2013-05-22T01:11:41.502Z,1369185101.502 [Supervisor](DEBUG): Initializing supervisor.
2013-05-22T01:11:41.508Z,1369185101.509 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-22T01:11:41.509Z,1369185101.509 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-22T01:11:41.512Z,1369185101.513 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-22T01:11:41.516Z,1369185101.516 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-22T01:11:41.527Z,1369185101.527 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-22T01:11:41.529Z,1369185101.529 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-22T01:11:41.530Z,1369185101.530 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-22T01:11:41.533Z,1369185101.533 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-22T01:11:41.533Z,1369185101.533 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-22T01:11:41.537Z,1369185101.537 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-22T01:11:41.861Z,1369185101.861 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-22T01:11:41.862Z,1369185101.862 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-22T01:11:42.077Z,1369185102.077 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-22T01:11:42.078Z,1369185102.078 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-22T01:11:42.176Z,1369185102.176 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-22T01:11:42.178Z,1369185102.178 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-22T01:11:42.405Z,1369185102.405 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-22T01:11:42.406Z,1369185102.406 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-22T01:11:42.561Z,1369185102.561 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-22T01:11:42.563Z,1369185102.563 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-22T01:11:42.828Z,1369185102.828 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-22T01:11:42.829Z,1369185102.829 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-22T01:11:43.020Z,1369185103.020 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-22T01:11:43.022Z,1369185103.022 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-22T01:11:43.310Z,1369185103.310 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-22T01:11:43.312Z,1369185103.312 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-22T01:11:43.425Z,1369185103.425 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-22T01:11:43.426Z,1369185103.426 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-22T01:11:43.878Z,1369185103.878 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-22T01:11:43.879Z,1369185103.879 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-22T01:11:44.009Z,1369185104.009 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-22T01:11:44.010Z,1369185104.010 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-22T01:11:44.106Z,1369185104.106 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-22T01:11:44.110Z,1369185104.110 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-22T01:11:44.227Z,1369185104.227 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-22T01:11:44.378Z,1369185104.378 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-22T01:11:44.550Z,1369185104.550 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-22T01:11:44.666Z,1369185104.666 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-22T01:11:44.778Z,1369185104.778 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-22T01:11:44.917Z,1369185104.917 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-22T01:11:45.070Z,1369185105.070 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-22T01:11:45.168Z,1369185105.168 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2013-05-22T01:11:45.202Z,1369185105.202 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-22T01:11:45.409Z,1369185105.409 [InternalSim] Loaded
2013-05-22T01:11:45.410Z,1369185105.410 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-22T01:11:45.410Z,1369185105.411 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-22T01:11:45.411Z,1369185105.411 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-22T01:11:45.500Z,1369185105.500 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-22T01:11:45.534Z,1369185105.534 [SBIT] Loaded
2013-05-22T01:11:45.535Z,1369185105.534 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-22T01:11:45.535Z,1369185105.535 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-22T01:11:45.570Z,1369185105.569 [IBIT] Loaded
2013-05-22T01:11:45.570Z,1369185105.570 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-22T01:11:45.573Z,1369185105.573 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-22T01:11:45.707Z,1369185105.707 [CBIT] Loaded
2013-05-22T01:11:45.707Z,1369185105.707 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-22T01:11:45.708Z,1369185105.708 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-22T01:11:45.709Z,1369185105.708 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-22T01:11:45.891Z,1369185105.891 [BuoyancyServo] Loaded
2013-05-22T01:11:45.891Z,1369185105.891 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-22T01:11:45.904Z,1369185105.904 [ElevatorServo] Loaded
2013-05-22T01:11:45.904Z,1369185105.904 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-22T01:11:45.920Z,1369185105.920 [MassServo] Loaded
2013-05-22T01:11:45.921Z,1369185105.921 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-22T01:11:45.933Z,1369185105.933 [RudderServo] Loaded
2013-05-22T01:11:45.933Z,1369185105.933 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-22T01:11:45.946Z,1369185105.945 [ThrusterServo] Loaded
2013-05-22T01:11:45.946Z,1369185105.946 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-22T01:11:45.946Z,1369185105.946 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-22T01:11:45.947Z,1369185105.947 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-22T01:11:45.984Z,1369185105.984 [DepthRateCalculator] Loaded
