2013-05-22T01:22:49.520Z,1369185769.520 [Supervisor](DEBUG): Initializing supervisor.
2013-05-22T01:22:49.526Z,1369185769.526 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-22T01:22:49.527Z,1369185769.527 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-22T01:22:49.530Z,1369185769.530 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-22T01:22:49.534Z,1369185769.534 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-22T01:22:49.544Z,1369185769.544 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-22T01:22:49.546Z,1369185769.546 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-22T01:22:49.547Z,1369185769.547 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-22T01:22:49.550Z,1369185769.550 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-22T01:22:49.551Z,1369185769.551 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-22T01:22:49.555Z,1369185769.555 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-22T01:22:49.871Z,1369185769.871 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-22T01:22:49.872Z,1369185769.872 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-22T01:22:50.085Z,1369185770.085 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-22T01:22:50.086Z,1369185770.086 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-22T01:22:50.185Z,1369185770.185 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-22T01:22:50.187Z,1369185770.187 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-22T01:22:50.415Z,1369185770.415 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-22T01:22:50.416Z,1369185770.416 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-22T01:22:50.569Z,1369185770.569 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-22T01:22:50.572Z,1369185770.572 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-22T01:22:50.839Z,1369185770.839 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-22T01:22:50.840Z,1369185770.840 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-22T01:22:51.034Z,1369185771.034 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-22T01:22:51.037Z,1369185771.037 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-22T01:22:51.321Z,1369185771.321 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-22T01:22:51.324Z,1369185771.324 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-22T01:22:51.433Z,1369185771.433 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-22T01:22:51.434Z,1369185771.434 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-22T01:22:51.892Z,1369185771.892 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-22T01:22:51.893Z,1369185771.893 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-22T01:22:52.023Z,1369185772.023 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-22T01:22:52.023Z,1369185772.023 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-22T01:22:52.119Z,1369185772.119 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-22T01:22:52.214Z,1369185772.214 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-22T01:22:52.338Z,1369185772.338 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-22T01:22:52.498Z,1369185772.498 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-22T01:22:52.662Z,1369185772.662 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-22T01:22:52.779Z,1369185772.779 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-22T01:22:52.890Z,1369185772.890 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-22T01:22:53.023Z,1369185773.023 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-22T01:22:53.127Z,1369185773.127 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-22T01:22:53.226Z,1369185773.226 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-05-22T01:22:53.258Z,1369185773.258 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-22T01:22:53.459Z,1369185773.459 [InternalSim] Loaded
2013-05-22T01:22:53.460Z,1369185773.460 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-22T01:22:53.461Z,1369185773.461 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-22T01:22:53.461Z,1369185773.461 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-22T01:22:53.542Z,1369185773.542 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-22T01:22:53.576Z,1369185773.576 [SBIT] Loaded
2013-05-22T01:22:53.576Z,1369185773.576 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-22T01:22:53.577Z,1369185773.577 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-22T01:22:53.607Z,1369185773.607 [IBIT] Loaded
2013-05-22T01:22:53.607Z,1369185773.607 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-22T01:22:53.614Z,1369185773.614 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-22T01:22:53.741Z,1369185773.741 [CBIT] Loaded
2013-05-22T01:22:53.741Z,1369185773.741 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-22T01:22:53.742Z,1369185773.742 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-22T01:22:53.746Z,1369185773.746 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-22T01:22:53.920Z,1369185773.920 [BuoyancyServo] Loaded
2013-05-22T01:22:53.921Z,1369185773.921 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-22T01:22:53.933Z,1369185773.933 [ElevatorServo] Loaded
2013-05-22T01:22:53.933Z,1369185773.933 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-22T01:22:53.950Z,1369185773.950 [MassServo] Loaded
2013-05-22T01:22:53.950Z,1369185773.950 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-22T01:22:53.962Z,1369185773.962 [RudderServo] Loaded
2013-05-22T01:22:53.962Z,1369185773.962 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-22T01:22:53.974Z,1369185773.974 [ThrusterServo] Loaded
2013-05-22T01:22:53.975Z,1369185773.974 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-22T01:22:53.975Z,1369185773.975 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-22T01:22:53.976Z,1369185773.976 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-22T01:22:54.013Z,1369185774.013 [DepthRateCalculator] Loaded
