2013-05-22T15:03:08.933Z,1369234988.934 [Supervisor](DEBUG): Initializing supervisor.
2013-05-22T15:03:08.938Z,1369234988.938 [SyncHandler](DEBUG): Created PCaller Thread at 4033B4E0
2013-05-22T15:03:08.938Z,1369234988.938 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2013-05-22T15:03:08.939Z,1369234988.939 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 4036B4E0
2013-05-22T15:03:08.943Z,1369234988.943 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2013-05-22T15:03:08.953Z,1369234988.953 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2013-05-22T15:03:08.954Z,1369234988.954 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 4039B4E0
2013-05-22T15:03:08.955Z,1369234988.955 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2013-05-22T15:03:08.956Z,1369234988.956 [logger ThreadHandler](DEBUG): Created PCaller Thread at 403CB4E0
2013-05-22T15:03:08.957Z,1369234988.957 [Supervisor](INFO): Looking for Config files in directory: Config/
2013-05-22T15:03:08.961Z,1369234988.961 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2013-05-22T15:03:09.250Z,1369234989.250 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2013-05-22T15:03:09.250Z,1369234989.250 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2013-05-22T15:03:09.444Z,1369234989.444 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2013-05-22T15:03:09.445Z,1369234989.445 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2013-05-22T15:03:09.535Z,1369234989.535 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2013-05-22T15:03:09.537Z,1369234989.537 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2013-05-22T15:03:09.745Z,1369234989.745 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2013-05-22T15:03:09.746Z,1369234989.746 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2013-05-22T15:03:09.887Z,1369234989.887 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2013-05-22T15:03:09.889Z,1369234989.889 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2013-05-22T15:03:10.131Z,1369234990.131 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2013-05-22T15:03:10.131Z,1369234990.131 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2013-05-22T15:03:10.305Z,1369234990.305 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2013-05-22T15:03:10.307Z,1369234990.307 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2013-05-22T15:03:10.568Z,1369234990.568 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2013-05-22T15:03:10.571Z,1369234990.571 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2013-05-22T15:03:10.672Z,1369234990.671 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2013-05-22T15:03:10.672Z,1369234990.672 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2013-05-22T15:03:11.084Z,1369234991.084 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2013-05-22T15:03:11.085Z,1369234991.085 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2013-05-22T15:03:11.201Z,1369234991.201 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2013-05-22T15:03:11.202Z,1369234991.202 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2013-05-22T15:03:11.289Z,1369234991.289 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2013-05-22T15:03:11.293Z,1369234991.293 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2013-05-22T15:03:11.401Z,1369234991.401 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2013-05-22T15:03:11.534Z,1369234991.534 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2013-05-22T15:03:11.689Z,1369234991.689 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2013-05-22T15:03:11.794Z,1369234991.794 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2013-05-22T15:03:11.897Z,1369234991.897 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2013-05-22T15:03:12.018Z,1369234992.018 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2013-05-22T15:03:12.114Z,1369234992.114 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2013-05-22T15:03:12.203Z,1369234992.203 [Supervisor](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2013-05-22T15:03:12.235Z,1369234992.235 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2013-05-22T15:03:12.418Z,1369234992.418 [InternalSim] Loaded
2013-05-22T15:03:12.418Z,1369234992.418 [ComponentRegistry](DEBUG): SyncComponent "InternalSim" handled in the control thread.
2013-05-22T15:03:12.419Z,1369234992.419 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2013-05-22T15:03:12.419Z,1369234992.420 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2013-05-22T15:03:12.500Z,1369234992.500 [SBIT](DEBUG): Construct Startup Built In Test.
2013-05-22T15:03:12.529Z,1369234992.529 [SBIT] Loaded
2013-05-22T15:03:12.530Z,1369234992.530 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2013-05-22T15:03:12.531Z,1369234992.531 [IBIT](DEBUG): Construct Initiated Built In Test.
2013-05-22T15:03:12.560Z,1369234992.560 [IBIT] Loaded
2013-05-22T15:03:12.560Z,1369234992.560 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2013-05-22T15:03:12.563Z,1369234992.563 [CBIT](DEBUG): Construct CBIT Built In Test.