2013-05-22T01:11:45.984Z,1369185105.984 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-22T01:11:49.524Z,1369185109.524 [HFRadarModelCalc] Loaded
2013-05-22T01:11:49.525Z,1369185109.524 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-22T01:11:49.545Z,1369185109.545 [NavChart] Loaded
2013-05-22T01:11:49.545Z,1369185109.545 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-22T01:11:49.551Z,1369185109.551 [PitchRateCalculator] Loaded
2013-05-22T01:11:49.552Z,1369185109.552 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-22T01:11:49.563Z,1369185109.563 [SpeedCalculator] Loaded
2013-05-22T01:11:49.564Z,1369185109.564 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-22T01:11:49.579Z,1369185109.579 [TempGradientCalculator] Loaded
2013-05-22T01:11:49.580Z,1369185109.579 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-22T01:11:49.590Z,1369185109.590 [YawRateCalculator] Loaded
2013-05-22T01:11:49.590Z,1369185109.590 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-22T01:11:49.642Z,1369185109.642 [Navigation] Loaded
2013-05-22T01:11:49.642Z,1369185109.642 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-22T01:11:49.643Z,1369185109.643 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-22T01:11:49.644Z,1369185109.644 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-22T01:11:49.932Z,1369185109.931 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-22T01:11:49.932Z,1369185109.932 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-22T01:11:49.981Z,1369185109.981 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-22T01:11:49.982Z,1369185109.982 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-22T01:11:50.048Z,1369185110.048 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-22T01:11:50.157Z,1369185110.158 [VerticalControl] Loaded
2013-05-22T01:11:50.158Z,1369185110.158 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-22T01:11:50.159Z,1369185110.159 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-22T01:11:50.226Z,1369185110.226 [HorizontalControl] Loaded
2013-05-22T01:11:50.226Z,1369185110.226 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-22T01:11:50.227Z,1369185110.227 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-22T01:11:50.229Z,1369185110.229 [SpeedControl] Loaded
2013-05-22T01:11:50.229Z,1369185110.229 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-22T01:11:50.230Z,1369185110.230 [LoopControl](DEBUG): Construct LoopControl.
2013-05-22T01:11:50.231Z,1369185110.231 [LoopControl] Loaded
2013-05-22T01:11:50.231Z,1369185110.231 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-22T01:11:50.231Z,1369185110.231 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-22T01:11:50.232Z,1369185110.232 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-22T01:11:50.241Z,1369185110.241 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-22T01:11:50.246Z,1369185110.246 [AsyncPiEstimator] Loaded
2013-05-22T01:11:50.246Z,1369185110.246 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-22T01:11:50.249Z,1369185110.249 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-22T01:11:50.249Z,1369185110.249 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-22T01:11:50.250Z,1369185110.250 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-22T01:11:50.439Z,1369185110.439 [AHRS_sp3003D] Loaded
2013-05-22T01:11:50.439Z,1369185110.439 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-22T01:11:50.735Z,1369185110.735 [Batt_Ocean_Server] Loaded
2013-05-22T01:11:50.736Z,1369185110.736 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-22T01:11:50.754Z,1369185110.754 [Depth_Keller] Loaded
2013-05-22T01:11:50.754Z,1369185110.754 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-22T01:11:50.760Z,1369185110.760 [DropWeight] Loaded
2013-05-22T01:11:50.761Z,1369185110.760 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-22T01:11:50.959Z,1369185110.959 [DVL_micro] Loaded
2013-05-22T01:11:50.959Z,1369185110.959 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-22T01:11:50.961Z,1369185110.961 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406B64E0
2013-05-22T01:11:51.055Z,1369185111.055 [NAL9602] Loaded
2013-05-22T01:11:51.055Z,1369185111.055 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-22T01:11:51.117Z,1369185111.117 [Onboard] Loaded
2013-05-22T01:11:51.117Z,1369185111.117 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-22T01:11:51.124Z,1369185111.124 [Radio_Freewave] Loaded
2013-05-22T01:11:51.124Z,1369185111.124 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-22T01:11:51.305Z,1369185111.305 [DAT] Loaded
2013-05-22T01:11:51.305Z,1369185111.305 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-05-22T01:11:51.306Z,1369185111.306 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-22T01:11:51.306Z,1369185111.306 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-22T01:11:51.414Z,1369185111.414 [CTD_NeilBrown] Loaded
2013-05-22T01:11:51.414Z,1369185111.414 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-22T01:11:51.417Z,1369185111.417 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407084E0
2013-05-22T01:11:51.453Z,1369185111.453 [WetLabsBB2FL] Loaded
2013-05-22T01:11:51.453Z,1369185111.453 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-22T01:11:51.456Z,1369185111.457 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407384E0
2013-05-22T01:11:51.457Z,1369185111.457 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-22T01:11:51.460Z,1369185111.460 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-22T01:11:51.461Z,1369185111.461 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-22T01:11:51.470Z,1369185111.470 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-22T01:11:51.472Z,1369185111.473 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2013-05-22T01:11:51.477Z,1369185111.477 [Supervisor](DEBUG): Running supervisor.
