2013-05-22T01:30:00.976Z,1369186200.976 [Supervisor](DEBUG): Initializing supervisor.
2013-05-22T01:30:00.980Z,1369186200.980 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-22T01:30:00.981Z,1369186200.981 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-22T01:30:00.986Z,1369186200.986 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-22T01:30:00.989Z,1369186200.989 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-22T01:30:00.000Z,1369186201.000 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-22T01:30:01.002Z,1369186201.002 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-22T01:30:01.003Z,1369186201.003 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-22T01:30:01.006Z,1369186201.006 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-22T01:30:01.006Z,1369186201.006 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-22T01:30:01.011Z,1369186201.011 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-22T01:30:01.327Z,1369186201.327 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-22T01:30:01.327Z,1369186201.327 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-22T01:30:01.542Z,1369186201.542 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-22T01:30:01.543Z,1369186201.543 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-22T01:30:01.641Z,1369186201.641 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-22T01:30:01.643Z,1369186201.643 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-22T01:30:01.870Z,1369186201.870 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-22T01:30:01.871Z,1369186201.871 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-22T01:30:02.025Z,1369186202.025 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-22T01:30:02.027Z,1369186202.027 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-22T01:30:02.291Z,1369186202.291 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-22T01:30:02.291Z,1369186202.291 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-22T01:30:02.481Z,1369186202.481 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-22T01:30:02.483Z,1369186202.483 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-22T01:30:02.771Z,1369186202.771 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-22T01:30:02.773Z,1369186202.773 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-22T01:30:02.887Z,1369186202.887 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-22T01:30:02.888Z,1369186202.888 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-22T01:30:03.339Z,1369186203.339 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-22T01:30:03.340Z,1369186203.340 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-22T01:30:03.472Z,1369186203.473 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-22T01:30:03.473Z,1369186203.473 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-22T01:30:03.655Z,1369186203.655 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-22T01:30:03.662Z,1369186203.662 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-22T01:30:03.780Z,1369186203.780 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-22T01:30:03.927Z,1369186203.927 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-22T01:30:04.094Z,1369186204.094 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-22T01:30:04.211Z,1369186204.211 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-22T01:30:04.322Z,1369186204.322 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-22T01:30:04.455Z,1369186204.455 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-22T01:30:04.559Z,1369186204.559 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-22T01:30:04.657Z,1369186204.657 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-05-22T01:30:04.689Z,1369186204.689 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-22T01:30:04.888Z,1369186204.888 [InternalSim] Loaded
2013-05-22T01:30:04.888Z,1369186204.888 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-22T01:30:04.889Z,1369186204.889 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-22T01:30:04.890Z,1369186204.890 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-22T01:30:04.978Z,1369186204.978 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-22T01:30:05.012Z,1369186205.011 [SBIT] Loaded
2013-05-22T01:30:05.012Z,1369186205.012 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-22T01:30:05.013Z,1369186205.013 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-22T01:30:05.046Z,1369186205.046 [IBIT] Loaded
2013-05-22T01:30:05.046Z,1369186205.046 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-22T01:30:05.049Z,1369186205.049 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-22T01:30:05.180Z,1369186205.180 [CBIT] Loaded
2013-05-22T01:30:05.180Z,1369186205.180 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-22T01:30:05.180Z,1369186205.180 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-22T01:30:05.181Z,1369186205.181 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-22T01:30:05.360Z,1369186205.360 [BuoyancyServo] Loaded
2013-05-22T01:30:05.360Z,1369186205.360 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-22T01:30:05.372Z,1369186205.372 [ElevatorServo] Loaded
2013-05-22T01:30:05.373Z,1369186205.373 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-22T01:30:05.389Z,1369186205.389 [MassServo] Loaded
2013-05-22T01:30:05.389Z,1369186205.389 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-22T01:30:05.401Z,1369186205.401 [RudderServo] Loaded
2013-05-22T01:30:05.401Z,1369186205.401 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-22T01:30:05.413Z,1369186205.413 [ThrusterServo] Loaded
2013-05-22T01:30:05.413Z,1369186205.413 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-22T01:30:05.414Z,1369186205.414 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-22T01:30:05.414Z,1369186205.414 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-22T01:30:05.451Z,1369186205.451 [DepthRateCalculator] Loaded
