2013-05-22T01:18:16.801Z,1369185496.801 [Supervisor](DEBUG): Initializing supervisor.
2013-05-22T01:18:16.810Z,1369185496.810 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-22T01:18:16.810Z,1369185496.810 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-22T01:18:16.814Z,1369185496.814 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-22T01:18:16.817Z,1369185496.817 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-22T01:18:16.828Z,1369185496.828 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-22T01:18:16.830Z,1369185496.830 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-22T01:18:16.831Z,1369185496.830 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-22T01:18:16.834Z,1369185496.834 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-22T01:18:16.834Z,1369185496.834 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-22T01:18:16.842Z,1369185496.842 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-22T01:18:17.165Z,1369185497.165 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-22T01:18:17.166Z,1369185497.166 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-22T01:18:17.382Z,1369185497.382 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-22T01:18:17.383Z,1369185497.383 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-22T01:18:17.481Z,1369185497.481 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-22T01:18:17.483Z,1369185497.483 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-22T01:18:17.711Z,1369185497.711 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-22T01:18:17.711Z,1369185497.711 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-22T01:18:17.865Z,1369185497.865 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-22T01:18:17.867Z,1369185497.867 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-22T01:18:18.135Z,1369185498.135 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-22T01:18:18.135Z,1369185498.135 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-22T01:18:18.325Z,1369185498.325 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-22T01:18:18.327Z,1369185498.327 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-22T01:18:18.613Z,1369185498.613 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-22T01:18:18.615Z,1369185498.615 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-22T01:18:18.725Z,1369185498.725 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-22T01:18:18.726Z,1369185498.726 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-22T01:18:19.181Z,1369185499.181 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-22T01:18:19.182Z,1369185499.182 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-22T01:18:20.391Z,1369185500.391 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-22T01:18:20.391Z,1369185500.391 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-22T01:18:20.491Z,1369185500.491 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-22T01:18:21.117Z,1369185501.117 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-22T01:18:21.235Z,1369185501.235 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-22T01:18:21.383Z,1369185501.383 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-22T01:18:21.555Z,1369185501.555 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-22T01:18:21.671Z,1369185501.671 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-22T01:18:21.781Z,1369185501.782 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-22T01:18:21.915Z,1369185501.915 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-22T01:18:22.019Z,1369185502.019 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-22T01:18:22.117Z,1369185502.117 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-05-22T01:18:22.149Z,1369185502.149 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-22T01:18:22.348Z,1369185502.348 [InternalSim] Loaded
2013-05-22T01:18:22.348Z,1369185502.348 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-22T01:18:22.349Z,1369185502.349 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-22T01:18:22.350Z,1369185502.350 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-22T01:18:22.436Z,1369185502.436 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-22T01:18:22.470Z,1369185502.470 [SBIT] Loaded
2013-05-22T01:18:22.470Z,1369185502.470 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-22T01:18:22.471Z,1369185502.471 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-22T01:18:22.505Z,1369185502.505 [IBIT] Loaded
2013-05-22T01:18:22.505Z,1369185502.505 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-22T01:18:22.508Z,1369185502.508 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-22T01:18:22.638Z,1369185502.638 [CBIT] Loaded