2013-05-22T01:11:51.478Z,1369185111.478 [CommandLine](INFO): Thread ID is 751
2013-05-22T01:11:51.481Z,1369185111.481 [controlThread](INFO): Thread ID is 750
2013-05-22T01:11:51.481Z,1369185111.481 [controlThread](DEBUG): Initializing ControlThread
2013-05-22T01:11:51.482Z,1369185111.482 [CycleStarter](INFO): Thread ID is 749
2013-05-22T01:11:51.482Z,1369185111.482 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-22T01:11:51.595Z,1369185111.595 [logger](INFO): Thread ID is 752
2013-05-22T01:11:51.701Z,1369185111.701 [AsyncPiEstimator](INFO): Thread ID is 813
2013-05-22T01:11:51.701Z,1369185111.701 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-22T01:11:51.717Z,1369185111.717 [DVL_micro](INFO): Thread ID is 814
2013-05-22T01:11:51.819Z,1369185111.819 [CTD_NeilBrown](INFO): Thread ID is 815
2013-05-22T01:11:51.820Z,1369185111.820 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-22T01:11:51.825Z,1369185111.825 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-22T01:11:51.875Z,1369185111.875 [DVL_micro](INFO): Initializing
2013-05-22T01:11:51.876Z,1369185111.875 [DVL_micro](INFO): start:Powering up
2013-05-22T01:11:51.877Z,1369185111.877 [WetLabsBB2FL](INFO): Thread ID is 816
2013-05-22T01:11:51.877Z,1369185111.878 [WetLabsBB2FL](INFO): Powering down
2013-05-22T01:11:51.920Z,1369185111.920 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T01:11:51.921Z,1369185111.921 [DVL_micro](INFO): Cycling power to configure device.
2013-05-22T01:11:51.926Z,1369185111.926 [NavChartDb](INFO): Thread ID is 817
2013-05-22T01:11:51.935Z,1369185111.935 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-22T01:11:51.936Z,1369185111.936 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-22T01:11:51.936Z,1369185111.936 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-22T01:11:51.937Z,1369185111.937 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-22T01:11:51.937Z,1369185111.937 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-22T01:11:51.937Z,1369185111.937 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-22T01:11:51.937Z,1369185111.937 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-22T01:11:51.938Z,1369185111.938 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-22T01:11:51.938Z,1369185111.938 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-22T01:11:51.962Z,1369185111.962 [SBIT](INFO): Initialize SBIT Component.
2013-05-22T01:11:51.963Z,1369185111.963 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10376
2013-05-22T01:11:51.963Z,1369185111.963 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-22T01:11:51.963Z,1369185111.963 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-22T01:11:51.964Z,1369185111.964 [IBIT](INFO): Initialize IBIT Component.
