2013-05-22T14:49:07.988Z,1369234147.988 [Supervisor](DEBUG): Initializing supervisor.
2013-05-22T14:49:07.997Z,1369234147.997 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-22T14:49:07.998Z,1369234147.997 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-22T14:49:08.001Z,1369234148.001 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-22T14:49:08.004Z,1369234148.004 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-22T14:49:08.015Z,1369234148.015 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-22T14:49:08.017Z,1369234148.017 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-22T14:49:08.018Z,1369234148.018 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-22T14:49:08.021Z,1369234148.021 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-22T14:49:08.022Z,1369234148.022 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-22T14:49:08.026Z,1369234148.026 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-22T14:49:08.342Z,1369234148.342 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-22T14:49:08.342Z,1369234148.342 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-22T14:49:08.552Z,1369234148.552 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-22T14:49:08.553Z,1369234148.553 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-22T14:49:08.648Z,1369234148.648 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-22T14:49:08.650Z,1369234148.650 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-22T14:49:08.878Z,1369234148.878 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-22T14:49:08.878Z,1369234148.878 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-22T14:49:09.028Z,1369234149.028 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-22T14:49:09.030Z,1369234149.030 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-22T14:49:09.298Z,1369234149.298 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-22T14:49:09.299Z,1369234149.299 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-22T14:49:09.488Z,1369234149.488 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-22T14:49:09.490Z,1369234149.490 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-22T14:49:09.782Z,1369234149.782 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-22T14:49:09.784Z,1369234149.784 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-22T14:49:09.897Z,1369234149.897 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-22T14:49:09.898Z,1369234149.898 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-22T14:49:10.356Z,1369234150.355 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-22T14:49:10.356Z,1369234150.356 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-22T14:49:10.486Z,1369234150.486 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-22T14:49:10.486Z,1369234150.486 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-22T14:49:10.582Z,1369234150.582 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-22T14:49:10.586Z,1369234150.586 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-22T14:49:10.703Z,1369234150.703 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-22T14:49:10.850Z,1369234150.850 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-22T14:49:11.016Z,1369234151.016 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-22T14:49:11.133Z,1369234151.133 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-22T14:49:11.245Z,1369234151.245 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-22T14:49:11.380Z,1369234151.380 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-22T14:49:11.494Z,1369234151.494 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-22T14:49:11.953Z,1369234151.953 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-05-22T14:49:13.380Z,1369234153.380 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-22T14:49:13.566Z,1369234153.566 [InternalSim] Loaded
2013-05-22T14:49:13.567Z,1369234153.566 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-22T14:49:13.567Z,1369234153.567 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-22T14:49:13.568Z,1369234153.568 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-22T14:49:13.649Z,1369234153.649 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-22T14:49:13.678Z,1369234153.678 [SBIT] Loaded
2013-05-22T14:49:13.679Z,1369234153.679 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-22T14:49:13.679Z,1369234153.680 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-22T14:49:13.709Z,1369234153.709 [IBIT] Loaded
2013-05-22T14:49:13.709Z,1369234153.709 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-22T14:49:13.712Z,1369234153.712 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-22T14:49:13.830Z,1369234153.830 [CBIT] Loaded