2013-05-22T01:30:05.451Z,1369186205.451 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-22T01:30:08.750Z,1369186208.750 [HFRadarModelCalc] Loaded
2013-05-22T01:30:08.751Z,1369186208.751 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-22T01:30:08.767Z,1369186208.767 [NavChart] Loaded
2013-05-22T01:30:08.767Z,1369186208.767 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-22T01:30:08.773Z,1369186208.773 [PitchRateCalculator] Loaded
2013-05-22T01:30:08.774Z,1369186208.774 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-22T01:30:08.785Z,1369186208.785 [SpeedCalculator] Loaded
2013-05-22T01:30:08.785Z,1369186208.785 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-22T01:30:08.800Z,1369186208.800 [TempGradientCalculator] Loaded
2013-05-22T01:30:08.801Z,1369186208.801 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-22T01:30:08.811Z,1369186208.810 [YawRateCalculator] Loaded
2013-05-22T01:30:08.811Z,1369186208.811 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-22T01:30:08.862Z,1369186208.862 [Navigation] Loaded
2013-05-22T01:30:08.862Z,1369186208.862 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-22T01:30:08.862Z,1369186208.862 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-22T01:30:08.863Z,1369186208.863 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-22T01:30:09.140Z,1369186209.140 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-22T01:30:09.140Z,1369186209.141 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-22T01:30:09.178Z,1369186209.178 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-22T01:30:09.179Z,1369186209.179 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-22T01:30:09.243Z,1369186209.243 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-22T01:30:09.345Z,1369186209.345 [VerticalControl] Loaded
2013-05-22T01:30:09.345Z,1369186209.345 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-22T01:30:09.346Z,1369186209.346 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-22T01:30:09.411Z,1369186209.411 [HorizontalControl] Loaded
2013-05-22T01:30:09.411Z,1369186209.411 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-22T01:30:09.412Z,1369186209.412 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-22T01:30:09.414Z,1369186209.414 [SpeedControl] Loaded
2013-05-22T01:30:09.414Z,1369186209.414 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-22T01:30:09.415Z,1369186209.415 [LoopControl](DEBUG): Construct LoopControl.
2013-05-22T01:30:09.416Z,1369186209.416 [LoopControl] Loaded
2013-05-22T01:30:09.416Z,1369186209.416 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-22T01:30:09.416Z,1369186209.416 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-22T01:30:09.417Z,1369186209.417 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-22T01:30:09.427Z,1369186209.427 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-22T01:30:09.432Z,1369186209.432 [AsyncPiEstimator] Loaded
2013-05-22T01:30:09.432Z,1369186209.432 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-22T01:30:09.434Z,1369186209.434 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-22T01:30:09.434Z,1369186209.434 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-22T01:30:09.435Z,1369186209.435 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-22T01:30:09.617Z,1369186209.617 [AHRS_sp3003D] Loaded
2013-05-22T01:30:09.617Z,1369186209.617 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-22T01:30:09.906Z,1369186209.906 [Batt_Ocean_Server] Loaded
2013-05-22T01:30:09.906Z,1369186209.906 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-22T01:30:09.924Z,1369186209.924 [Depth_Keller] Loaded
2013-05-22T01:30:09.924Z,1369186209.924 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-22T01:30:09.930Z,1369186209.930 [DropWeight] Loaded
2013-05-22T01:30:09.930Z,1369186209.930 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-22T01:30:10.119Z,1369186210.119 [DVL_micro] Loaded
2013-05-22T01:30:10.119Z,1369186210.119 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-22T01:30:10.122Z,1369186210.122 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406B64E0
2013-05-22T01:30:10.213Z,1369186210.213 [NAL9602] Loaded
2013-05-22T01:30:10.213Z,1369186210.213 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-22T01:30:10.269Z,1369186210.269 [Onboard] Loaded
2013-05-22T01:30:10.269Z,1369186210.269 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-22T01:30:10.280Z,1369186210.280 [Radio_Freewave] Loaded
2013-05-22T01:30:10.280Z,1369186210.280 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-22T01:30:10.456Z,1369186210.456 [DAT] Loaded
2013-05-22T01:30:10.456Z,1369186210.457 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-05-22T01:30:10.457Z,1369186210.457 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-22T01:30:10.458Z,1369186210.458 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-22T01:30:10.568Z,1369186210.568 [CTD_NeilBrown] Loaded
2013-05-22T01:30:10.568Z,1369186210.568 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-22T01:30:10.570Z,1369186210.570 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407084E0
2013-05-22T01:30:10.605Z,1369186210.605 [WetLabsBB2FL] Loaded
2013-05-22T01:30:10.605Z,1369186210.605 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-22T01:30:10.610Z,1369186210.610 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407384E0
2013-05-22T01:30:10.610Z,1369186210.610 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-22T01:30:10.613Z,1369186210.613 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-22T01:30:10.614Z,1369186210.614 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-22T01:30:10.623Z,1369186210.623 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-22T01:30:10.626Z,1369186210.626 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2013-05-22T01:30:10.630Z,1369186210.630 [Supervisor](DEBUG): Running supervisor.