2013-05-22T01:11:52.007Z,1369185112.007 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-22T01:11:52.007Z,1369185112.007 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-05-22T01:11:52.034Z,1369185112.034 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-22T01:11:52.034Z,1369185112.034 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-22T01:11:52.035Z,1369185112.035 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-22T01:11:52.035Z,1369185112.035 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-22T01:11:52.036Z,1369185112.036 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-22T01:11:52.040Z,1369185112.040 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-22T01:11:52.040Z,1369185112.040 [Navigation](DEBUG): Initializing Navigation.
2013-05-22T01:11:52.041Z,1369185112.040 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-22T01:11:52.043Z,1369185112.043 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-22T01:11:52.043Z,1369185112.043 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-22T01:11:52.044Z,1369185112.044 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-22T01:11:53.947Z,1369185113.947 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-22T01:11:54.013Z,1369185114.013 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-05-22T01:11:54.013Z,1369185114.013 [DropWeight] Hardware Fault, FailCount= 1
2013-05-22T01:11:54.013Z,1369185114.013 [DropWeight](ERROR): Hardware Fault
2013-05-22T01:11:54.015Z,1369185114.015 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-22T01:11:54.029Z,1369185114.029 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T01:11:54.030Z,1369185114.030 [DVL_micro](INFO): Querying output modes
2013-05-22T01:11:54.030Z,1369185114.030 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-22T01:11:54.041Z,1369185114.041 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-22T01:11:54.041Z,1369185114.041 [DVL_micro](INFO): NQ1 output enabled
2013-05-22T01:11:54.041Z,1369185114.041 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-22T01:11:54.053Z,1369185114.053 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-22T01:11:54.058Z,1369185114.058 [DVL_micro](INFO): pause:Powering down
2013-05-22T01:11:54.061Z,1369185114.061 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:11:54.076Z,1369185114.076 [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>


2013-05-22T01:11:54.076Z,1369185114.076 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-22T01:11:54.167Z,1369185114.167 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-22T01:11:54.169Z,1369185114.169 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-22T01:11:54.173Z,1369185114.173 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:11:54.193Z,1369185114.193 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-22T01:11:54.196Z,1369185114.196 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:11:54.234Z,1369185114.234 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-22T01:11:54.259Z,1369185114.259 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-22T01:11:54.279Z,1369185114.279 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:11:54.283Z,1369185114.283 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-22T01:11:54.287Z,1369185114.287 [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>


2013-05-22T01:11:54.291Z,1369185114.291 [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,
2013-05-22T01:11:54.358Z,1369185114.358 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-22T01:11:54.583Z,1369185114.583 [Radio_Freewave](INFO): Powering up
2013-05-22T01:11:54.588Z,1369185114.588 [DAT](INFO): Powering up
2013-05-22T01:11:54.588Z,1369185114.588 [DAT](DEBUG): Initializing DAT.
2013-05-22T01:11:54.791Z,1369185114.791 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:11:54.813Z,1369185114.813 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-22T01:11:54.835Z,1369185114.835 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:11:54.845Z,1369185114.845 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-22T01:11:54.851Z,1369185114.851 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:11:54.857Z,1369185114.857 [MassServo](DEBUG): Initializing MassServo.