2013-05-22T14:49:13.830Z,1369234153.830 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-22T14:49:13.831Z,1369234153.831 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-22T14:49:13.831Z,1369234153.831 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-22T14:49:14.002Z,1369234154.003 [BuoyancyServo] Loaded
2013-05-22T14:49:14.003Z,1369234154.003 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-22T14:49:14.015Z,1369234154.015 [ElevatorServo] Loaded
2013-05-22T14:49:14.015Z,1369234154.016 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-22T14:49:14.027Z,1369234154.027 [MassServo] Loaded
2013-05-22T14:49:14.027Z,1369234154.027 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-22T14:49:14.040Z,1369234154.039 [RudderServo] Loaded
2013-05-22T14:49:14.040Z,1369234154.040 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-22T14:49:14.052Z,1369234154.052 [ThrusterServo] Loaded
2013-05-22T14:49:14.052Z,1369234154.052 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-22T14:49:14.052Z,1369234154.052 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-22T14:49:14.053Z,1369234154.053 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-22T14:49:14.086Z,1369234154.086 [DepthRateCalculator] Loaded
2013-05-22T14:49:14.086Z,1369234154.086 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-22T14:49:17.058Z,1369234157.058 [HFRadarModelCalc] Loaded
2013-05-22T14:49:17.058Z,1369234157.058 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-22T14:49:17.074Z,1369234157.074 [NavChart] Loaded
2013-05-22T14:49:17.075Z,1369234157.075 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-22T14:49:17.080Z,1369234157.080 [PitchRateCalculator] Loaded
2013-05-22T14:49:17.081Z,1369234157.081 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-22T14:49:17.092Z,1369234157.092 [SpeedCalculator] Loaded
2013-05-22T14:49:17.092Z,1369234157.092 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-22T14:49:17.107Z,1369234157.107 [TempGradientCalculator] Loaded
2013-05-22T14:49:17.108Z,1369234157.108 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-22T14:49:17.113Z,1369234157.113 [YawRateCalculator] Loaded
2013-05-22T14:49:17.113Z,1369234157.114 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-22T14:49:17.160Z,1369234157.160 [Navigation] Loaded
2013-05-22T14:49:17.160Z,1369234157.160 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-22T14:49:17.161Z,1369234157.161 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-22T14:49:17.162Z,1369234157.161 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-22T14:49:17.418Z,1369234157.418 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-22T14:49:17.419Z,1369234157.419 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-22T14:49:17.457Z,1369234157.457 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-22T14:49:17.458Z,1369234157.458 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-22T14:49:17.516Z,1369234157.516 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-22T14:49:17.611Z,1369234157.611 [VerticalControl] Loaded
2013-05-22T14:49:17.611Z,1369234157.611 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-22T14:49:17.612Z,1369234157.612 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-22T14:49:17.668Z,1369234157.668 [HorizontalControl] Loaded
2013-05-22T14:49:17.669Z,1369234157.669 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-22T14:49:17.669Z,1369234157.670 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-22T14:49:17.671Z,1369234157.671 [SpeedControl] Loaded
2013-05-22T14:49:17.672Z,1369234157.671 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-22T14:49:17.672Z,1369234157.672 [LoopControl](DEBUG): Construct LoopControl.
2013-05-22T14:49:17.673Z,1369234157.673 [LoopControl] Loaded
2013-05-22T14:49:17.673Z,1369234157.673 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-22T14:49:17.674Z,1369234157.674 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-22T14:49:17.674Z,1369234157.674 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-22T14:49:17.682Z,1369234157.682 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-22T14:49:17.687Z,1369234157.687 [AsyncPiEstimator] Loaded
2013-05-22T14:49:17.688Z,1369234157.688 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-22T14:49:17.689Z,1369234157.689 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-22T14:49:17.689Z,1369234157.690 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-22T14:49:17.690Z,1369234157.690 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-22T14:49:17.859Z,1369234157.859 [AHRS_sp3003D] Loaded
2013-05-22T14:49:17.859Z,1369234157.859 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-22T14:49:18.119Z,1369234158.119 [Batt_Ocean_Server] Loaded
2013-05-22T14:49:18.119Z,1369234158.119 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-22T14:49:18.133Z,1369234158.134 [Depth_Keller] Loaded
2013-05-22T14:49:18.134Z,1369234158.134 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-22T14:49:18.139Z,1369234158.139 [DropWeight] Loaded