2013-05-22T01:22:54.013Z,1369185774.013 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-22T01:22:57.320Z,1369185777.320 [HFRadarModelCalc] Loaded
2013-05-22T01:22:57.321Z,1369185777.321 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-22T01:22:57.337Z,1369185777.337 [NavChart] Loaded
2013-05-22T01:22:57.338Z,1369185777.338 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-22T01:22:57.348Z,1369185777.348 [PitchRateCalculator] Loaded
2013-05-22T01:22:57.348Z,1369185777.348 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-22T01:22:57.360Z,1369185777.360 [SpeedCalculator] Loaded
2013-05-22T01:22:57.360Z,1369185777.360 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-22T01:22:57.380Z,1369185777.380 [TempGradientCalculator] Loaded
2013-05-22T01:22:57.380Z,1369185777.380 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-22T01:22:57.386Z,1369185777.386 [YawRateCalculator] Loaded
2013-05-22T01:22:57.386Z,1369185777.386 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-22T01:22:57.439Z,1369185777.439 [Navigation] Loaded
2013-05-22T01:22:57.439Z,1369185777.439 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-22T01:22:57.440Z,1369185777.440 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-22T01:22:57.440Z,1369185777.440 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-22T01:22:58.229Z,1369185778.229 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-22T01:22:58.229Z,1369185778.229 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-22T01:22:58.271Z,1369185778.271 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-22T01:22:58.272Z,1369185778.272 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-22T01:22:58.336Z,1369185778.336 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-22T01:22:58.440Z,1369185778.440 [VerticalControl] Loaded
2013-05-22T01:22:58.440Z,1369185778.440 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-22T01:22:58.441Z,1369185778.441 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-22T01:22:58.506Z,1369185778.506 [HorizontalControl] Loaded
2013-05-22T01:22:58.507Z,1369185778.507 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-22T01:22:58.508Z,1369185778.508 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-22T01:22:58.509Z,1369185778.509 [SpeedControl] Loaded
2013-05-22T01:22:58.510Z,1369185778.510 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-22T01:22:58.511Z,1369185778.511 [LoopControl](DEBUG): Construct LoopControl.
2013-05-22T01:22:58.511Z,1369185778.511 [LoopControl] Loaded
2013-05-22T01:22:58.512Z,1369185778.511 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-22T01:22:58.512Z,1369185778.512 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-22T01:22:58.512Z,1369185778.513 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-22T01:22:58.521Z,1369185778.520 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-22T01:22:58.526Z,1369185778.526 [AsyncPiEstimator] Loaded
2013-05-22T01:22:58.526Z,1369185778.526 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-22T01:22:58.530Z,1369185778.530 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-22T01:22:58.531Z,1369185778.531 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-22T01:22:58.531Z,1369185778.531 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-22T01:22:58.716Z,1369185778.716 [AHRS_sp3003D] Loaded
2013-05-22T01:22:58.716Z,1369185778.716 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-22T01:22:59.006Z,1369185779.006 [Batt_Ocean_Server] Loaded
2013-05-22T01:22:59.006Z,1369185779.006 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-22T01:22:59.021Z,1369185779.020 [Depth_Keller] Loaded
2013-05-22T01:22:59.021Z,1369185779.021 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-22T01:22:59.026Z,1369185779.026 [DropWeight] Loaded
2013-05-22T01:22:59.027Z,1369185779.027 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-22T01:22:59.222Z,1369185779.222 [DVL_micro] Loaded
2013-05-22T01:22:59.222Z,1369185779.222 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-22T01:22:59.226Z,1369185779.226 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406B64E0
2013-05-22T01:22:59.318Z,1369185779.318 [NAL9602] Loaded
2013-05-22T01:22:59.319Z,1369185779.319 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-22T01:22:59.375Z,1369185779.375 [Onboard] Loaded
2013-05-22T01:22:59.375Z,1369185779.375 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-22T01:22:59.386Z,1369185779.386 [Radio_Freewave] Loaded
2013-05-22T01:22:59.386Z,1369185779.386 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-22T01:22:59.563Z,1369185779.563 [DAT] Loaded
2013-05-22T01:22:59.564Z,1369185779.564 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-05-22T01:22:59.564Z,1369185779.564 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-22T01:22:59.565Z,1369185779.565 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-22T01:22:59.670Z,1369185779.670 [CTD_NeilBrown] Loaded
2013-05-22T01:22:59.670Z,1369185779.671 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-22T01:22:59.674Z,1369185779.674 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407084E0
2013-05-22T01:22:59.710Z,1369185779.710 [WetLabsBB2FL] Loaded
2013-05-22T01:22:59.710Z,1369185779.710 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-22T01:22:59.714Z,1369185779.714 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407384E0
2013-05-22T01:22:59.715Z,1369185779.715 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-22T01:22:59.717Z,1369185779.717 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-22T01:22:59.718Z,1369185779.718 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-22T01:22:59.728Z,1369185779.728 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-22T01:22:59.730Z,1369185779.730 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2013-05-22T01:22:59.734Z,1369185779.734 [Supervisor](DEBUG): Running supervisor.