2013-05-22T01:18:22.639Z,1369185502.639 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-22T01:18:22.639Z,1369185502.639 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-22T01:18:22.640Z,1369185502.640 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-22T01:18:22.819Z,1369185502.819 [BuoyancyServo] Loaded
2013-05-22T01:18:22.820Z,1369185502.820 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-22T01:18:22.832Z,1369185502.832 [ElevatorServo] Loaded
2013-05-22T01:18:22.832Z,1369185502.832 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-22T01:18:22.849Z,1369185502.849 [MassServo] Loaded
2013-05-22T01:18:22.849Z,1369185502.849 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-22T01:18:22.861Z,1369185502.861 [RudderServo] Loaded
2013-05-22T01:18:22.861Z,1369185502.861 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-22T01:18:22.873Z,1369185502.873 [ThrusterServo] Loaded
2013-05-22T01:18:22.873Z,1369185502.873 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-22T01:18:22.874Z,1369185502.874 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-22T01:18:22.874Z,1369185502.875 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-22T01:18:22.907Z,1369185502.907 [DepthRateCalculator] Loaded
2013-05-22T01:18:22.907Z,1369185502.907 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-22T01:18:26.137Z,1369185506.136 [HFRadarModelCalc] Loaded
2013-05-22T01:18:26.137Z,1369185506.137 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-22T01:18:26.153Z,1369185506.153 [NavChart] Loaded
2013-05-22T01:18:26.153Z,1369185506.153 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-22T01:18:26.159Z,1369185506.159 [PitchRateCalculator] Loaded
2013-05-22T01:18:26.160Z,1369185506.160 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-22T01:18:26.175Z,1369185506.175 [SpeedCalculator] Loaded
2013-05-22T01:18:26.175Z,1369185506.175 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-22T01:18:26.190Z,1369185506.190 [TempGradientCalculator] Loaded
2013-05-22T01:18:26.191Z,1369185506.191 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-22T01:18:26.197Z,1369185506.197 [YawRateCalculator] Loaded
2013-05-22T01:18:26.197Z,1369185506.197 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-22T01:18:26.248Z,1369185506.248 [Navigation] Loaded
2013-05-22T01:18:26.248Z,1369185506.248 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-22T01:18:26.249Z,1369185506.249 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-22T01:18:26.249Z,1369185506.249 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-22T01:18:26.531Z,1369185506.531 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-22T01:18:26.531Z,1369185506.531 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-22T01:18:26.570Z,1369185506.570 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-22T01:18:26.571Z,1369185506.571 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-22T01:18:26.635Z,1369185506.635 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-22T01:18:26.737Z,1369185506.737 [VerticalControl] Loaded
2013-05-22T01:18:26.737Z,1369185506.737 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-22T01:18:26.738Z,1369185506.738 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-22T01:18:26.799Z,1369185506.799 [HorizontalControl] Loaded
2013-05-22T01:18:26.799Z,1369185506.799 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-22T01:18:26.800Z,1369185506.800 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-22T01:18:26.806Z,1369185506.806 [SpeedControl] Loaded
2013-05-22T01:18:26.806Z,1369185506.806 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-22T01:18:26.807Z,1369185506.807 [LoopControl](DEBUG): Construct LoopControl.
2013-05-22T01:18:26.808Z,1369185506.807 [LoopControl] Loaded
2013-05-22T01:18:26.808Z,1369185506.808 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-22T01:18:26.808Z,1369185506.808 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-22T01:18:26.809Z,1369185506.809 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-22T01:18:26.817Z,1369185506.817 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-22T01:18:26.822Z,1369185506.822 [AsyncPiEstimator] Loaded
2013-05-22T01:18:26.822Z,1369185506.822 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-22T01:18:26.826Z,1369185506.826 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-22T01:18:26.826Z,1369185506.826 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-22T01:18:26.827Z,1369185506.827 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-22T01:18:27.014Z,1369185507.014 [AHRS_sp3003D] Loaded
2013-05-22T01:18:27.014Z,1369185507.014 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-22T01:18:27.299Z,1369185507.299 [Batt_Ocean_Server] Loaded
