2013-05-22T01:20:26.515Z,1369185626.515 [Supervisor](DEBUG): Initializing supervisor.
2013-05-22T01:20:26.522Z,1369185626.522 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-22T01:20:26.522Z,1369185626.522 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-22T01:20:26.526Z,1369185626.526 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-22T01:20:26.529Z,1369185626.529 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-22T01:20:26.540Z,1369185626.540 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-22T01:20:26.542Z,1369185626.542 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-22T01:20:26.543Z,1369185626.543 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-22T01:20:26.546Z,1369185626.546 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-22T01:20:26.546Z,1369185626.546 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-22T01:20:26.550Z,1369185626.550 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-22T01:20:26.884Z,1369185626.884 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-22T01:20:26.884Z,1369185626.884 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-22T01:20:27.102Z,1369185627.102 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-22T01:20:27.103Z,1369185627.103 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-22T01:20:27.201Z,1369185627.201 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-22T01:20:27.203Z,1369185627.203 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-22T01:20:27.446Z,1369185627.446 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-22T01:20:27.447Z,1369185627.447 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-22T01:20:27.603Z,1369185627.603 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-22T01:20:27.605Z,1369185627.605 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-22T01:20:27.877Z,1369185627.877 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-22T01:20:27.878Z,1369185627.878 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-22T01:20:28.073Z,1369185628.073 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-22T01:20:28.075Z,1369185628.075 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-22T01:20:28.365Z,1369185628.365 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-22T01:20:28.367Z,1369185628.367 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-22T01:20:28.477Z,1369185628.477 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-22T01:20:28.478Z,1369185628.478 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-22T01:20:28.951Z,1369185628.951 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-22T01:20:28.952Z,1369185628.952 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-22T01:20:29.084Z,1369185629.084 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-22T01:20:29.085Z,1369185629.085 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-22T01:20:29.184Z,1369185629.184 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-22T01:20:29.264Z,1369185629.264 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-22T01:20:29.389Z,1369185629.389 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-22T01:20:29.538Z,1369185629.538 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-22T01:20:29.711Z,1369185629.711 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-22T01:20:29.827Z,1369185629.827 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-22T01:20:29.938Z,1369185629.938 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-22T01:20:30.075Z,1369185630.075 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-22T01:20:30.179Z,1369185630.179 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-22T01:20:30.277Z,1369185630.277 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-05-22T01:20:30.309Z,1369185630.309 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-22T01:20:30.509Z,1369185630.509 [InternalSim] Loaded
2013-05-22T01:20:30.509Z,1369185630.509 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-22T01:20:30.510Z,1369185630.510 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-22T01:20:30.511Z,1369185630.511 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-22T01:20:30.598Z,1369185630.598 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-22T01:20:30.631Z,1369185630.631 [SBIT] Loaded
2013-05-22T01:20:30.632Z,1369185630.632 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-22T01:20:30.633Z,1369185630.633 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-22T01:20:30.667Z,1369185630.667 [IBIT] Loaded
2013-05-22T01:20:30.667Z,1369185630.667 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-22T01:20:30.670Z,1369185630.670 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-22T01:20:30.805Z,1369185630.805 [CBIT] Loaded
2013-05-22T01:20:30.805Z,1369185630.805 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-22T01:20:30.805Z,1369185630.806 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-22T01:20:30.806Z,1369185630.806 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-22T01:20:30.988Z,1369185630.988 [BuoyancyServo] Loaded
2013-05-22T01:20:30.988Z,1369185630.988 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-22T01:20:31.000Z,1369185631.000 [ElevatorServo] Loaded
2013-05-22T01:20:31.001Z,1369185631.001 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-22T01:20:31.017Z,1369185631.017 [MassServo] Loaded
2013-05-22T01:20:31.017Z,1369185631.017 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-22T01:20:31.029Z,1369185631.029 [RudderServo] Loaded
2013-05-22T01:20:31.029Z,1369185631.029 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-22T01:20:31.041Z,1369185631.041 [ThrusterServo] Loaded
2013-05-22T01:20:31.042Z,1369185631.042 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-22T01:20:31.042Z,1369185631.042 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-22T01:20:31.043Z,1369185631.043 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-22T01:20:31.079Z,1369185631.079 [DepthRateCalculator] Loaded