2013-05-22T14:49:18.140Z,1369234158.140 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-22T14:49:18.312Z,1369234158.312 [DVL_micro] Loaded
2013-05-22T14:49:18.313Z,1369234158.313 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-22T14:49:18.314Z,1369234158.314 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406B64E0
2013-05-22T14:49:18.397Z,1369234158.397 [NAL9602] Loaded
2013-05-22T14:49:18.397Z,1369234158.397 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-22T14:49:18.450Z,1369234158.450 [Onboard] Loaded
2013-05-22T14:49:18.450Z,1369234158.450 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-22T14:49:18.457Z,1369234158.457 [Radio_Freewave] Loaded
2013-05-22T14:49:18.457Z,1369234158.457 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-22T14:49:18.616Z,1369234158.616 [DAT] Loaded
2013-05-22T14:49:18.616Z,1369234158.616 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-05-22T14:49:18.617Z,1369234158.617 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-22T14:49:18.617Z,1369234158.617 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-22T14:49:18.714Z,1369234158.714 [CTD_NeilBrown] Loaded
2013-05-22T14:49:18.714Z,1369234158.714 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-22T14:49:18.715Z,1369234158.716 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407084E0
2013-05-22T14:49:18.747Z,1369234158.747 [WetLabsBB2FL] Loaded
2013-05-22T14:49:18.748Z,1369234158.748 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-22T14:49:18.749Z,1369234158.749 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407384E0
2013-05-22T14:49:18.749Z,1369234158.749 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-22T14:49:18.752Z,1369234158.752 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-22T14:49:18.753Z,1369234158.753 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-22T14:49:18.763Z,1369234158.763 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-22T14:49:18.764Z,1369234158.764 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2013-05-22T14:49:18.768Z,1369234158.768 [Supervisor](DEBUG): Running supervisor.
2013-05-22T14:49:18.769Z,1369234158.769 [CommandLine](INFO): Thread ID is 747
2013-05-22T14:49:18.772Z,1369234158.772 [controlThread](INFO): Thread ID is 746
2013-05-22T14:49:18.772Z,1369234158.772 [controlThread](DEBUG): Initializing ControlThread
2013-05-22T14:49:18.773Z,1369234158.773 [CycleStarter](INFO): Thread ID is 745
2013-05-22T14:49:18.773Z,1369234158.773 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-22T14:49:18.872Z,1369234158.872 [logger](INFO): Thread ID is 748
2013-05-22T14:49:18.959Z,1369234158.959 [AsyncPiEstimator](INFO): Thread ID is 809
2013-05-22T14:49:18.959Z,1369234158.959 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-22T14:49:18.968Z,1369234158.968 [DVL_micro](INFO): Thread ID is 810
2013-05-22T14:49:19.063Z,1369234159.063 [CTD_NeilBrown](INFO): Thread ID is 811
2013-05-22T14:49:19.064Z,1369234159.064 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-22T14:49:19.066Z,1369234159.066 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-22T14:49:19.115Z,1369234159.115 [WetLabsBB2FL](INFO): Thread ID is 812
2013-05-22T14:49:19.116Z,1369234159.116 [WetLabsBB2FL](INFO): Powering down
2013-05-22T14:49:19.138Z,1369234159.138 [DVL_micro](INFO): Initializing
2013-05-22T14:49:19.138Z,1369234159.138 [DVL_micro](INFO): start:Powering up
2013-05-22T14:49:19.139Z,1369234159.138 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T14:49:19.139Z,1369234159.139 [DVL_micro](INFO): Cycling power to configure device.
2013-05-22T14:49:19.144Z,1369234159.144 [SBIT](INFO): Initialize SBIT Component.
2013-05-22T14:49:19.144Z,1369234159.144 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10376
2013-05-22T14:49:19.150Z,1369234159.150 [NavChartDb](INFO): Thread ID is 813
2013-05-22T14:49:19.152Z,1369234159.152 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-22T14:49:19.159Z,1369234159.159 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-22T14:49:19.160Z,1369234159.160 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-22T14:49:19.160Z,1369234159.160 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-22T14:49:19.160Z,1369234159.160 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-22T14:49:19.160Z,1369234159.160 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-22T14:49:19.161Z,1369234159.161 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-22T14:49:19.161Z,1369234159.161 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-22T14:49:19.161Z,1369234159.161 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-22T14:49:19.162Z,1369234159.162 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-22T14:49:19.162Z,1369234159.162 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-22T14:49:19.163Z,1369234159.163 [IBIT](INFO): Initialize IBIT Component.