2013-05-22T01:22:59.735Z,1369185779.735 [CommandLine](INFO): Thread ID is 750
2013-05-22T01:22:59.739Z,1369185779.739 [controlThread](INFO): Thread ID is 749
2013-05-22T01:22:59.739Z,1369185779.739 [controlThread](DEBUG): Initializing ControlThread
2013-05-22T01:22:59.739Z,1369185779.739 [CycleStarter](INFO): Thread ID is 748
2013-05-22T01:22:59.740Z,1369185779.740 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-22T01:22:59.846Z,1369185779.846 [logger](INFO): Thread ID is 751
2013-05-22T01:22:59.955Z,1369185779.955 [AsyncPiEstimator](INFO): Thread ID is 812
2013-05-22T01:22:59.955Z,1369185779.955 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-22T01:22:59.971Z,1369185779.971 [DVL_micro](INFO): Thread ID is 813
2013-05-22T01:23:00.072Z,1369185780.072 [CTD_NeilBrown](INFO): Thread ID is 814
2013-05-22T01:23:00.072Z,1369185780.072 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-22T01:23:00.086Z,1369185780.086 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-22T01:23:00.126Z,1369185780.126 [DVL_micro](INFO): Initializing
2013-05-22T01:23:00.126Z,1369185780.126 [DVL_micro](INFO): start:Powering up
2013-05-22T01:23:00.127Z,1369185780.127 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T01:23:00.128Z,1369185780.128 [DVL_micro](INFO): Cycling power to configure device.
2013-05-22T01:23:00.135Z,1369185780.135 [WetLabsBB2FL](INFO): Thread ID is 815
2013-05-22T01:23:00.136Z,1369185780.136 [WetLabsBB2FL](INFO): Powering down
2013-05-22T01:23:00.177Z,1369185780.177 [SBIT](INFO): Initialize SBIT Component.
2013-05-22T01:23:00.177Z,1369185780.177 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10376
2013-05-22T01:23:00.179Z,1369185780.179 [NavChartDb](INFO): Thread ID is 816
2013-05-22T01:23:00.186Z,1369185780.186 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-22T01:23:00.187Z,1369185780.187 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-22T01:23:00.187Z,1369185780.187 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-22T01:23:00.187Z,1369185780.187 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-22T01:23:00.188Z,1369185780.188 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-22T01:23:00.188Z,1369185780.188 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-22T01:23:00.188Z,1369185780.188 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-22T01:23:00.188Z,1369185780.188 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-22T01:23:00.189Z,1369185780.188 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-22T01:23:00.190Z,1369185780.190 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-22T01:23:00.190Z,1369185780.190 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-22T01:23:00.194Z,1369185780.194 [IBIT](INFO): Initialize IBIT Component.