2013-05-22T01:18:27.299Z,1369185507.299 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-22T01:18:27.318Z,1369185507.318 [Depth_Keller] Loaded
2013-05-22T01:18:27.318Z,1369185507.318 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-22T01:18:27.323Z,1369185507.323 [DropWeight] Loaded
2013-05-22T01:18:27.324Z,1369185507.324 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-22T01:18:27.517Z,1369185507.517 [DVL_micro] Loaded
2013-05-22T01:18:27.517Z,1369185507.517 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-22T01:18:27.522Z,1369185507.522 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406B64E0
2013-05-22T01:18:27.614Z,1369185507.614 [NAL9602] Loaded
2013-05-22T01:18:27.614Z,1369185507.614 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-22T01:18:27.670Z,1369185507.670 [Onboard] Loaded
2013-05-22T01:18:27.670Z,1369185507.670 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-22T01:18:27.681Z,1369185507.681 [Radio_Freewave] Loaded
2013-05-22T01:18:27.681Z,1369185507.681 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-22T01:18:27.857Z,1369185507.857 [DAT] Loaded
2013-05-22T01:18:27.857Z,1369185507.857 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-05-22T01:18:27.858Z,1369185507.858 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-22T01:18:27.859Z,1369185507.859 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-22T01:18:27.964Z,1369185507.964 [CTD_NeilBrown] Loaded
2013-05-22T01:18:27.965Z,1369185507.965 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-22T01:18:27.970Z,1369185507.970 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407084E0
2013-05-22T01:18:28.005Z,1369185508.005 [WetLabsBB2FL] Loaded
2013-05-22T01:18:28.006Z,1369185508.006 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-22T01:18:28.010Z,1369185508.010 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407384E0
2013-05-22T01:18:28.010Z,1369185508.010 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-22T01:18:28.013Z,1369185508.013 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-22T01:18:28.014Z,1369185508.014 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-22T01:18:28.024Z,1369185508.024 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-22T01:18:28.026Z,1369185508.026 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2013-05-22T01:18:28.030Z,1369185508.030 [Supervisor](DEBUG): Running supervisor.
2013-05-22T01:18:28.031Z,1369185508.031 [CommandLine](INFO): Thread ID is 750
2013-05-22T01:18:28.034Z,1369185508.034 [controlThread](INFO): Thread ID is 749
2013-05-22T01:18:28.034Z,1369185508.034 [controlThread](DEBUG): Initializing ControlThread
2013-05-22T01:18:28.035Z,1369185508.035 [CycleStarter](INFO): Thread ID is 748
2013-05-22T01:18:28.035Z,1369185508.035 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-22T01:18:28.141Z,1369185508.141 [logger](INFO): Thread ID is 751
2013-05-22T01:18:28.254Z,1369185508.254 [AsyncPiEstimator](INFO): Thread ID is 812
2013-05-22T01:18:28.254Z,1369185508.254 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-22T01:18:28.270Z,1369185508.270 [DVL_micro](INFO): Thread ID is 813
2013-05-22T01:18:28.370Z,1369185508.370 [CTD_NeilBrown](INFO): Thread ID is 814
2013-05-22T01:18:28.371Z,1369185508.371 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-22T01:18:28.374Z,1369185508.374 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-22T01:18:28.397Z,1369185508.397 [DVL_micro](INFO): Initializing
2013-05-22T01:18:28.397Z,1369185508.397 [DVL_micro](INFO): start:Powering up
2013-05-22T01:18:28.408Z,1369185508.408 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T01:18:28.408Z,1369185508.408 [DVL_micro](INFO): Cycling power to configure device.
2013-05-22T01:18:28.439Z,1369185508.439 [WetLabsBB2FL](INFO): Thread ID is 815
2013-05-22T01:18:28.439Z,1369185508.439 [WetLabsBB2FL](INFO): Powering down
2013-05-22T01:18:28.470Z,1369185508.470 [NavChartDb](INFO): Thread ID is 816
2013-05-22T01:18:28.479Z,1369185508.479 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-22T01:18:28.480Z,1369185508.480 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-22T01:18:28.480Z,1369185508.480 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-22T01:18:28.480Z,1369185508.480 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-22T01:18:28.481Z,1369185508.480 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-22T01:18:28.481Z,1369185508.481 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-22T01:18:28.481Z,1369185508.481 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-22T01:18:28.481Z,1369185508.481 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-22T01:18:28.482Z,1369185508.482 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-22T01:18:28.528Z,1369185508.528 [SBIT](INFO): Initialize SBIT Component.