2013-05-22T01:11:54.867Z,1369185114.867 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:11:54.873Z,1369185114.873 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-22T01:11:54.878Z,1369185114.878 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:11:54.885Z,1369185114.885 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-22T01:11:54.942Z,1369185114.942 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-05-22T01:11:54.943Z,1369185114.943 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-05-22T01:11:56.249Z,1369185116.249 [NAL9602](INFO): Powering up NAL9602
2013-05-22T01:12:07.101Z,1369185127.101 [NAL9602](INFO): NAL9602 initialized
2013-05-22T01:12:07.512Z,1369185127.511 [SBIT](IMPORTANT): Beginning Startup BIT
2013-05-22T01:12:07.514Z,1369185127.514 [CBIT](IMPORTANT): Beginning GF scan
2013-05-22T01:12:14.864Z,1369185134.864 [DAT](INFO): Powering down
2013-05-22T01:12:20.760Z,1369185140.760 [SBIT](FAULT): Mass: EXPECTED:0.005600 ACTUAL:0.002578
2013-05-22T01:12:33.854Z,1369185153.854 [CBIT](IMPORTANT): No ground fault detected
2013-05-22T01:13:01.191Z,1369185181.191 [SBIT](CRITICAL): SBIT FAILED
2013-05-22T01:13:01.584Z,1369185181.584 [MissionManager](IMPORTANT): Started mission Startup
2013-05-22T01:13:01.584Z,1369185181.584 [Startup] Running Loop=1
2013-05-22T01:13:01.584Z,1369185181.584 [Startup](INFO): Aggregate::initialize Startup
2013-05-22T01:13:01.584Z,1369185181.584 [Startup:A.GoToSurface] Running Loop=1
2013-05-22T01:13:01.584Z,1369185181.584 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-22T01:13:01.590Z,1369185181.590 [Startup:StartupSatComms] Running Loop=1
2013-05-22T01:13:01.590Z,1369185181.590 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-05-22T01:13:01.590Z,1369185181.590 [Startup:StartupSatComms:A] Running Loop=1
2013-05-22T01:13:01.959Z,1369185181.959 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-05-22T01:14:01.979Z,1369185241.979 [Startup:StartupSatComms:A](INFO): Timed out from 2013-05-22T01:13:01.6Z
2013-05-22T01:14:01.979Z,1369185241.979 [Startup:StartupSatComms:A:A_Timeout] Running Loop=1
2013-05-22T01:14:01.979Z,1369185241.979 [Startup:StartupSatComms:A:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:A:A_Timeout
2013-05-22T01:14:01.980Z,1369185241.980 [Startup:StartupSatComms:A:A_Timeout](INFO): Completed Startup:StartupSatComms:A:A_Timeout
2013-05-22T01:14:01.980Z,1369185241.980 [Startup:StartupSatComms:A] Stopped
2013-05-22T01:14:01.980Z,1369185241.980 [Startup:StartupSatComms:B] Running Loop=1
2013-05-22T01:14:02.360Z,1369185242.360 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-05-22T01:15:02.305Z,1369185302.305 [Startup:StartupSatComms:B](INFO): Timed out from 2013-05-22T01:14:01.0Z
2013-05-22T01:15:02.305Z,1369185302.305 [Startup:StartupSatComms:B:A_Timeout] Running Loop=1
2013-05-22T01:15:02.306Z,1369185302.306 [Startup:StartupSatComms:B:A_Timeout](INFO): Aggregate::initialize Startup:StartupSatComms:B:A_Timeout
2013-05-22T01:15:02.306Z,1369185302.306 [Startup:StartupSatComms:B:A_Timeout](INFO): Completed Startup:StartupSatComms:B:A_Timeout
2013-05-22T01:15:02.306Z,1369185302.306 [Startup:StartupSatComms:B] Stopped
2013-05-22T01:15:02.306Z,1369185302.306 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2013-05-22T01:15:02.306Z,1369185302.306 [Startup:StartupSatComms] Stopped
2013-05-22T01:15:02.306Z,1369185302.306 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-05-22T01:15:02.307Z,1369185302.307 [Startup](INFO): Completed Startup
2013-05-22T01:15:02.307Z,1369185302.307 [Startup] Stopped
2013-05-22T01:15:02.307Z,1369185302.307 [Startup](INFO): Aggregate::uninitialize Startup
2013-05-22T01:15:02.307Z,1369185302.307 [Startup:A.GoToSurface] Stopped
2013-05-22T01:15:02.308Z,1369185302.307 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-22T01:15:02.617Z,1369185302.617 [MissionManager](IMPORTANT): Started mission Default
2013-05-22T01:15:02.617Z,1369185302.617 [Default] Running Loop=1
2013-05-22T01:15:02.617Z,1369185302.617 [Default](INFO): Aggregate::initialize Default
2013-05-22T01:15:02.617Z,1369185302.617 [Default:D.SetSpeed] Running Loop=1
2013-05-22T01:15:02.617Z,1369185302.617 [Default:D.SetSpeed](DEBUG): Initialize.