2013-05-22T14:49:19.206Z,1369234159.206 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-22T14:49:19.206Z,1369234159.206 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-05-22T14:49:19.207Z,1369234159.207 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2013-05-22T14:49:19.234Z,1369234159.234 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-22T14:49:19.235Z,1369234159.235 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-22T14:49:19.235Z,1369234159.235 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-22T14:49:19.236Z,1369234159.236 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-22T14:49:19.236Z,1369234159.236 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-22T14:49:19.238Z,1369234159.238 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-22T14:49:19.238Z,1369234159.238 [Navigation](DEBUG): Initializing Navigation.
2013-05-22T14:49:19.239Z,1369234159.239 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-22T14:49:19.241Z,1369234159.241 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-22T14:49:19.242Z,1369234159.242 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-22T14:49:19.242Z,1369234159.242 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-22T14:49:20.827Z,1369234160.827 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-22T14:49:20.858Z,1369234160.858 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2013-05-22T14:49:20.858Z,1369234160.858 [DropWeight] Hardware Fault, FailCount= 1
2013-05-22T14:49:20.858Z,1369234160.858 [DropWeight](ERROR): Hardware Fault
2013-05-22T14:49:20.859Z,1369234160.859 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-22T14:49:20.909Z,1369234160.909 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T14:49:20.929Z,1369234160.929 [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>


2013-05-22T14:49:20.930Z,1369234160.930 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-22T14:49:21.011Z,1369234161.011 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-22T14:49:21.013Z,1369234161.013 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-22T14:49:21.016Z,1369234161.016 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T14:49:21.039Z,1369234161.039 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-22T14:49:21.042Z,1369234161.042 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T14:49:21.061Z,1369234161.061 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-22T14:49:21.106Z,1369234161.106 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-22T14:49:21.109Z,1369234161.109 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T14:49:21.125Z,1369234161.125 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-22T14:49:21.128Z,1369234161.128 [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>


2013-05-22T14:49:21.145Z,1369234161.145 [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,
2013-05-22T14:49:21.193Z,1369234161.193 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-22T14:49:21.213Z,1369234161.213 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T14:49:21.214Z,1369234161.214 [DVL_micro](INFO): Querying output modes
2013-05-22T14:49:21.214Z,1369234161.214 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-22T14:49:21.225Z,1369234161.225 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-22T14:49:21.225Z,1369234161.225 [DVL_micro](INFO): NQ1 output enabled
2013-05-22T14:49:21.226Z,1369234161.226 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-22T14:49:21.237Z,1369234161.237 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-22T14:49:21.242Z,1369234161.242 [DVL_micro](INFO): pause:Powering down
2013-05-22T14:49:21.406Z,1369234161.406 [Radio_Freewave](INFO): Powering up
2013-05-22T14:49:21.423Z,1369234161.423 [DAT](INFO): Powering up
2013-05-22T14:49:21.423Z,1369234161.423 [DAT](DEBUG): Initializing DAT.
2013-05-22T14:49:21.598Z,1369234161.598 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-22T14:49:21.605Z,1369234161.605 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-22T14:49:21.633Z,1369234161.633 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-22T14:49:21.641Z,1369234161.641 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-22T14:49:21.648Z,1369234161.648 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-22T14:49:21.653Z,1369234161.653 [MassServo](DEBUG): Initializing MassServo.