2013-05-22T01:20:31.079Z,1369185631.079 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-22T01:20:34.330Z,1369185634.330 [HFRadarModelCalc] Loaded
2013-05-22T01:20:34.330Z,1369185634.330 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-22T01:20:34.347Z,1369185634.347 [NavChart] Loaded
2013-05-22T01:20:34.348Z,1369185634.348 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-22T01:20:34.358Z,1369185634.358 [PitchRateCalculator] Loaded
2013-05-22T01:20:34.358Z,1369185634.358 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-22T01:20:34.370Z,1369185634.370 [SpeedCalculator] Loaded
2013-05-22T01:20:34.370Z,1369185634.370 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-22T01:20:34.386Z,1369185634.386 [TempGradientCalculator] Loaded
2013-05-22T01:20:34.386Z,1369185634.386 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-22T01:20:34.392Z,1369185634.392 [YawRateCalculator] Loaded
2013-05-22T01:20:34.392Z,1369185634.392 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-22T01:20:34.448Z,1369185634.448 [Navigation] Loaded
2013-05-22T01:20:34.449Z,1369185634.448 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-22T01:20:34.449Z,1369185634.449 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-22T01:20:34.450Z,1369185634.450 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-22T01:20:35.233Z,1369185635.233 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-22T01:20:35.234Z,1369185635.234 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-22T01:20:35.275Z,1369185635.275 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-22T01:20:35.276Z,1369185635.276 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-22T01:20:35.338Z,1369185635.338 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-22T01:20:35.445Z,1369185635.445 [VerticalControl] Loaded
2013-05-22T01:20:35.445Z,1369185635.445 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-22T01:20:35.446Z,1369185635.446 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-22T01:20:35.507Z,1369185635.507 [HorizontalControl] Loaded
2013-05-22T01:20:35.507Z,1369185635.507 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-22T01:20:35.508Z,1369185635.508 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-22T01:20:35.510Z,1369185635.510 [SpeedControl] Loaded
2013-05-22T01:20:35.510Z,1369185635.510 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-22T01:20:35.511Z,1369185635.511 [LoopControl](DEBUG): Construct LoopControl.
2013-05-22T01:20:35.511Z,1369185635.511 [LoopControl] Loaded
2013-05-22T01:20:35.512Z,1369185635.512 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-22T01:20:35.512Z,1369185635.512 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-22T01:20:35.513Z,1369185635.513 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-22T01:20:35.523Z,1369185635.523 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-22T01:20:35.528Z,1369185635.528 [AsyncPiEstimator] Loaded
2013-05-22T01:20:35.528Z,1369185635.528 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-22T01:20:35.530Z,1369185635.530 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-22T01:20:35.530Z,1369185635.530 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-22T01:20:35.531Z,1369185635.531 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-22T01:20:35.715Z,1369185635.715 [AHRS_sp3003D] Loaded
2013-05-22T01:20:35.715Z,1369185635.715 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-22T01:20:36.024Z,1369185636.024 [Batt_Ocean_Server] Loaded
2013-05-22T01:20:36.025Z,1369185636.025 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-22T01:20:36.043Z,1369185636.043 [Depth_Keller] Loaded
2013-05-22T01:20:36.043Z,1369185636.043 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-22T01:20:36.049Z,1369185636.049 [DropWeight] Loaded
2013-05-22T01:20:36.050Z,1369185636.050 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-22T01:20:36.252Z,1369185636.253 [DVL_micro] Loaded
2013-05-22T01:20:36.253Z,1369185636.253 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-22T01:20:36.258Z,1369185636.258 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406B64E0
2013-05-22T01:20:36.355Z,1369185636.355 [NAL9602] Loaded
2013-05-22T01:20:36.356Z,1369185636.355 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-22T01:20:36.418Z,1369185636.418 [Onboard] Loaded
2013-05-22T01:20:36.418Z,1369185636.418 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-22T01:20:36.425Z,1369185636.425 [Radio_Freewave] Loaded
2013-05-22T01:20:36.425Z,1369185636.425 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-22T01:20:36.620Z,1369185636.620 [DAT] Loaded
2013-05-22T01:20:36.620Z,1369185636.620 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-05-22T01:20:36.620Z,1369185636.620 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-22T01:20:36.621Z,1369185636.621 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-22T01:20:36.728Z,1369185636.728 [CTD_NeilBrown] Loaded
2013-05-22T01:20:36.729Z,1369185636.728 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-22T01:20:36.734Z,1369185636.734 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407084E0
2013-05-22T01:20:36.771Z,1369185636.771 [WetLabsBB2FL] Loaded
2013-05-22T01:20:36.772Z,1369185636.772 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-22T01:20:36.774Z,1369185636.774 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407384E0
2013-05-22T01:20:36.774Z,1369185636.774 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-22T01:20:36.777Z,1369185636.777 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-22T01:20:36.778Z,1369185636.778 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-22T01:20:36.787Z,1369185636.787 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-22T01:20:36.790Z,1369185636.790 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2013-05-22T01:20:36.794Z,1369185636.794 [Supervisor](DEBUG): Running supervisor.