2013-05-22T01:30:10.631Z,1369186210.631 [CommandLine](INFO): Thread ID is 751
2013-05-22T01:30:10.634Z,1369186210.634 [controlThread](INFO): Thread ID is 750
2013-05-22T01:30:10.635Z,1369186210.635 [controlThread](DEBUG): Initializing ControlThread
2013-05-22T01:30:10.635Z,1369186210.635 [CycleStarter](INFO): Thread ID is 749
2013-05-22T01:30:10.636Z,1369186210.635 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-22T01:30:10.742Z,1369186210.742 [logger](INFO): Thread ID is 752
2013-05-22T01:30:10.850Z,1369186210.850 [AsyncPiEstimator](INFO): Thread ID is 813
2013-05-22T01:30:10.850Z,1369186210.851 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-22T01:30:10.866Z,1369186210.866 [DVL_micro](INFO): Thread ID is 814
2013-05-22T01:30:10.979Z,1369186210.978 [CTD_NeilBrown](INFO): Thread ID is 815
2013-05-22T01:30:10.979Z,1369186210.979 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-22T01:30:10.986Z,1369186210.986 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-22T01:30:11.026Z,1369186211.026 [WetLabsBB2FL](INFO): Thread ID is 816
2013-05-22T01:30:11.027Z,1369186211.027 [WetLabsBB2FL](INFO): Powering down
2013-05-22T01:30:11.054Z,1369186211.054 [NavChartDb](INFO): Thread ID is 817
2013-05-22T01:30:11.065Z,1369186211.065 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-22T01:30:11.066Z,1369186211.066 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-22T01:30:11.067Z,1369186211.066 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-22T01:30:11.067Z,1369186211.067 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-22T01:30:11.067Z,1369186211.067 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-22T01:30:11.067Z,1369186211.067 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-22T01:30:11.067Z,1369186211.067 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-22T01:30:11.068Z,1369186211.068 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-22T01:30:11.068Z,1369186211.068 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-22T01:30:11.077Z,1369186211.077 [DVL_micro](INFO): Initializing
2013-05-22T01:30:11.077Z,1369186211.077 [DVL_micro](INFO): start:Powering up
2013-05-22T01:30:11.106Z,1369186211.106 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T01:30:11.107Z,1369186211.107 [DVL_micro](INFO): Cycling power to configure device.
2013-05-22T01:30:11.116Z,1369186211.116 [SBIT](INFO): Initialize SBIT Component.
2013-05-22T01:30:11.117Z,1369186211.117 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10376
2013-05-22T01:30:11.117Z,1369186211.117 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-22T01:30:11.122Z,1369186211.122 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-22T01:30:11.123Z,1369186211.123 [IBIT](INFO): Initialize IBIT Component.
2013-05-22T01:30:11.124Z,1369186211.124 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-22T01:30:11.124Z,1369186211.124 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-05-22T01:30:11.124Z,1369186211.124 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-05-22T01:30:11.155Z,1369186211.155 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-22T01:30:11.156Z,1369186211.156 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-22T01:30:11.156Z,1369186211.156 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-22T01:30:11.156Z,1369186211.156 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-22T01:30:11.157Z,1369186211.157 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-22T01:30:11.158Z,1369186211.158 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-22T01:30:11.159Z,1369186211.159 [Navigation](DEBUG): Initializing Navigation.