2013-05-22T14:49:21.659Z,1369234161.659 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-22T14:49:21.665Z,1369234161.665 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-22T14:49:21.671Z,1369234161.671 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-22T14:49:21.697Z,1369234161.697 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-22T14:49:21.747Z,1369234161.747 [CBIT](ERROR): Hardware Fault in component: DropWeight
2013-05-22T14:49:21.747Z,1369234161.747 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2013-05-22T14:49:21.905Z,1369234161.905 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0x9009800042
2013-05-22T14:49:21.905Z,1369234161.905 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-05-22T14:49:21.905Z,1369234161.905 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-05-22T14:49:21.905Z,1369234161.905 [AHRS_sp3003D](ERROR): Hardware Fault
2013-05-22T14:49:21.967Z,1369234161.967 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-05-22T14:49:22.050Z,1369234162.050 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T14:49:22.050Z,1369234162.050 [DVL_micro](INFO): resume:Powering up
2013-05-22T14:49:22.050Z,1369234162.050 [DVL_micro](INFO): Cycling power to configure device.
2013-05-22T14:49:22.172Z,1369234162.172 [AHRS_sp3003D](INFO): Powering down
2013-05-22T14:49:23.507Z,1369234163.507 [NAL9602](INFO): Powering up NAL9602
2013-05-22T14:49:23.559Z,1369234163.559 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-05-22T14:49:23.559Z,1369234163.559 [AHRS_sp3003D] No Fault, FailCount= 1
2013-05-22T14:49:23.904Z,1369234163.904 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-22T14:49:24.057Z,1369234164.057 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T14:49:24.058Z,1369234164.057 [DVL_micro](INFO): Querying output modes
2013-05-22T14:49:24.058Z,1369234164.058 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-22T14:49:24.069Z,1369234164.069 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-22T14:49:24.069Z,1369234164.069 [DVL_micro](INFO): NQ1 output enabled
2013-05-22T14:49:24.069Z,1369234164.069 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-22T14:49:24.081Z,1369234164.081 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-22T14:49:24.084Z,1369234164.084 [DVL_micro](INFO): pause:Powering down
2013-05-22T14:49:34.021Z,1369234174.021 [NAL9602](INFO): NAL9602 initialized
2013-05-22T14:49:34.824Z,1369234174.824 [SBIT](IMPORTANT): Beginning Startup BIT
2013-05-22T14:49:34.827Z,1369234174.827 [CBIT](IMPORTANT): Beginning GF scan
2013-05-22T14:49:37.841Z,1369234177.841 [CommandLine](IMPORTANT): got command burn 2.000000
2013-05-22T14:49:41.667Z,1369234181.667 [DAT](INFO): Powering down
2013-05-22T14:50:01.231Z,1369234201.231 [CBIT](FAULT): Chan 4 High side GF detected
mA:
CHAN 5 (24V): 0.041991
CHAN 4 (Batt): 0.015687
CHAN 2 (12V): 0.005930
CHAN 1 (5V): 0.000574
CHAN 0 (3.3V): 0.000670
OPEN: 0.000670
Full Scale Calc: 0.392
2013-05-22T14:50:28.513Z,1369234228.513 [SBIT](IMPORTANT): SBIT PASSED
2013-05-22T14:50:28.911Z,1369234228.911 [MissionManager](IMPORTANT): Started mission Startup
2013-05-22T14:50:28.911Z,1369234228.911 [Startup] Running Loop=1
2013-05-22T14:50:28.912Z,1369234228.912 [Startup](INFO): Aggregate::initialize Startup
2013-05-22T14:50:28.912Z,1369234228.912 [Startup:A.GoToSurface] Running Loop=1
2013-05-22T14:50:28.912Z,1369234228.912 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2013-05-22T14:50:28.918Z,1369234228.918 [Startup:StartupSatComms] Running Loop=1
2013-05-22T14:50:28.918Z,1369234228.918 [Startup:StartupSatComms](INFO): Aggregate::initialize Startup:StartupSatComms
2013-05-22T14:50:28.918Z,1369234228.918 [Startup:StartupSatComms:A] Running Loop=1
2013-05-22T14:50:29.311Z,1369234229.311 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2013-05-22T14:50:40.109Z,1369234240.109 [CommandLine](IMPORTANT): got command restart application
2013-05-22T14:50:41.149Z,1369234241.149 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2013-05-22T14:50:41.149Z,1369234241.149 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2013-05-22T14:50:41.530Z,1369234241.530 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2013-05-22T14:50:41.617Z,1369234241.617 [WetLabsBB2FL](INFO): Powering down
2013-05-22T14:50:41.633Z,1369234241.633 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2013-05-22T14:50:41.849Z,1369234241.849 [CTD_NeilBrown](INFO): Powering down
2013-05-22T14:50:41.865Z,1369234241.865 [ComponentRegistry](INFO): Shutting down DVL_micro ThreadHandler
2013-05-22T14:50:42.101Z,1369234242.101 [DVL_micro](INFO): uninitialize:Powering down
2013-05-22T14:50:42.109Z,1369234242.109 [ComponentRegistry](INFO): Shutting down AsyncPiEstimator ThreadHandler
2013-05-22T14:50:42.293Z,1369234242.293 [AsyncPiEstimator](DEBUG): Uninitialize AsyncPiEstimator.