2013-05-22T01:20:36.795Z,1369185636.795 [CommandLine](INFO): Thread ID is 750
2013-05-22T01:20:36.798Z,1369185636.798 [controlThread](INFO): Thread ID is 749
2013-05-22T01:20:36.799Z,1369185636.799 [controlThread](DEBUG): Initializing ControlThread
2013-05-22T01:20:36.799Z,1369185636.799 [CycleStarter](INFO): Thread ID is 748
2013-05-22T01:20:36.799Z,1369185636.799 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-22T01:20:36.910Z,1369185636.910 [logger](INFO): Thread ID is 751
2013-05-22T01:20:37.007Z,1369185637.007 [AsyncPiEstimator](INFO): Thread ID is 812
2013-05-22T01:20:37.007Z,1369185637.007 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-22T01:20:37.109Z,1369185637.109 [DVL_micro](INFO): Thread ID is 813
2013-05-22T01:20:37.145Z,1369185637.145 [DVL_micro](INFO): Initializing
2013-05-22T01:20:37.145Z,1369185637.145 [DVL_micro](INFO): start:Powering up
2013-05-22T01:20:37.158Z,1369185637.158 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T01:20:37.159Z,1369185637.159 [DVL_micro](INFO): Cycling power to configure device.
2013-05-22T01:20:37.199Z,1369185637.199 [CTD_NeilBrown](INFO): Thread ID is 814
2013-05-22T01:20:37.199Z,1369185637.199 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-22T01:20:37.202Z,1369185637.202 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-22T01:20:37.211Z,1369185637.211 [WetLabsBB2FL](INFO): Thread ID is 815
2013-05-22T01:20:37.212Z,1369185637.212 [WetLabsBB2FL](INFO): Powering down
2013-05-22T01:20:37.250Z,1369185637.250 [NavChartDb](INFO): Thread ID is 816
2013-05-22T01:20:37.258Z,1369185637.258 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-22T01:20:37.259Z,1369185637.259 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-22T01:20:37.259Z,1369185637.259 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-22T01:20:37.260Z,1369185637.260 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-22T01:20:37.260Z,1369185637.260 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-22T01:20:37.260Z,1369185637.260 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-22T01:20:37.260Z,1369185637.260 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-22T01:20:37.261Z,1369185637.261 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-22T01:20:37.261Z,1369185637.261 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-22T01:20:37.285Z,1369185637.284 [SBIT](INFO): Initialize SBIT Component.
2013-05-22T01:20:37.285Z,1369185637.285 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10376
2013-05-22T01:20:37.288Z,1369185637.288 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-22T01:20:37.288Z,1369185637.288 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-22T01:20:37.289Z,1369185637.289 [IBIT](INFO): Initialize IBIT Component.
2013-05-22T01:20:37.294Z,1369185637.294 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-22T01:20:37.294Z,1369185637.294 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-05-22T01:20:37.294Z,1369185637.294 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2013-05-22T01:20:37.319Z,1369185637.319 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-22T01:20:37.319Z,1369185637.319 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-22T01:20:37.319Z,1369185637.319 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-22T01:20:37.320Z,1369185637.320 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-22T01:20:37.320Z,1369185637.320 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-22T01:20:37.322Z,1369185637.322 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-22T01:20:37.322Z,1369185637.322 [Navigation](DEBUG): Initializing Navigation.