2013-05-22T01:15:02.617Z,1369185302.617 [Default:E.GoToSurface] Running Loop=1
2013-05-22T01:15:02.617Z,1369185302.617 [Default:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-22T01:15:02.618Z,1369185302.618 [Default:Iridium] Running Loop=1
2013-05-22T01:15:02.618Z,1369185302.618 [Default:Iridium](INFO): Aggregate::initialize Default:Iridium
2013-05-22T01:15:02.618Z,1369185302.618 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-05-22T01:15:02.618Z,1369185302.618 [Default:Iridium:A.SetSpeed](DEBUG): Initialize.
2013-05-22T01:15:02.618Z,1369185302.618 [Default:Iridium:B.GoToSurface] Running Loop=1
2013-05-22T01:15:02.618Z,1369185302.618 [Default:Iridium:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-22T01:15:02.619Z,1369185302.619 [Default:E.GoToSurface] Running Loop=1
2013-05-22T01:15:02.624Z,1369185302.624 [Default:D.SetSpeed] Running Loop=1
2013-05-22T01:15:02.629Z,1369185302.629 [Default:CallIridium] Running Loop=1
2013-05-22T01:15:02.629Z,1369185302.629 [Default:CallIridium](INFO): Aggregate::initialize Default:CallIridium
2013-05-22T01:15:02.629Z,1369185302.629 [Default:CallIridium:A] Running Loop=1
2013-05-22T01:15:02.631Z,1369185302.631 [Default:CallIridium:A] Stopped
2013-05-22T01:15:02.631Z,1369185302.631 [Default:CallIridium:B] Running Loop=1
2013-05-22T01:15:02.632Z,1369185302.632 [Default:CallIridium:B](INFO): Aggregate::initialize Default:CallIridium:B
2013-05-22T01:15:02.637Z,1369185302.637 [Default:Iridium:B.GoToSurface] Stopped
2013-05-22T01:15:02.637Z,1369185302.637 [Default:Iridium:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-22T01:15:02.637Z,1369185302.637 [Default:Iridium:Read_Iridium] Running Loop=1
2013-05-22T01:15:02.637Z,1369185302.637 [Default:Iridium:A.SetSpeed] Running Loop=1
2013-05-22T01:15:02.642Z,1369185302.642 [Default:GPS] Running Loop=1
2013-05-22T01:15:02.642Z,1369185302.642 [Default:GPS](INFO): Aggregate::initialize Default:GPS
2013-05-22T01:15:02.642Z,1369185302.642 [Default:GPS:A.SetSpeed] Running Loop=1
2013-05-22T01:15:02.643Z,1369185302.643 [Default:GPS:A.SetSpeed](DEBUG): Initialize.
2013-05-22T01:15:02.643Z,1369185302.643 [Default:GPS:B.GoToSurface] Running Loop=1
2013-05-22T01:15:02.643Z,1369185302.643 [Default:GPS:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-22T01:15:02.649Z,1369185302.648 [Default:GPS:B.GoToSurface] Stopped
2013-05-22T01:15:02.649Z,1369185302.649 [Default:GPS:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-22T01:15:02.649Z,1369185302.649 [Default:GPS:Read_GPS] Running Loop=1
2013-05-22T01:15:02.649Z,1369185302.649 [Default:GPS:A.SetSpeed] Running Loop=1
2013-05-22T01:15:02.915Z,1369185302.915 [Default:Iridium:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2013-05-22T01:15:02.918Z,1369185302.918 [Default:GPS:Read_GPS](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-05-22T01:16:54.477Z,1369185414.477 [CBIT](INFO): Clearing failed count for component DropWeight
2013-05-22T01:16:54.477Z,1369185414.477 [DropWeight] No Fault, FailCount= 1
2013-05-22T01:16:54.754Z,1369185414.754 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-05-22T01:16:54.755Z,1369185414.755 [DropWeight] Hardware Fault, FailCount= 1
2013-05-22T01:16:54.755Z,1369185414.755 [DropWeight](ERROR): Hardware Fault
2013-05-22T01:16:54.793Z,1369185414.793 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-05-22T01:16:54.793Z,1369185414.793 [CBIT](CRITICAL): Hardware Fault in component: DropWeight