741508.767 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-16T21:58:28.767Z,1368741508.767 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-16T21:58:28.769Z,1368741508.769 [IBIT](INFO): Initialize IBIT Component.
2013-05-16T21:58:28.771Z,1368741508.771 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-16T21:58:28.771Z,1368741508.771 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-05-16T21:58:28.771Z,1368741508.771 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-05-16T21:58:28.775Z,1368741508.776 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-16T21:58:28.776Z,1368741508.776 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-16T21:58:28.777Z,1368741508.777 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-16T21:58:28.777Z,1368741508.777 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-16T21:58:28.777Z,1368741508.777 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-16T21:58:28.777Z,1368741508.777 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-16T21:58:28.778Z,1368741508.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-16T21:58:28.778Z,1368741508.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-16T21:58:28.778Z,1368741508.778 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-16T21:58:28.803Z,1368741508.803 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-16T21:58:28.804Z,1368741508.804 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-16T21:58:28.804Z,1368741508.804 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-16T21:58:28.804Z,1368741508.805 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-16T21:58:28.805Z,1368741508.805 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-16T21:58:28.826Z,1368741508.826 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-16T21:58:28.830Z,1368741508.830 [Navigation](DEBUG): Initializing Navigation.
2013-05-16T21:58:28.830Z,1368741508.830 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-16T21:58:28.832Z,1368741508.832 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-16T21:58:28.833Z,1368741508.833 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-16T21:58:28.865Z,1368741508.865 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-16T21:58:30.637Z,1368741510.637 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-16T21:58:30.668Z,1368741510.668 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-16T21:58:30.703Z,1368741510.703 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:58:30.734Z,1368741510.734 [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>


2013-05-16T21:58:30.735Z,1368741510.735 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-16T21:58:30.816Z,1368741510.816 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-16T21:58:30.818Z,1368741510.818 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-16T21:58:30.821Z,1368741510.821 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:58:30.837Z,1368741510.837 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-16T21:58:30.852Z,1368741510.852 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:58:30.859Z,1368741510.859 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-16T21:58:30.879Z,1368741510.879 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-16T21:58:30.890Z,1368741510.890 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-16T21:58:30.891Z,1368741510.891 [DVL_micro](INFO): Querying output modes
2013-05-16T21:58:30.891Z,1368741510.891 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-16T21:58:30.904Z,1368741510.904 [DVL_micro](DEBUG): cmdResponse: 01 03 16
2013-05-16T21:58:30.905Z,1368741510.905 [DVL_micro](INFO): NQ1 output enabled
2013-05-16T21:58:30.905Z,1368741510.905 [DVL_micro](INFO): RSSI output enabled
2013-05-16T21:58:30.905Z,1368741510.905 [DVL_micro](INFO): ADCP output enabled
2013-05-16T21:58:30.905Z,1368741510.905 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-16T21:58:30.906Z,1368741510.906 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-16T21:58:30.918Z,1368741510.918 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-16T21:58:30.930Z,1368741510.931 [DVL_micro](INFO): pause:Powering down
2013-05-16T21:58:30.934Z,1368741510.934 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-16T21:58:30.950Z,1368741510.950 [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>


2013-05-16T21:58:30.954Z,1368741510.954 [controlThread](DEBUG): Component order: CycleStarter,InternalSim,AHRS_sp3003D,Batt_Ocean_Server,Depth_Keller,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,
2013-05-16T21:58:31.014Z,1368741511.014 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-16T21:58:31.220Z,1368741511.220 [Radio_Freewave](INFO): Powering up
2013-05-16T21:58:31.229Z,1368741511.229 [DAT](INFO): Powering up
2013-05-16T21:58:31.235Z,1368741511.236 [DAT](DEBUG): Initializing DAT.
2013-05-16T21:58:31.458Z,1368741511.458 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:58:31.466Z,1368741511.466 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-16T21:58:31.472Z,1368741511.472 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:58:31.478Z,1368741511.478 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-16T21:58:31.496Z,1368741511.496 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:58:31.502Z,1368741511.502 [MassServo](DEBUG): Initializing MassServo.
2013-05-16T21:58:31.508Z,1368741511.508 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:58:31.514Z,1368741511.514 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-16T21:58:31.536Z,1368741511.536 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-16T21:58:31.547Z,1368741511.547 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-16T21:58:33.234Z,1368741513.234 [NAL9602](INFO): Powering up NAL9602
2013-05-16T21:58:43.934Z,1368741523.934 [NAL9602](INFO): NAL9602 initialized
2013-05-16T21:58:44.363Z,1368741524.363 [SBIT](IMPORTANT): Beginning Startup BIT
2013-05-16T21:58:44.366Z,1368741524.365 [CBIT](IMPORTANT): Beginning GF scan