2013-05-22T14:50:42.314Z,1369234242.314 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2013-05-22T14:50:42.394Z,1369234242.394 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2013-05-22T14:50:42.396Z,1369234242.396 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2013-05-22T14:50:42.589Z,1369234242.589 [controlThread](DEBUG): Uninitializing ControlThread
2013-05-22T14:50:42.590Z,1369234242.590 [AHRS_sp3003D](INFO): Powering down
2013-05-22T14:50:42.678Z,1369234242.678 [NAL9602](INFO): Powering down
2013-05-22T14:50:42.679Z,1369234242.680 [DAT](INFO): Powering down
2013-05-22T14:50:42.680Z,1369234242.680 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-22T14:50:42.681Z,1369234242.681 [NavChart](DEBUG): Uninitialize NavChart Derivation.
2013-05-22T14:50:42.685Z,1369234242.685 [Startup] Stopped
2013-05-22T14:50:42.685Z,1369234242.685 [Startup](INFO): Aggregate::uninitialize Startup
2013-05-22T14:50:42.685Z,1369234242.685 [Startup:A.GoToSurface] Stopped
2013-05-22T14:50:42.685Z,1369234242.685 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2013-05-22T14:50:42.685Z,1369234242.685 [Startup:StartupSatComms] Stopped
2013-05-22T14:50:42.686Z,1369234242.685 [Startup:StartupSatComms](INFO): Aggregate::uninitialize Startup:StartupSatComms
2013-05-22T14:50:42.686Z,1369234242.686 [Startup:StartupSatComms:A] Stopped
2013-05-22T14:50:42.687Z,1369234242.687 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2013-05-22T14:50:42.687Z,1369234242.687 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2013-05-22T14:50:42.687Z,1369234242.687 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2013-05-22T14:50:42.688Z,1369234242.688 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2013-05-22T14:50:42.688Z,1369234242.688 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2013-05-22T14:50:42.688Z,1369234242.688 [BuoyancyServo](INFO): Powering down
2013-05-22T14:50:42.701Z,1369234242.701 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2013-05-22T14:50:42.701Z,1369234242.701 [ElevatorServo](INFO): Powering down
2013-05-22T14:50:42.702Z,1369234242.702 [MassServo](DEBUG): Uninitialize Mass Servo.
2013-05-22T14:50:42.702Z,1369234242.702 [MassServo](INFO): Powering down
2013-05-22T14:50:42.703Z,1369234242.703 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2013-05-22T14:50:42.703Z,1369234242.703 [RudderServo](INFO): Powering down
2013-05-22T14:50:42.704Z,1369234242.704 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2013-05-22T14:50:42.704Z,1369234242.704 [ThrusterServo](INFO): Powering down
2013-05-22T14:50:42.705Z,1369234242.705 [SBIT](DEBUG): Uninitialize SBIT Component.
2013-05-22T14:50:42.705Z,1369234242.705 [IBIT](DEBUG): Uninitialize IBIT Component.
2013-05-22T14:50:42.706Z,1369234242.705 [CBIT](DEBUG): Uninitialize CBIT Component.