2013-05-22T15:03:12.720Z,1369234992.720 [CBIT] Loaded
2013-05-22T15:03:12.720Z,1369234992.720 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2013-05-22T15:03:12.721Z,1369234992.721 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2013-05-22T15:03:12.721Z,1369234992.721 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2013-05-22T15:03:14.091Z,1369234994.091 [BuoyancyServo] Loaded
2013-05-22T15:03:14.091Z,1369234994.091 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2013-05-22T15:03:14.104Z,1369234994.104 [ElevatorServo] Loaded
2013-05-22T15:03:14.104Z,1369234994.104 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2013-05-22T15:03:14.116Z,1369234994.116 [MassServo] Loaded
2013-05-22T15:03:14.116Z,1369234994.116 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2013-05-22T15:03:14.128Z,1369234994.128 [RudderServo] Loaded
2013-05-22T15:03:14.128Z,1369234994.128 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2013-05-22T15:03:14.140Z,1369234994.141 [ThrusterServo] Loaded
2013-05-22T15:03:14.141Z,1369234994.141 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2013-05-22T15:03:14.141Z,1369234994.141 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2013-05-22T15:03:14.142Z,1369234994.142 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2013-05-22T15:03:14.687Z,1369234994.687 [DepthRateCalculator] Loaded
2013-05-22T15:03:14.687Z,1369234994.687 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2013-05-22T15:03:17.674Z,1369234997.674 [HFRadarModelCalc] Loaded
2013-05-22T15:03:17.674Z,1369234997.674 [ComponentRegistry](DEBUG): SyncComponent "HFRadarModelCalc" handled in the control thread.
2013-05-22T15:03:17.690Z,1369234997.690 [NavChart] Loaded
2013-05-22T15:03:17.690Z,1369234997.690 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2013-05-22T15:03:17.697Z,1369234997.697 [PitchRateCalculator] Loaded
2013-05-22T15:03:17.697Z,1369234997.697 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2013-05-22T15:03:17.708Z,1369234997.708 [SpeedCalculator] Loaded
2013-05-22T15:03:17.708Z,1369234997.708 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2013-05-22T15:03:17.724Z,1369234997.724 [TempGradientCalculator] Loaded
2013-05-22T15:03:17.724Z,1369234997.724 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2013-05-22T15:03:17.730Z,1369234997.730 [YawRateCalculator] Loaded
2013-05-22T15:03:17.730Z,1369234997.730 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2013-05-22T15:03:17.777Z,1369234997.777 [Navigation] Loaded
2013-05-22T15:03:17.778Z,1369234997.778 [ComponentRegistry](DEBUG): SyncComponent "Navigation" handled in the control thread.
2013-05-22T15:03:17.778Z,1369234997.778 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2013-05-22T15:03:17.779Z,1369234997.779 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2013-05-22T15:03:18.032Z,1369234998.032 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2013-05-22T15:03:18.032Z,1369234998.033 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2013-05-22T15:03:18.070Z,1369234998.070 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2013-05-22T15:03:18.071Z,1369234998.071 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2013-05-22T15:03:18.130Z,1369234998.130 [VerticalControl](DEBUG): Construct VerticalControl.
2013-05-22T15:03:18.225Z,1369234998.225 [VerticalControl] Loaded
2013-05-22T15:03:18.225Z,1369234998.225 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2013-05-22T15:03:18.226Z,1369234998.226 [HorizontalControl](DEBUG): Construct HorizontalControl.
2013-05-22T15:03:18.283Z,1369234998.283 [HorizontalControl] Loaded
2013-05-22T15:03:18.283Z,1369234998.283 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2013-05-22T15:03:18.284Z,1369234998.284 [SpeedControl](DEBUG): Construct SpeedControl.
2013-05-22T15:03:18.286Z,1369234998.286 [SpeedControl] Loaded
2013-05-22T15:03:18.286Z,1369234998.286 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2013-05-22T15:03:18.287Z,1369234998.287 [LoopControl](DEBUG): Construct LoopControl.
2013-05-22T15:03:18.288Z,1369234998.288 [LoopControl] Loaded
2013-05-22T15:03:18.288Z,1369234998.288 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2013-05-22T15:03:18.288Z,1369234998.288 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2013-05-22T15:03:18.289Z,1369234998.289 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2013-05-22T15:03:18.297Z,1369234998.297 [AsyncPiEstimator](DEBUG): Construct AsyncPiEstimator.
2013-05-22T15:03:18.302Z,1369234998.302 [AsyncPiEstimator] Loaded
2013-05-22T15:03:18.303Z,1369234998.303 [ComponentRegistry](DEBUG): Component "AsyncPiEstimator" handled in its own thread.