2013-05-22T01:18:28.529Z,1369185508.529 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10376
2013-05-22T01:18:28.529Z,1369185508.529 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-22T01:18:28.534Z,1369185508.534 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-22T01:18:28.534Z,1369185508.534 [IBIT](INFO): Initialize IBIT Component.
2013-05-22T01:18:28.535Z,1369185508.535 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-22T01:18:28.535Z,1369185508.535 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-05-22T01:18:28.536Z,1369185508.536 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-05-22T01:18:28.571Z,1369185508.571 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-22T01:18:28.572Z,1369185508.572 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-22T01:18:28.572Z,1369185508.572 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-22T01:18:28.572Z,1369185508.572 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-22T01:18:28.573Z,1369185508.573 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-22T01:18:28.574Z,1369185508.574 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-22T01:18:28.575Z,1369185508.575 [Navigation](DEBUG): Initializing Navigation.
2013-05-22T01:18:28.575Z,1369185508.575 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-22T01:18:28.577Z,1369185508.577 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-22T01:18:28.578Z,1369185508.578 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-22T01:18:28.578Z,1369185508.578 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-22T01:18:30.192Z,1369185510.192 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-22T01:18:30.226Z,1369185510.226 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-05-22T01:18:30.226Z,1369185510.226 [DropWeight] Hardware Fault, FailCount= 1
2013-05-22T01:18:30.226Z,1369185510.226 [DropWeight](ERROR): Hardware Fault
2013-05-22T01:18:30.228Z,1369185510.228 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-22T01:18:30.296Z,1369185510.296 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:18:30.307Z,1369185510.307 [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>


2013-05-22T01:18:30.308Z,1369185510.308 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-22T01:18:30.383Z,1369185510.383 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-22T01:18:30.385Z,1369185510.385 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-22T01:18:30.388Z,1369185510.388 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:18:30.412Z,1369185510.412 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-22T01:18:30.427Z,1369185510.427 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:18:30.433Z,1369185510.433 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-22T01:18:30.490Z,1369185510.490 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-22T01:18:30.493Z,1369185510.493 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:18:30.505Z,1369185510.505 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-22T01:18:30.517Z,1369185510.517 [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>


2013-05-22T01:18:30.521Z,1369185510.522 [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,
2013-05-22T01:18:30.538Z,1369185510.538 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T01:18:30.539Z,1369185510.539 [DVL_micro](INFO): Querying output modes
2013-05-22T01:18:30.539Z,1369185510.539 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-22T01:18:30.550Z,1369185510.550 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-22T01:18:30.550Z,1369185510.550 [DVL_micro](INFO): NQ1 output enabled
2013-05-22T01:18:30.550Z,1369185510.550 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-22T01:18:30.562Z,1369185510.562 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-22T01:18:30.582Z,1369185510.582 [DVL_micro](INFO): pause:Powering down
2013-05-22T01:18:30.610Z,1369185510.610 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-22T01:18:30.794Z,1369185510.794 [Radio_Freewave](INFO): Powering up
2013-05-22T01:18:30.814Z,1369185510.815 [DAT](INFO): Powering up
2013-05-22T01:18:30.815Z,1369185510.815 [DAT](DEBUG): Initializing DAT.
2013-05-22T01:18:31.040Z,1369185511.040 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:18:31.046Z,1369185511.046 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-22T01:18:31.065Z,1369185511.065 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:18:31.066Z,1369185511.066 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-22T01:18:31.104Z,1369185511.104 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:18:31.110Z,1369185511.110 [MassServo](DEBUG): Initializing MassServo.
2013-05-22T01:18:31.116Z,1369185511.116 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:18:31.122Z,1369185511.122 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-22T01:18:31.128Z,1369185511.128 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:18:31.142Z,1369185511.142 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-22T01:18:31.196Z,1369185511.196 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-05-22T01:18:31.196Z,1369185511.196 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-05-22T01:18:32.802Z,1369185512.802 [NAL9602](INFO): Powering up NAL9602