2013-05-22T01:23:00.207Z,1369185780.207 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-22T01:23:00.207Z,1369185780.207 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-05-22T01:23:00.207Z,1369185780.207 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2013-05-22T01:23:00.231Z,1369185780.231 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-22T01:23:00.232Z,1369185780.232 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-22T01:23:00.232Z,1369185780.232 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-22T01:23:00.233Z,1369185780.233 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-22T01:23:00.233Z,1369185780.233 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-22T01:23:00.235Z,1369185780.235 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-22T01:23:00.235Z,1369185780.235 [Navigation](DEBUG): Initializing Navigation.
2013-05-22T01:23:00.236Z,1369185780.236 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-22T01:23:00.238Z,1369185780.238 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-22T01:23:00.239Z,1369185780.239 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-22T01:23:00.239Z,1369185780.239 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-22T01:23:01.827Z,1369185781.827 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-22T01:23:01.863Z,1369185781.863 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-05-22T01:23:01.863Z,1369185781.863 [DropWeight] Hardware Fault, FailCount= 1
2013-05-22T01:23:01.863Z,1369185781.863 [DropWeight](ERROR): Hardware Fault
2013-05-22T01:23:01.865Z,1369185781.865 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-22T01:23:01.899Z,1369185781.899 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:23:01.927Z,1369185781.927 [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>


2013-05-22T01:23:01.928Z,1369185781.928 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-22T01:23:02.022Z,1369185782.022 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-22T01:23:02.024Z,1369185782.024 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-22T01:23:02.027Z,1369185782.027 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:23:02.043Z,1369185782.043 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-22T01:23:02.046Z,1369185782.046 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:23:02.089Z,1369185782.089 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-22T01:23:02.117Z,1369185782.117 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-22T01:23:02.120Z,1369185782.120 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:23:02.125Z,1369185782.125 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-22T01:23:02.140Z,1369185782.140 [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>


2013-05-22T01:23:02.145Z,1369185782.145 [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,
2013-05-22T01:23:02.222Z,1369185782.222 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-22T01:23:02.230Z,1369185782.230 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T01:23:02.231Z,1369185782.231 [DVL_micro](INFO): Querying output modes
2013-05-22T01:23:02.231Z,1369185782.231 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-22T01:23:02.242Z,1369185782.242 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-22T01:23:02.242Z,1369185782.242 [DVL_micro](INFO): NQ1 output enabled
2013-05-22T01:23:02.243Z,1369185782.243 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-22T01:23:02.258Z,1369185782.258 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-22T01:23:02.263Z,1369185782.263 [DVL_micro](INFO): pause:Powering down
2013-05-22T01:23:02.295Z,1369185782.295 [Depth_Keller](ERROR): Pressure reading out of range: 1831.078247 decibar
2013-05-22T01:23:02.338Z,1369185782.339 [Radio_Freewave](INFO): Powering up
2013-05-22T01:23:02.348Z,1369185782.348 [DAT](INFO): Powering up
2013-05-22T01:23:02.348Z,1369185782.348 [DAT](DEBUG): Initializing DAT.
2013-05-22T01:23:02.566Z,1369185782.566 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:23:02.574Z,1369185782.574 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-22T01:23:02.601Z,1369185782.601 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:23:02.606Z,1369185782.606 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-22T01:23:02.613Z,1369185782.612 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:23:02.618Z,1369185782.618 [MassServo](DEBUG): Initializing MassServo.
2013-05-22T01:23:02.638Z,1369185782.638 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:23:02.647Z,1369185782.647 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-22T01:23:02.665Z,1369185782.665 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:23:02.674Z,1369185782.674 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-22T01:23:02.717Z,1369185782.717 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-05-22T01:23:02.717Z,1369185782.717 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-05-22T01:23:04.341Z,1369185784.341 [NAL9602](INFO): Powering up NAL9602
2013-05-22T01:23:14.874Z,1369185794.874 [NAL9602](INFO): NAL9602 initialized
2013-05-22T01:23:15.676Z,1369185795.676 [SBIT](IMPORTANT): Beginning Startup BIT
2013-05-22T01:23:15.683Z,1369185795.683 [CBIT](IMPORTANT): Beginning GF scan