2013-05-22T15:03:18.304Z,1369234998.304 [AsyncPiEstimator ThreadHandler](DEBUG): Created PCaller Thread at 4063B4E0
2013-05-22T15:03:18.304Z,1369234998.304 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2013-05-22T15:03:18.305Z,1369234998.305 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2013-05-22T15:03:18.475Z,1369234998.475 [AHRS_sp3003D] Loaded
2013-05-22T15:03:18.475Z,1369234998.476 [ComponentRegistry](DEBUG): SyncComponent "AHRS_sp3003D" handled in the control thread.
2013-05-22T15:03:18.737Z,1369234998.737 [Batt_Ocean_Server] Loaded
2013-05-22T15:03:18.738Z,1369234998.738 [ComponentRegistry](DEBUG): SyncComponent "Batt_Ocean_Server" handled in the control thread.
2013-05-22T15:03:18.752Z,1369234998.752 [Depth_Keller] Loaded
2013-05-22T15:03:18.752Z,1369234998.752 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2013-05-22T15:03:18.758Z,1369234998.758 [DropWeight] Loaded
2013-05-22T15:03:18.758Z,1369234998.758 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2013-05-22T15:03:18.931Z,1369234998.931 [DVL_micro] Loaded
2013-05-22T15:03:18.932Z,1369234998.932 [ComponentRegistry](DEBUG): Component "DVL_micro" handled in its own thread.
2013-05-22T15:03:18.933Z,1369234998.933 [DVL_micro ThreadHandler](DEBUG): Created PCaller Thread at 406B64E0
2013-05-22T15:03:19.018Z,1369234999.018 [NAL9602] Loaded
2013-05-22T15:03:19.018Z,1369234999.018 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2013-05-22T15:03:19.070Z,1369234999.070 [Onboard] Loaded
2013-05-22T15:03:19.070Z,1369234999.070 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2013-05-22T15:03:19.077Z,1369234999.077 [Radio_Freewave] Loaded
2013-05-22T15:03:19.077Z,1369234999.077 [ComponentRegistry](DEBUG): SyncComponent "Radio_Freewave" handled in the control thread.
2013-05-22T15:03:19.238Z,1369234999.238 [DAT] Loaded
2013-05-22T15:03:19.238Z,1369234999.238 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2013-05-22T15:03:19.238Z,1369234999.238 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2013-05-22T15:03:19.239Z,1369234999.239 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2013-05-22T15:03:19.352Z,1369234999.352 [CTD_NeilBrown] Loaded
2013-05-22T15:03:19.352Z,1369234999.352 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2013-05-22T15:03:19.353Z,1369234999.353 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 407084E0
2013-05-22T15:03:19.385Z,1369234999.385 [WetLabsBB2FL] Loaded
2013-05-22T15:03:19.385Z,1369234999.385 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2013-05-22T15:03:19.386Z,1369234999.386 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 407384E0
2013-05-22T15:03:19.387Z,1369234999.387 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2013-05-22T15:03:19.389Z,1369234999.389 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2013-05-22T15:03:19.390Z,1369234999.390 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2013-05-22T15:03:19.400Z,1369234999.400 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2013-05-22T15:03:19.401Z,1369234999.401 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2013-05-22T15:03:19.406Z,1369234999.406 [Supervisor](DEBUG): Running supervisor.
2013-05-22T15:03:19.407Z,1369234999.407 [CommandLine](INFO): Thread ID is 748
2013-05-22T15:03:19.410Z,1369234999.409 [controlThread](INFO): Thread ID is 747
2013-05-22T15:03:19.410Z,1369234999.410 [controlThread](DEBUG): Initializing ControlThread
2013-05-22T15:03:19.410Z,1369234999.410 [CycleStarter](INFO): Thread ID is 746
2013-05-22T15:03:19.410Z,1369234999.411 [InternalSim](DEBUG):  InternalSim initializing...
2013-05-22T15:03:19.509Z,1369234999.509 [logger](INFO): Thread ID is 749
2013-05-22T15:03:19.598Z,1369234999.598 [AsyncPiEstimator](INFO): Thread ID is 810
2013-05-22T15:03:19.599Z,1369234999.599 [AsyncPiEstimator](DEBUG): Initialize AsyncPiEstimator.
2013-05-22T15:03:19.608Z,1369234999.608 [DVL_micro](INFO): Thread ID is 811
2013-05-22T15:03:19.702Z,1369234999.702 [CTD_NeilBrown](INFO): Thread ID is 812
2013-05-22T15:03:19.703Z,1369234999.703 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2013-05-22T15:03:19.706Z,1369234999.706 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2013-05-22T15:03:19.746Z,1369234999.746 [DVL_micro](INFO): Initializing
2013-05-22T15:03:19.746Z,1369234999.746 [DVL_micro](INFO): start:Powering up
2013-05-22T15:03:19.749Z,1369234999.749 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T15:03:19.750Z,1369234999.750 [DVL_micro](INFO): Cycling power to configure device.