2013-05-22T01:20:37.322Z,1369185637.322 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-22T01:20:37.324Z,1369185637.325 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-22T01:20:37.325Z,1369185637.325 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-22T01:20:37.330Z,1369185637.330 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-22T01:20:38.898Z,1369185638.898 [Batt_Ocean_Server](ERROR): Batt_Ocean_Server A initialization uart error: serial timeout
2013-05-22T01:20:38.898Z,1369185638.898 [Batt_Ocean_Server](ERROR): Ocean Server Batteries failed to initialize. Re-initializing
2013-05-22T01:20:38.898Z,1369185638.898 [Batt_Ocean_Server] Communications Fault, FailCount= 1
2013-05-22T01:20:38.899Z,1369185638.898 [Batt_Ocean_Server](ERROR): Communications Fault
2013-05-22T01:20:38.903Z,1369185638.903 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-05-22T01:20:38.903Z,1369185638.903 [DropWeight] Hardware Fault, FailCount= 1
2013-05-22T01:20:38.903Z,1369185638.903 [DropWeight](ERROR): Hardware Fault
2013-05-22T01:20:38.905Z,1369185638.905 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-22T01:20:38.941Z,1369185638.941 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:20:38.976Z,1369185638.976 [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>


2013-05-22T01:20:38.976Z,1369185638.977 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-22T01:20:39.075Z,1369185639.075 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-22T01:20:39.077Z,1369185639.077 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-22T01:20:39.080Z,1369185639.080 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:20:39.093Z,1369185639.093 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-22T01:20:39.109Z,1369185639.109 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:20:39.140Z,1369185639.140 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-22T01:20:39.161Z,1369185639.161 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-22T01:20:39.172Z,1369185639.172 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:20:39.177Z,1369185639.177 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-22T01:20:39.192Z,1369185639.192 [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>


2013-05-22T01:20:39.197Z,1369185639.197 [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,
2013-05-22T01:20:39.261Z,1369185639.261 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-22T01:20:39.263Z,1369185639.263 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T01:20:39.263Z,1369185639.263 [DVL_micro](INFO): Querying output modes
2013-05-22T01:20:39.264Z,1369185639.263 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-22T01:20:39.278Z,1369185639.278 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-22T01:20:39.278Z,1369185639.278 [DVL_micro](INFO): NQ1 output enabled
2013-05-22T01:20:39.278Z,1369185639.278 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-22T01:20:39.290Z,1369185639.290 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-22T01:20:39.295Z,1369185639.295 [DVL_micro](INFO): pause:Powering down
2013-05-22T01:20:39.450Z,1369185639.450 [Radio_Freewave](INFO): Powering up
2013-05-22T01:20:39.455Z,1369185639.455 [DAT](INFO): Powering up
2013-05-22T01:20:39.455Z,1369185639.455 [DAT](DEBUG): Initializing DAT.
2013-05-22T01:20:39.750Z,1369185639.750 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:20:39.758Z,1369185639.758 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-22T01:20:39.769Z,1369185639.769 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:20:39.778Z,1369185639.778 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-22T01:20:39.785Z,1369185639.785 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:20:39.798Z,1369185639.798 [MassServo](DEBUG): Initializing MassServo.
2013-05-22T01:20:39.804Z,1369185639.804 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:20:39.810Z,1369185639.810 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-22T01:20:39.828Z,1369185639.828 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:20:39.838Z,1369185639.838 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-22T01:20:39.888Z,1369185639.888 [CBIT](ERROR): Communications Fault in component: Batt_Ocean_Server
2013-05-22T01:20:39.888Z,1369185639.888 [CBIT](INFO): Clearing failed state for component Batt_Ocean_Server
2013-05-22T01:20:39.888Z,1369185639.888 [Batt_Ocean_Server] No Fault, FailCount= 1
2013-05-22T01:20:39.888Z,1369185639.888 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-05-22T01:20:39.889Z,1369185639.889 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-05-22T01:20:41.668Z,1369185641.668 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-22T01:20:41.700Z,1369185641.700 [NAL9602](INFO): Powering up NAL9602
2013-05-22T01:20:52.430Z,1369185652.430 [NAL9602](INFO): NAL9602 initialized
2013-05-22T01:20:52.807Z,1369185652.807 [SBIT](IMPORTANT): Beginning Startup BIT
2013-05-22T01:20:52.809Z,1369185652.809 [CBIT](IMPORTANT): Beginning GF scan
2013-05-22T01:20:59.549Z,1369185659.549 [DAT](INFO): Powering down