2013-05-22T01:30:11.159Z,1369186211.159 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-22T01:30:11.161Z,1369186211.161 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-22T01:30:11.174Z,1369186211.174 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-22T01:30:11.175Z,1369186211.174 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-22T01:30:12.992Z,1369186212.992 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-22T01:30:13.034Z,1369186213.034 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-05-22T01:30:13.034Z,1369186213.034 [DropWeight] Hardware Fault, FailCount= 1
2013-05-22T01:30:13.034Z,1369186213.034 [DropWeight](ERROR): Hardware Fault
2013-05-22T01:30:13.036Z,1369186213.036 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-22T01:30:13.087Z,1369186213.087 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:30:13.106Z,1369186213.106 [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>


2013-05-22T01:30:13.106Z,1369186213.106 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-22T01:30:13.196Z,1369186213.195 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-22T01:30:13.207Z,1369186213.207 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-22T01:30:13.210Z,1369186213.210 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T01:30:13.211Z,1369186213.211 [DVL_micro](INFO): Querying output modes
2013-05-22T01:30:13.211Z,1369186213.211 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-22T01:30:13.214Z,1369186213.214 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:30:13.222Z,1369186213.222 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-22T01:30:13.222Z,1369186213.222 [DVL_micro](INFO): NQ1 output enabled
2013-05-22T01:30:13.222Z,1369186213.222 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-22T01:30:13.234Z,1369186213.234 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-22T01:30:13.239Z,1369186213.239 [DVL_micro](INFO): pause:Powering down
2013-05-22T01:30:13.241Z,1369186213.241 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-22T01:30:13.245Z,1369186213.245 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:30:13.275Z,1369186213.275 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-22T01:30:13.296Z,1369186213.296 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-22T01:30:13.311Z,1369186213.311 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T01:30:13.316Z,1369186213.316 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-22T01:30:13.319Z,1369186213.319 [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>


2013-05-22T01:30:13.333Z,1369186213.333 [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,
2013-05-22T01:30:13.402Z,1369186213.402 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-22T01:30:13.606Z,1369186213.606 [Radio_Freewave](INFO): Powering up
2013-05-22T01:30:13.619Z,1369186213.619 [DAT](INFO): Powering up
2013-05-22T01:30:13.619Z,1369186213.619 [DAT](DEBUG): Initializing DAT.
2013-05-22T01:30:13.886Z,1369186213.886 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:30:13.890Z,1369186213.890 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-22T01:30:13.909Z,1369186213.908 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:30:13.914Z,1369186213.914 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-22T01:30:13.920Z,1369186213.920 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:30:13.926Z,1369186213.926 [MassServo](DEBUG): Initializing MassServo.
2013-05-22T01:30:13.932Z,1369186213.932 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:30:13.938Z,1369186213.938 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-22T01:30:13.944Z,1369186213.944 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:30:13.978Z,1369186213.978 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-22T01:30:14.016Z,1369186214.016 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-05-22T01:30:14.016Z,1369186214.016 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-05-22T01:30:15.220Z,1369186215.220 [NAL9602](INFO): Powering up NAL9602
2013-05-22T01:30:22.178Z,1369186222.178 [MassServo](ERROR): isCommunicating uart error serial timeout
2013-05-22T01:30:22.178Z,1369186222.178 [MassServo](FAULT): Mass Shifter error waiting for homing. Uart error: serial timeout
2013-05-22T01:30:22.178Z,1369186222.178 [MassServo] Hardware Fault, FailCount= 1
2013-05-22T01:30:22.178Z,1369186222.178 [MassServo](ERROR): Hardware Fault
2013-05-22T01:30:22.190Z,1369186222.190 [MassServo](FAULT): Bad Operand Error
2013-05-22T01:30:22.193Z,1369186222.193 [CBIT](ERROR): Hardware Fault in component: MassServo
2013-05-22T01:30:22.488Z,1369186222.488 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-05-22T01:30:22.489Z,1369186222.489 [MassServo](INFO): Powering down
2013-05-22T01:30:23.424Z,1369186223.424 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-22T01:30:23.558Z,1369186223.558 [MassServo](DEBUG): Initializing MassServo.
2013-05-22T01:30:23.562Z,1369186223.562 [CBIT](INFO): Clearing failed state for component MassServo
2013-05-22T01:30:23.562Z,1369186223.562 [MassServo] No Fault, FailCount= 1
2013-05-22T01:30:25.778Z,1369186225.778 [NAL9602](INFO): NAL9602 initialized
2013-05-22T01:30:26.700Z,1369186226.700 [SBIT](IMPORTANT): Beginning Startup BIT
2013-05-22T01:30:26.702Z,1369186226.702 [CBIT](IMPORTANT): Beginning GF scan