2013-05-22T15:03:19.775Z,1369234999.775 [WetLabsBB2FL](INFO): Thread ID is 813
2013-05-22T15:03:19.775Z,1369234999.775 [WetLabsBB2FL](INFO): Powering down
2013-05-22T15:03:19.798Z,1369234999.798 [NavChartDb](INFO): Thread ID is 814
2013-05-22T15:03:19.802Z,1369234999.802 [SBIT](INFO): Initialize SBIT Component.
2013-05-22T15:03:19.802Z,1369234999.802 [SBIT](IMPORTANT): Tethys CM Info:
$Rev:10376
2013-05-22T15:03:19.803Z,1369234999.803 [SBIT](IMPORTANT): Kernel Release:2.6.27.8
2013-05-22T15:03:19.804Z,1369234999.804 [SBIT](IMPORTANT): Kernel Version:#634 PREEMPT Wed Feb 13 10:21:48 PST 2013
2013-05-22T15:03:19.807Z,1369234999.807 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources
2013-05-22T15:03:19.807Z,1369234999.807 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2013-05-22T15:03:19.808Z,1369234999.808 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2013-05-22T15:03:19.808Z,1369234999.808 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2013-05-22T15:03:19.808Z,1369234999.808 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2013-05-22T15:03:19.808Z,1369234999.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2013-05-22T15:03:19.809Z,1369234999.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2013-05-22T15:03:19.809Z,1369234999.809 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2013-05-22T15:03:19.810Z,1369234999.810 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2013-05-22T15:03:19.811Z,1369234999.810 [IBIT](INFO): Initialize IBIT Component.
2013-05-22T15:03:19.812Z,1369234999.812 [CBIT](DEBUG): Initialize CBIT Component.
2013-05-22T15:03:19.813Z,1369234999.813 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL.
2013-05-22T15:03:19.837Z,1369234999.837 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2013-05-22T15:03:19.862Z,1369234999.862 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2013-05-22T15:03:19.863Z,1369234999.863 [NavChart](DEBUG): Initialize NavChart Derivation.
2013-05-22T15:03:19.863Z,1369234999.863 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2013-05-22T15:03:19.864Z,1369234999.864 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2013-05-22T15:03:19.864Z,1369234999.864 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2013-05-22T15:03:19.870Z,1369234999.870 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2013-05-22T15:03:19.870Z,1369234999.870 [Navigation](DEBUG): Initializing Navigation.
2013-05-22T15:03:19.871Z,1369234999.871 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2013-05-22T15:03:19.873Z,1369234999.873 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2013-05-22T15:03:19.877Z,1369234999.878 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2013-05-22T15:03:19.878Z,1369234999.878 [LoopControl](DEBUG): Initialize LoopControlComponent.
2013-05-22T15:03:21.772Z,1369235001.772 [Batt_Ocean_Server](INFO): Ocean Server Batteries initialized
2013-05-22T15:03:21.803Z,1369235001.803 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2013-05-22T15:03:21.842Z,1369235001.842 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T15:03:21.870Z,1369235001.870 [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>


2013-05-22T15:03:21.871Z,1369235001.871 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2013-05-22T15:03:21.893Z,1369235001.893 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T15:03:21.894Z,1369235001.894 [DVL_micro](INFO): Querying output modes
2013-05-22T15:03:21.894Z,1369235001.894 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-22T15:03:21.905Z,1369235001.905 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-22T15:03:21.905Z,1369235001.905 [DVL_micro](INFO): NQ1 output enabled
2013-05-22T15:03:21.906Z,1369235001.906 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-22T15:03:21.917Z,1369235001.917 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-22T15:03:21.922Z,1369235001.922 [DVL_micro](INFO): pause:Powering down
2013-05-22T15:03:21.955Z,1369235001.955 [MissionManager](INFO): DefineArg Default.NeedGPS = 1 bool
2013-05-22T15:03:21.967Z,1369235001.967 [Default:GPS:A.SetSpeed](DEBUG): Construct.
2013-05-22T15:03:21.970Z,1369235001.970 [Default:GPS:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T15:03:21.990Z,1369235001.990 [Default:Iridium:A.SetSpeed](DEBUG): Construct.
2013-05-22T15:03:21.993Z,1369235001.993 [Default:Iridium:B.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T15:03:21.999Z,1369235001.999 [Default:Iridium:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2013-05-22T15:03:22.012Z,1369235002.012 [Default:D.SetSpeed](DEBUG): Construct.
2013-05-22T15:03:22.047Z,1369235002.047 [Default:E.GoToSurface](DEBUG): Construct GoToSurface.
2013-05-22T15:03:22.052Z,1369235002.052 [Default:F.Wait](DEBUG): Construct Wait.
2013-05-22T15:03:22.072Z,1369235002.072 [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>


2013-05-22T15:03:22.084Z,1369235002.084 [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,
2013-05-22T15:03:22.140Z,1369235002.141 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-22T15:03:22.365Z,1369235002.365 [Radio_Freewave](INFO): Powering up
2013-05-22T15:03:22.374Z,1369235002.374 [DAT](INFO): Powering up
2013-05-22T15:03:22.374Z,1369235002.374 [DAT](DEBUG): Initializing DAT.
2013-05-22T15:03:22.572Z,1369235002.572 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2013-05-22T15:03:22.577Z,1369235002.577 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2013-05-22T15:03:22.584Z,1369235002.584 [ElevatorServo](DEBUG): Initializing EZServoServo.
2013-05-22T15:03:22.589Z,1369235002.589 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2013-05-22T15:03:22.595Z,1369235002.595 [MassServo](DEBUG): Initializing EZServoServo.
2013-05-22T15:03:22.604Z,1369235002.604 [MassServo](DEBUG): Initializing MassServo.
2013-05-22T15:03:22.641Z,1369235002.641 [RudderServo](DEBUG): Initializing EZServoServo.
2013-05-22T15:03:22.649Z,1369235002.649 [RudderServo](DEBUG): Initializing RudderServo.
2013-05-22T15:03:22.667Z,1369235002.667 [ThrusterServo](DEBUG): Initializing EZServoServo.
2013-05-22T15:03:22.674Z,1369235002.674 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2013-05-22T15:03:22.857Z,1369235002.857 [AHRS_sp3003D](ERROR): readHeadingMagBin got 0x42360D0AA4
2013-05-22T15:03:22.857Z,1369235002.857 [AHRS_sp3003D](ERROR): SP3003D failed to initialize
2013-05-22T15:03:22.857Z,1369235002.857 [AHRS_sp3003D] Hardware Fault, FailCount= 1
2013-05-22T15:03:22.857Z,1369235002.857 [AHRS_sp3003D](ERROR): Hardware Fault
2013-05-22T15:03:22.912Z,1369235002.912 [CBIT](ERROR): Hardware Fault in component: AHRS_sp3003D
2013-05-22T15:03:23.144Z,1369235003.144 [AHRS_sp3003D](INFO): Powering down
2013-05-22T15:03:23.145Z,1369235003.145 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T15:03:23.145Z,1369235003.145 [DVL_micro](INFO): resume:Powering up
2013-05-22T15:03:23.146Z,1369235003.145 [DVL_micro](INFO): Cycling power to configure device.
2013-05-22T15:03:24.120Z,1369235004.120 [NAL9602](INFO): Powering up NAL9602
2013-05-22T15:03:24.601Z,1369235004.601 [CBIT](INFO): Clearing failed state for component AHRS_sp3003D
2013-05-22T15:03:24.603Z,1369235004.603 [AHRS_sp3003D] No Fault, FailCount= 1
2013-05-22T15:03:24.907Z,1369235004.907 [AHRS_sp3003D](DEBUG): Initializing AHRS_sp3003D.
2013-05-22T15:03:25.153Z,1369235005.153 [DVL_micro](INFO): Opening uart, block timeout 10ths=20
2013-05-22T15:03:25.154Z,1369235005.154 [DVL_micro](INFO): Querying output modes
2013-05-22T15:03:25.154Z,1369235005.154 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD0606

2013-05-22T15:03:25.167Z,1369235005.167 [DVL_micro](DEBUG): cmdResponse: 01
2013-05-22T15:03:25.168Z,1369235005.168 [DVL_micro](INFO): NQ1 output enabled
2013-05-22T15:03:25.169Z,1369235005.169 [DVL_micro](DEBUG): commandDVL: #&!LQNQ.COMD2525

2013-05-22T15:03:25.183Z,1369235005.183 [DVL_micro](DEBUG): cmdResponse: AUTO_VEL_ON 
2013-05-22T15:03:25.189Z,1369235005.189 [DVL_micro](INFO): pause:Powering down